CN104155913A - Quilter double-shaft synchronization control method and system - Google Patents
Quilter double-shaft synchronization control method and system Download PDFInfo
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- CN104155913A CN104155913A CN201410416704.7A CN201410416704A CN104155913A CN 104155913 A CN104155913 A CN 104155913A CN 201410416704 A CN201410416704 A CN 201410416704A CN 104155913 A CN104155913 A CN 104155913A
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Abstract
The invention relates to a quilter double-shaft synchronization control method and system. The system comprises a frame, a crossbeam fixed on the frame, a head main shaft arranged below the crossbeam, a support rotating shuttle shaft arranged below the head main shaft, a first synchronization AC servo motor connected with the head main shaft, a second synchronization AC servo motor connected with the support rotating shuttle shaft, a first AC servo driver matching the first synchronization AC servo motor for controlling operation of the first synchronization AC servo motor, and a second AC servo driver matching the second synchronization AC servo motor for controlling operation of the second synchronization AC servo motor. Through transmission of communication signals between the first AC servo driver and the second AC servo driver, the operation synchronization precision of the first synchronization AC servo motor and the second synchronization AC servo motor can be controlled so as to enable the head main shaft and the support rotating shuttle shaft to realize synchronous rotation and perform high-speed rotation.
Description
Technical field
The present invention relates to a kind of quilter Double-axis synchronous control method and system thereof.
Background technology
The synchronous scheme of quilter main shaft electricity is actually the one application of electronic gear, it has been the thing before a lot of years that the main shaft of quilter uses the scheme realization in the field of business of electronic gear, but because the reason of its price and reliability cannot large-arealy be promoted at home, nowadays, along with dropping and the raising of precision of AC servo price, make to use electronic gear to become possibility as synchronous driving of upper lower shaft of quilter main shaft in this occasion.But in the working cycle of quilter, the synchronism that can ensure well lower shaft is a large difficult point of design.
Summary of the invention
The object of the present invention is to provide a kind of quilter Double-axis synchronous control method and system thereof, it can make the head spindle of quilter and support rotary shuttle shaft keep high level of synchronization, and can high-speed motion.
For achieving the above object, the invention provides a kind of quilter Biaxial synchronous system, it comprises:
Frame, be fixed on crossbeam in described frame, be arranged on the head under described crossbeam and be arranged on the support under described head, described head is provided with head spindle, and described support is provided with support rotary shuttle shaft; In described frame, be also installed with bogie side frame, and the adjustable frame that stretches tight is set on the madial wall of described bogie side frame, and the described adjustable frame that stretches tight can move around on described bogie side frame,
The first synchronous AC servomotor, is arranged on described head, is used for driving described head spindle to rotate;
The second synchronous AC servomotor, is arranged on described support, is used for driving described support rotary shuttle shaft to rotate;
The first AC servo driver, mates with described the first synchronous AC servomotor, is arranged in described frame, is used for controlling the running of described the first synchronous AC servomotor;
The second AC servo driver, mates with described the second synchronous AC servomotor, is arranged in described frame, is used for controlling the running of described the second synchronous AC servomotor;
The first scrambler, is arranged on the tail end of described the first synchronous AC servomotor, is used for detecting angle position and the rotating speed of described the first synchronous AC servomotor;
The second scrambler, is arranged on the tail end of described the second synchronous AC servomotor, is used for detecting angle position and the rotating speed of described the second synchronous AC servomotor;
Wherein, described the first AC servo driver and described the second AC servo driver adopt communication modes in parallel to connect, between the described synchronous AC servomotor of every a pair of coupling and described AC servo driver, be connected with drive wire, described the first scrambler and the second scrambler convert the angle position of described the first synchronous AC servomotor and described the second synchronous AC servomotor and rotating speed to electric signal respectively and feed back to described the first AC servo driver and described the second AC servo driver, angle position and the rotating speed of controlling described the first synchronous AC servomotor and described the second synchronous AC servomotor by the transmission of communication signal between described the first AC servo driver and described the second AC servo driver are tending towards synchronizeing gradually, described head spindle and support rotary shuttle shaft are reached synchronize rotation.
As a further improvement on the present invention, described drive wire is the multi cord that sectional area is greater than 1 square millimeter.
As a further improvement on the present invention, described the first AC servo driver and the second AC servo driver are master slave relation.
As a further improvement on the present invention, the angle position synchronization accuracy of described head spindle and described support rotary shuttle shaft is spent in +/-0.5.
As a further improvement on the present invention, the highest synchronous speed of described quilter Biaxial synchronous system is 3000 revs/min.
For realizing another object of foregoing invention, the invention provides a kind of quilter Double-axis synchronous control method, it comprises the following steps:
S1, the first AC servo driver receive synch command;
S2, the first AC servo driver and the second AC servo driver drive head spindle and support rotary shuttle shaft to return zero-bit separately;
S3, head spindle and support rotary shuttle shaft start to rotate, described the first scrambler and the second scrambler convert described the first synchronous AC servomotor and described the second synchronous AC servomotor angle position and rotating speed to electric signal and feed back to described the first AC servo driver and described the second AC servo driver, and it is poor to calculate the angle position of head spindle and support rotary shuttle shaft reality;
S4, when angle position is poor while being greater than the higher limit of setting in program, adjust the rotating speed of the axle that wherein inertia is little;
Whether S5, inquiry have other orders;
S6, repetition S2, S3 and S4, S5 step realizes described long-stitch sew-machine head main shaft and support rotary shuttle shaft phase-locking.
As a further improvement on the present invention, described method also comprises:
According to the rotating speed of speed control signal control the first synchronous AC servomotor and the second synchronous AC servomotor.
As a further improvement on the present invention, the position signalling of described scrambler output is greater than 10000 pulses/turn.
As a further improvement on the present invention, the precision that described speed control signal is is 12 D/A.
As a further improvement on the present invention, described the first AC servo driver and described the second AC servo driver have identical hardware controls circuit.
The invention has the beneficial effects as follows: quilter Biaxial synchronous system of the present invention is utilized the transmission of signal between the AC servo driver of multi-machine parallel connection, not be used in the other synchronizing circuit plate of increase in upper computer system, just can reach the phase place high level of synchronization of long-stitch sew-machine head main shaft and support rotary shuttle shaft, and head spindle and support rotary shuttle shaft energy high-speed rotation.
Brief description of the drawings
Fig. 1 is the front view of quilter of the present invention;
Fig. 2 is the basic block diagram of quilter Biaxial synchronous system of the present invention;
Fig. 3 is the control method process flow diagram of quilter Biaxial synchronous system of the present invention.
Embodiment
Describe the present invention below with reference to each embodiment shown in the drawings.But these embodiments do not limit the present invention, the conversion in structure, method or function that those of ordinary skill in the art makes according to these embodiments is all included in protection scope of the present invention.
Shown in ginseng Fig. 1, quilter Biaxial synchronous system comprises frame 1, is fixedly installed on the crossbeam 2 in frame 1, be arranged on the head 3 under crossbeam 2 and be arranged on the support 4 under head 3, wherein, head 3 is provided with head spindle 31, support 4 is provided with support rotary shuttle shaft 41, and head spindle 31 is synchronizeed rotation with support rotary shuttle shaft 41 just can make quilter normally carry out quilting, does not cause broken needle phenomenon.In frame 1, be also installed with bogie side frame (not shown), and the adjustable frame that stretches tight (not shown) is set on the madial wall of bogie side frame, and the adjustable frame that stretches tight can move around on bogie side frame.
As one preferred embodiment, head spindle 31 is connected with the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 respectively with support rotary shuttle shaft 41, particularly, the first synchronous AC servomotor 32 is connected with head spindle 31, is used for driving head spindle 31 to rotate; The second synchronous AC servomotor 42 is connected with support rotary shuttle shaft 41, be used for driving support rotary shuttle shaft 41 to rotate, preferably, the tail end of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 is respectively equipped with the first scrambler 33 and the second scrambler 43, scrambler is used for detecting angle position and the rotating speed of synchronous AC servomotor, reflects the working condition of synchronous AC servomotor.Quilter Biaxial synchronous system also comprises the first AC servo driver 34 and the second AC servo driver 44 that are arranged in frame 1, wherein, the first AC servo driver 34 is mated with the first synchronous AC servomotor 32, the second AC servo driver 44 is mated with the second synchronous AC servomotor 42, the first scrambler 33 and the second scrambler 43 convert the angle position of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 and rotating speed to electric signal respectively and feed back to the first AC servo driver 34 and the second AC servo driver 44, angle position and the rotating speed of controlling the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 by the transmission of communication signal between the first AC servo driver 34 and the second AC servo driver 44 are tending towards synchronizeing gradually, so that being reached, head spindle 31 and support rotary shuttle shaft 41 be synchronized with the movement.
Shown in Fig. 2, between the synchronous AC servomotor of every a pair of coupling and AC servo driver, be connected to reach the object of AC servo driver control synchronous AC servomotor running by drive wire 30.Preferably, the multi cord that described drive wire 30 is greater than 1 square millimeter for sectional area.Adopt the mechanics of communication of AC servo driver multi-machine parallel connection to realize the synchronism of the first synchronous AC servomotor 10 and the second synchronous AC servomotor 20.
Particularly, in the present embodiment, the first AC servo driver 34 realizes communication by drive wire 30 with the first synchronous AC servomotor 32 and is connected; The second AC servo driver 44 realizes communication by drive wire 30 with the second synchronous AC servomotor 42 and is connected.Wherein, the first AC servo driver 34 is in parallel with the second AC servo driver 44, and be master slave relation,, the first AC servo driver 34 passes to the second AC servo driver 44, the second AC servo driver 44 by communication signal and converts the angle position of the second synchronous AC servomotor 42 and rotating speed to electric signal again and feed back to the first AC servo driver 34.The external computing machine of a whole set of quilter Biaxial synchronous system, computing machine sends synchronic command or signal to the first AC servo driver 34, the first AC servo driver 34 passes to the second AC servo driver 44 by these synchronic commands or signal again, after obtaining these synchronic commands or signal, the first AC servo driver 34 and the second AC servo driver 44 control the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 entrys into service, the working condition of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 is exported by the first scrambler 33 and the second scrambler 43, scrambler is transformed into encoder position signal by the working order such as angle position and rotating speed of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 and feeds back to respectively the first AC servo driver 34 and the second AC servo driver 44.The first synchronous AC servomotor 32 drives respectively head spindle 31 and support rotary shuttle shaft 41 to start to synchronize rotation with the second synchronous AC servomotor 42, owing to being mechanical motion, drive system must be set a series of parameter, to meet because of rigidity, inertia, the impact of the difference of acceleration and deceleration on net synchronization capability, after running a period of time, certainly there is phase position deviation in head spindle 31 and support rotary shuttle shaft 41, the second AC servo driver 44 can feed back to the first AC servo driver 34 by the second scrambler 43 position signallings by the working order of the second synchronous AC servomotor 32, by the signal transmission between principal and subordinate's AC servo driver, thereby control the synchronism between two synchronous AC servomotors 32 and 42, utilize the quilter Biaxial synchronous system in the present invention, in the synchronous rotation of head spindle 31 and support rotary shuttle shaft 41, the highest synchronous speed of quilter Biaxial synchronous system is 3000 revs/min, head spindle 31 is spent in +/-0.5 with the angle position synchronization accuracy of support rotary shuttle shaft 41.Here it should be noted that, each synchronous AC servo-driver needs to mate with each synchronous AC servomotor, by adjusting servo gain to optimize the response performance of AC servo driver, reaches predetermined accuracy requirement.
In conjunction with Fig. 2 and Fig. 3, Fig. 3 has disclosed the synchronous method of quilter main shaft electricity synchronous servo system, and its step is as follows:
S1, the first AC servo driver receive synch command.The first AC servo driver 34 receives synch command and the enable signal from computing machine, the first AC servo driver 34 passes to enable signal the second AC servo driver 44 again, makes the first AC servo driver 34 and the second AC servo driver 44 enter synchronous working state.
S2, the first AC servo driver and the second AC servo driver drive head spindle and support rotary shuttle shaft to return zero-bit separately, first head spindle 31 and support rotary shuttle shaft 41 will find zero-bit separately, be the absolute zero position on scrambler, select separately mode of motion to return initial point.According to the rotating speed of speed control signal control the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42.Speed control signal derives from computing machine, controls the analog quantity of synchronous AC servomotor rotational speed, and preferably, precision prescribed is 12 D/A.The first AC servo driver 34 receives speed control signal and this signal is passed to the first synchronous AC servomotor 32 and the second AC servo driver 44, the second AC servo driver 44 passes to this signal the second synchronous AC servomotor 42, the first synchronous AC servomotors 32 again and the second synchronous AC servomotor 42 reaches required rotating speed according to speed control signal.
S3, head spindle and support rotary shuttle shaft start to rotate, described the first scrambler and the second scrambler convert described the first synchronous AC servomotor and described the second synchronous AC servomotor angle position and rotating speed to electric signal and feed back to described the first AC servo driver and described the second AC servo driver, and it is poor to calculate the angle position of head spindle and support rotary shuttle shaft reality.The working condition of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 is exported by the first scrambler 33 and the second scrambler 43, the first scrambler 33 and the second scrambler 43 are transformed into encoder position signal by the working order such as rotating speed and phasing degree of the first synchronous AC servomotor 10 and the second synchronous AC servomotor 20 and feed back to respectively the first AC servo driver 34 and the second AC servo driver 44, can calculate thus the head spindle 31 of quilter main shaft and the alternate position spike of support rotary shuttle shaft 41 reality, preferably, encoder position signal is greater than 10000 pulses/turn.
S4, when angle position is poor while being greater than the higher limit of setting in program, adjust the rotating speed of the axle that wherein inertia is little.Certainly there is phase position deviation in the first synchronous AC servomotor 10 and the second synchronous AC servomotor 20, in the time that position deviation is greater than the higher limit of setting in program, adjust the rotating speed of the axle that wherein inertia is little after running a period of time.
Whether S5, inquiry have other orders.
S6, repetition S2, S3 and S4, S5 step realizes described long-stitch sew-machine head main shaft and support rotary shuttle shaft phase-locking.
It is worth mentioning that at this, the first AC servo driver 11 and the second AC servo driver 21 are master slave relation, the control signal difference that it receives separately, but can be in fact identical, as long as in the time of the operation circuit of two AC servo driver of design, make the first AC servo driver 11 and the second AC servo driver 21 have identical hardware controls circuit simultaneously.
By above-mentioned synchronous method, can make the controlling angle high level of synchronization of head spindle and the support rotary shuttle shaft of quilter main shaft, realize the diaxon phase-locking that error is spent in +/-0.5, until there are other orders could change its motion state, for example, servo-actuated order, in the time that computing machine sends servo-actuated order to the first AC servo driver 11, synch command is just unlocked, enter head spindle and follow the motion state of support rotary shuttle shaft, quilter main shaft electricity synchronous servo system of the present invention has very high stability as can be seen here.Simultaneously, electricity synchro system is owing to using the head spindle and the support rotary shuttle shaft that drive quilter between two AC servo motor, the mechanical spline drived that inertia is very large and the maximum vibration source of bringing thereof are cancelled, the speed that is quilter is greatly improved, reach 3000 pins/point, consistent with world level.
Be to be understood that, although this instructions is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should make instructions as a whole, technical scheme in each embodiment also can, through appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.
Listed a series of detailed description is above only illustrating for feasibility embodiment of the present invention; they are not in order to limit the scope of the invention, all do not depart from the equivalent embodiment that skill spirit of the present invention does or change and all should be included in protection scope of the present invention within.
Claims (10)
1. a quilter Biaxial synchronous system, is characterized in that: comprising:
Frame, be fixed on crossbeam in described frame, be arranged on the head under described crossbeam and be arranged on the support under described head, described head is provided with head spindle, and described support is provided with support rotary shuttle shaft; In described frame, be also installed with bogie side frame, and the adjustable frame that stretches tight is set on the madial wall of described bogie side frame, and the described adjustable frame that stretches tight can move around on described bogie side frame,
The first synchronous AC servomotor, is arranged on described head, is used for driving described head spindle to rotate;
The second synchronous AC servomotor, is arranged on described support, is used for driving described support rotary shuttle shaft to rotate;
The first AC servo driver, mates with described the first synchronous AC servomotor, is arranged in described frame, is used for controlling the running of described the first synchronous AC servomotor;
The second AC servo driver, mates with described the second synchronous AC servomotor, is arranged in described frame, is used for controlling the running of described the second synchronous AC servomotor;
The first scrambler, is arranged on the tail end of described the first synchronous AC servomotor, is used for detecting angle position and the rotating speed of described the first synchronous AC servomotor;
The second scrambler, is arranged on the tail end of described the second synchronous AC servomotor, is used for detecting angle position and the rotating speed of described the second synchronous AC servomotor;
Wherein, described the first AC servo driver and described the second AC servo driver adopt communication modes in parallel to connect, between the described synchronous AC servomotor of every a pair of coupling and described AC servo driver, be connected with drive wire, described the first scrambler and the second scrambler convert the angle position of described the first synchronous AC servomotor and described the second synchronous AC servomotor and rotating speed to electric signal respectively and feed back to described the first AC servo driver and described the second AC servo driver, angle position and the rotating speed of controlling described the first synchronous AC servomotor and described the second synchronous AC servomotor by the transmission of communication signal between described the first AC servo driver and described the second AC servo driver are tending towards synchronizeing gradually, described head spindle and support rotary shuttle shaft are reached synchronize rotation.
2. quilter Biaxial synchronous system as claimed in claim 1, is characterized in that, described drive wire is the multi cord that sectional area is greater than 1 square millimeter.
3. quilter Biaxial synchronous system as claimed in claim 1, is characterized in that, described the first AC servo driver and the second AC servo driver are master slave relation.
4. quilter Biaxial synchronous system as claimed in claim 1, is characterized in that, the angle position synchronization accuracy of described head spindle and described support rotary shuttle shaft is spent in +/-0.5.
5. quilter Biaxial synchronous system as claimed in claim 1, is characterized in that, the highest synchronous speed of described quilter Biaxial synchronous system is 3000 revs/min.
6. a quilter Double-axis synchronous control method, is characterized in that, it comprises the following steps:
S1, the first AC servo driver receive synch command;
S2, the first AC servo driver and the second AC servo driver drive head spindle and support rotary shuttle shaft to return zero-bit separately;
S3, head spindle and support rotary shuttle shaft start to rotate, described the first scrambler and the second scrambler convert described the first synchronous AC servomotor and described the second synchronous AC servomotor angle position and rotating speed to electric signal and feed back to described the first AC servo driver and described the second AC servo driver, and it is poor to calculate the angle position of head spindle and support rotary shuttle shaft reality;
S4, when angle position is poor while being greater than the higher limit of setting in program, adjust the rotating speed of the axle that wherein inertia is little;
Whether S5, inquiry have other orders;
S6, repetition S2, S3 and S4, S5 step realizes described long-stitch sew-machine head main shaft and support rotary shuttle shaft phase-locking.
7. quilter Double-axis synchronous control method as claimed in claim 6, is characterized in that, described method also comprises:
According to the rotating speed of speed control signal control the first synchronous AC servomotor and the second synchronous AC servomotor.
8. quilter Double-axis synchronous control method as claimed in claim 6, is characterized in that, the position signalling of described scrambler output is greater than 10000 pulses/turn.
9. quilter Double-axis synchronous control method as claimed in claim 7, is characterized in that, the precision that described speed control signal is is 12 D/A.
10. quilter Double-axis synchronous control method as claimed in claim 6, is characterized in that, described the first AC servo driver and described the second AC servo driver have identical hardware controls circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410416704.7A CN104155913B (en) | 2014-08-22 | 2014-08-22 | Quilter double-shaft synchronization control method and system |
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| CN201410416704.7A CN104155913B (en) | 2014-08-22 | 2014-08-22 | Quilter double-shaft synchronization control method and system |
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| CN104499210A (en) * | 2015-01-06 | 2015-04-08 | 上海鲍麦克斯电子科技有限公司 | Upper-and-lower shaft separating synchronous driving device of industrial sewing machine |
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| CN107909594A (en) * | 2017-11-27 | 2018-04-13 | 常州市新创智能科技有限公司 | A kind of positioner and method of automatic discrimination quilting starting origin |
| CN110055677A (en) * | 2019-05-18 | 2019-07-26 | 徐州恒辉编织机械有限公司 | A kind of braiding machine host and take-up sync control device |
| CN111890798A (en) * | 2020-07-31 | 2020-11-06 | 宁波柏图数码科技有限公司 | Digital printer |
| CN112587351A (en) * | 2020-11-27 | 2021-04-02 | 上海力申科学仪器有限公司 | Operating table double-column synchronous following operation control circuit suitable for heavy load and detection method thereof |
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| CN112587351A (en) * | 2020-11-27 | 2021-04-02 | 上海力申科学仪器有限公司 | Operating table double-column synchronous following operation control circuit suitable for heavy load and detection method thereof |
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| CN104155913B (en) | 2017-01-18 |
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