CN105113111B - A kind of computer automatic yarn changing machine real-time control system and control method - Google Patents
A kind of computer automatic yarn changing machine real-time control system and control method Download PDFInfo
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- CN105113111B CN105113111B CN201510510403.5A CN201510510403A CN105113111B CN 105113111 B CN105113111 B CN 105113111B CN 201510510403 A CN201510510403 A CN 201510510403A CN 105113111 B CN105113111 B CN 105113111B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000003993 interaction Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000012546 transfer Methods 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 238000009954 braiding Methods 0.000 claims description 13
- 239000004973 liquid crystal related substance Substances 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 8
- 230000015654 memory Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 238000002955 isolation Methods 0.000 claims description 5
- 238000009940 knitting Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000014759 maintenance of location Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000004744 fabric Substances 0.000 abstract description 5
- 238000012827 research and development Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 239000003086 colorant Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
- 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
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Abstract
The invention discloses a kind of computer automatic yarn changing machine real-time control system and control method, including man-machine interaction unit, real-time controlling unit and mechanism's execution unit；Wherein described man-machine interaction unit is connected with real-time controlling unit by the two-port RAM based on FPGA；Described real-time controlling unit is connected with mechanism execution unit.System pattern data transmission of the invention is fast, and control accuracy is high, can shorten the research and development of products cycle, and improves the colored cloth quality of production, and ensures the reliability of system production.
Description
Technical field
The present invention relates to a kind of computer automatic yarn changing machine real-time control system and control method, belong to Knitting Machinery numerical control skill
Art field.
Background technology
Computer automatic yarn changing machine is widely used in knitting needle industry, and computer automatic yarn changing machine on the market is divided into 3 colors, 4 at present
Color, 5 colors and 6 colors.But the producer of the color automatic yarn changing large circle machine of digital control computer six of state's interior energy independent research is very few, release
Machine there is also the problems such as rotating speed is relatively slow, control accuracy is not high, it is difficult to the need for meeting China's hosiery industry development.
The content of the invention
In order to overcome existing computer automatic yarn changing control system braiding speed slower, the research and development of products cycle is long, control accuracy
It is not high, cause the second-rate of cloth braiding, the present invention provides a kind of pattern data transmission soon, and control accuracy is high, can shorten
The research and development of products cycle, and the colored cloth quality of production is improved, and ensure a kind of computer automatic yarn changing of the reliability of system production
Machine real-time control system and control method.
To reach above-mentioned purpose, the technical scheme is that：
A kind of computer automatic yarn changing machine real-time control system, including man-machine interaction unit, real-time controlling unit and mechanism hold
Row unit；Wherein described man-machine interaction unit is connected with real-time controlling unit by the two-port RAM based on FPGA；Described
Real-time controlling unit is connected with mechanism execution unit；Described mechanism's execution unit includes that variable-frequency motor, slide cam selector, circle zero-bit are passed
Sensor, yarn break sensor, dropped stitch sensor, oil leakage sensor, orthogonal encoder；Wherein described variable-frequency motor and variable-frequency motor
Drive control circuit is connected, and described variable-frequency motor is also connected with line transfer machine needle cylinder, described variable-frequency motor drive control circuit
Isolated by high speed photo coupling with real-time control Duan Yuan and be connected；Described slide cam selector by the two-port RAM based on FPGA with it is real-time
Control unit is connected, and described slide cam selector is also connected with line transfer finger；Described circle null pick-up, yarn break sensor, dropped stitch
Sensor, oil leakage sensor, orthogonal encoder are isolated by high speed photo coupling with real-time controlling unit and are connected, and are responsible for adopting for signal
Collection.
The man-machine interaction unit include S3C6410 controllers, liquid crystal display, touch-screen, Nand flash storages,
USB interface and Ethernet interface；Described S3C6410 controllers are respectively by circuit and liquid crystal display, touch-screen, Nand
Flash storage, USB interface, Ethernet interface are connected；Described S3C6410 controllers are by the two-port RAM based on FPGA
It is connected with real-time controlling unit.
The real-time controlling unit includes ARM controller, the two-port RAM based on FPGA, extends out Flash flower pattern memories
Isolate with high speed photo coupling；The wherein described two-port RAM based on FPGA is connected by parallel bus with S3C6410 controllers,
The described two-port RAM based on FPGA is connected by circuit with slide cam selector, and the described two-port RAM based on FPGA is by simultaneously
Row bus are connected with Flash flower pattern memories are extended out；The described two-port RAM based on FPGA is controlled by parallel bus with ARM
Device processed is connected；Described ARM controller is isolated and the circle null pick-up on mechanism's execution unit, broken yarn biography by high speed photo coupling
Sensor, dropped stitch sensor, oil leakage sensor, orthogonal encoder, variable-frequency motor drive control circuit are connected；Described ARM controls
Device is connected by the two-port RAM based on FPGA with slide cam selector；Two-port RAM based on FPGA as man-machine interaction unit with
ARM controller completes the synchronous read-write operation of data, realizes the interaction of data and shared, the transmission of completion flower pattern action data,
Enhance parallel bus anti-interference.
Described orthogonal encoder is incremental rotary encoder.
A kind of computer automatic yarn changing machine real-time control control method, comprises the following steps：
1）First-selection is shown by described liquid crystal display and the flower pattern file of customer demand is passed through into usb bus by operating
Interface or Ethernet switch import S3C6410 controllers, then enter real-time using the described two-port RAM based on FPGA
In control unit, and corresponding braiding file is parsed into by the ARM controller on described ARM real-time controlling units, be stored in
Described ARM controller extends out flash storage；
2）Thread-adjusting machine start button is pressed, the ARM controller of described real-time controlling unit control starts variable-frequency motor and drives
Dynamic control circuit, described variable-frequency motor drive control circuit drives variable-frequency motor works to drive line transfer machine needle cylinder to rotate, Gu
The orthogonal encoder being scheduled on described line transfer machine needle cylinder reads current pin digit pulse；Described orthogonal encoder revolves for increment type
Turn encoder, using positive and negative two-way step-by-step counting, substantially increase control accuracy；
3）According to step 1）The corresponding braiding file and step 2 being parsed into）In pin digit pulse count, and circle zero-bit pass
Sensor realizes positioning to system zero testing, and described real-time controlling unit is by the two-port RAM handle action based on FPGA
Data are sent in slide cam selector, and described slide cam selector and line transfer machine needle cylinder synchronous axial system simultaneously drive different line transfer fingers to complete 6
Plant the replacing of yarn color；
4）The also execution system operation monitoring of the ARM controller of described real-time controlling unit；When described yarn break sensor,
When dropped stitch sensor, oil leakage sensor have sensed that broken yarn, dropped stitch or oil leak situation occur, described real-time controlling unit
When ARM controller isolates the alarm signal for receiving detection signal exception by high speed photo coupling, stopping alarm treatment is performed.
5）Repeat second and third, FOUR EASY STEPS, until completing whole thread-adjusting machine knitting process.
The beneficial effects of the invention are as follows：Computer automatic yarn changing machine real-time control system of the invention and control method use three
Layer distributed structure/architecture, includes man-machine interaction unit, real-time controlling unit and actuator unit, and it is realized at a high speed, accurately
Control braiding, improve the production efficiency of system.Man-machine interaction unit is with real-time controlling unit using the both-end based on FPGA
Mouth RAM technologies are read and write while realizing that flower pattern file is transmitted, and data transmission efficiency are improved, while as slide cam selector driving data
Temporary location, reduces parallel bus length, reduces interference, advantageously ensures that the uniformity of sequential and the stability of data.
Slide cam selector is driven using parallel address date multiplex bus clocking information line mode, the real-time of system braiding is improve.
Using bus with each actuator is connected by the way of light-coupled isolation so that the wiring of thread-adjusting machine is simplified, and ensures each list
Independence between unit, improves the reliability of system.Various sensor signals are carried out using bus mode with real-time controlling unit
Communication, can make real-time controlling unit realize more accurately controlling, and increased the closed-loop control of system, improve system
Stability.Real-time, reliability of the proposition of the invention in thread-adjusting machine control system, have carried out greatly carrying in control accuracy
It is high, it is ensured that the braiding of the colored cloth in high-effect high-quality ground.
Brief description of the drawings
Fig. 1 is the schematic diagram of computer automatic yarn changing machine real-time control system of the invention.
Specific embodiment
Embodiment 1
A kind of computer automatic yarn changing machine real-time control system of the present embodiment, as shown in figure 1, including man-machine interaction unit
1st, real-time controlling unit 2 and mechanism's execution unit 3；Wherein described man-machine interaction unit 1 is with real-time controlling unit 2 by being based on
The two-port RAM 14 of FPGA is connected, and carries out data interaction and shares；Described real-time controlling unit 2 and mechanism's execution unit 3
It is connected；Described mechanism's execution unit 3 includes variable-frequency motor 5, slide cam selector 7, circle null pick-up 9, yarn break sensor 10, dropped stitch
Sensor 11, oil leakage sensor 12, orthogonal encoder 13, described orthogonal encoder 13 are incremental rotary encoder；Wherein
Described variable-frequency motor 5 is connected with variable-frequency motor drive control circuit 4, described variable-frequency motor 5 also with the phase of line transfer machine needle cylinder 6
Even, line transfer machine needle cylinder 6 is driven to rotate, described variable-frequency motor drive control circuit 4 passes through high speed photo coupling with real-time control section unit 2
Isolation 16 is connected；Described slide cam selector 7 is connected by the two-port RAM 14 based on FPGA with ARM controller 23, is communicated,
Described slide cam selector 7 is also connected with line transfer finger 8, drives line transfer finger 8 to act；Described circle null pick-up 9, broken yarn sensing
Device 10, dropped stitch sensor 11, oil leakage sensor 12, orthogonal encoder 13 isolate 16 with real-time control section unit 2 by high speed photo coupling
It is connected, is responsible for the collection of signal.
The man-machine interaction unit 1 includes S3C6410 controllers 20（S3C6410 controllers are based on ARM1176JZF-S's
Core, using Wince systems, is purchased from Samsung of South Korea）, liquid crystal display 21, touch-screen 22, Nand flash storages 17,
Usb 18 and Ethernet interface 19；Described S3C6410 controllers 20 are respectively by circuit and liquid crystal display 21, touch
Screen 22, Nand flash storages 17, usb 18, Ethernet interface 19 are connected；Described S3C6410 controllers 20 pass through
Two-port RAM 14 based on FPGA is connected with real-time controlling unit 2；Described man-machine interaction unit 1 mainly provides the user friend
Good human-computer interaction interface, is shown and is changed in real time to thread-adjusting machine control system parameter, and flower pattern file parsing etc..
The real-time controlling unit 2 includes ARM controller 23,（The chip model that ARM controller 23 is used is
STM32F407ZET6, is purchased from Italian ST Microelectronics), the two-port RAM 14 based on FPGA,（Chip model is
CME-M7, is purchased from system in Beijing Jing Wei Ya lattice Science and Technology Ltd.）, extend out Flash flower pattern memory 15 and high speed photo coupling isolation
（16）；The wherein described two-port RAM 14 based on FPGA is connected by parallel bus with S3C6410 controllers 20, described
Two-port RAM 14 based on FPGA is connected by circuit with slide cam selector 7, and the described two-port RAM 14 based on FPGA passes through
Parallel bus is connected with Flash flower pattern memory 15 is extended out；The described two-port RAM 14 based on FPGA passes through parallel bus
It is connected with ARM controller 23；Described ARM controller 23 is isolated and the circle zero-bit on mechanism's execution unit 3 by high speed photo coupling
Sensor 9, yarn break sensor 10, dropped stitch sensor 11, oil leakage sensor 12, orthogonal encoder 13, variable-frequency motor drive control
Circuit 4 is connected；Described ARM controller 23 is connected by the two-port RAM 14 based on FPGA with slide cam selector 7；It is described based on
The two-port RAM 14 of FPGA completes the synchronous read-write operation of data as man-machine interaction unit 1 with ARM controller 23, realizes number
According to interaction with it is shared, while as slide cam selector 7 and the pattern data buffering area of ARM controller 23, completing needle selection action data
Transmission, enhance parallel bus anti-interference.
A kind of computer automatic yarn changing machine real-time control control method, comprises the following steps：
1）Shown by described liquid crystal display 21 first and by operating that the flower pattern file of customer demand is total by USB
Line interface 18 or Ethernet switch 19 import S3C6410 controllers 20, then using the described two-port RAM based on FPGA
14 enter in real-time controlling unit 2, and are parsed into corresponding volume by the ARM controller 23 on described real-time controlling unit 2
File is knitted, be stored in described ARM controller 23 extends out flash storage 15；
2）Thread-adjusting machine start button is pressed, the ARM controller 23 of described real-time controlling unit control 2 starts variable-frequency electric
Machine drive control circuit 4, described variable-frequency motor drive control circuit 4 drives the work of variable-frequency motor 5 to drive line transfer machine needle cylinder 6
Rotate, the orthogonal encoder 13 being fixed on described line transfer machine needle cylinder 6 reads current pin digit pulse；Described orthogonal encoder
13 is incremental rotary encoder, using positive and negative two-way step-by-step counting, substantially increases control accuracy；
3）According to step 1）The corresponding braiding file and step 2 being parsed into）In pin digit pulse count, and circle zero-bit pass
Sensor 9 realizes positioning to system zero testing, and described real-time controlling unit 2 is by the two-port RAM 14 based on FPGA
Action data is sent in slide cam selector 7, and described slide cam selector 7 and the synchronous axial system of line transfer machine needle cylinder 6 simultaneously drive different line transfer hands
Refer to that 8 complete 6 kinds of replacings of yarn color；
4）The also execution system operation monitoring of the ARM controller 23 of described real-time controlling unit 2；When described broken yarn is sensed
When device 10, dropped stitch sensor 11, oil leakage sensor 12 have sensed that broken yarn, dropped stitch or oil leak situation occur, described real-time control
When the ARM controller 23 of unit processed 2 isolates the alarm signal that 12 receive detection signal exception by high speed photo coupling, shutdown is performed
Alert process.
5）Repeat second and third, FOUR EASY STEPS, until completing whole thread-adjusting machine knitting process.
The computer automatic yarn changing machine real-time control system and control method of the present embodiment use Triple distribution framework, including
Man-machine interaction unit 1, real-time controlling unit 2 and actuator unit 3, its realize at a high speed, be accurately controlled braiding, raising
The production efficiency of system.Man-machine interaction unit 1 is with real-time controlling unit 2 using the technology reality of two-port RAM 14 based on FPGA
Existing flower pattern file is read and write while transmission, improves data transmission efficiency, while as the temporary location of the driving data of slide cam selector 7,
Parallel bus length is reduced, interference is reduced, the uniformity of sequential and the stability of data is advantageously ensured that.Using parallel
Address date multiplex bus clocking information line mode drives slide cam selector 7, improves the real-time of system braiding.Using bus with
The mode of light-coupled isolation connects each actuator so that the wiring of thread-adjusting machine is simplified, and ensures the independence between each unit
Property, improve the reliability of system.Various sensor signals are communicated using bus mode with real-time controlling unit, can be made
Real-time controlling unit is realized more accurately controlling, and increased the closed-loop control of system, improves the stability of system.This reality
Real-time, reliability of the proposition of example in thread-adjusting machine control system are applied, great raising has been carried out in control accuracy, it is ensured that be high
Imitate the braiding of colored cloth in high quality.
Claims (4)
1. a kind of computer automatic yarn changing machine real-time control system, it is characterised in that：Including man-machine interaction unit (1), real-time control
Unit (2) and mechanism's execution unit (3)；Wherein described man-machine interaction unit (1) is with real-time controlling unit (2) by being based on
The two-port RAM (14) of FPGA is connected；Described real-time controlling unit (2) is connected with mechanism's execution unit (3)；Described mechanism
Execution unit (3) includes variable-frequency motor (5), slide cam selector (7), circle null pick-up (9), yarn break sensor (10), dropped stitch sensing
Device (11), oil leakage sensor (12), orthogonal encoder (13)；Wherein described variable-frequency motor (5) and variable-frequency motor drive control
Circuit (4) is connected, and described variable-frequency motor (5) is also connected with line transfer machine needle cylinder (6), described variable-frequency motor drive control circuit
(4) isolate (16) by high speed photo coupling with real-time controlling unit (2) to be connected；Described slide cam selector (7) is by double based on FPGA
Port ram (14) is connected with real-time controlling unit (2), and described slide cam selector (7) is also connected with line transfer finger (8)；Described circle
Null pick-up (9), yarn break sensor (10), dropped stitch sensor (11), oil leakage sensor (12), orthogonal encoder (13) and reality
When control unit (2) by high speed photo coupling isolate (16) be connected；The man-machine interaction unit (1) includes S3C6410 controllers
(20), liquid crystal display (21), touch-screen (22), Nand flash storages (17), USB interface (18) and Ethernet interface
(19)；Described S3C6410 controllers (20) are respectively by circuit and liquid crystal display (21), touch-screen (22), Nand
Flash storage (17), USB interface (18), Ethernet interface (19) are connected；Described S3C6410 controllers (20) are by base
It is connected with real-time controlling unit (2) in the two-port RAM (14) of FPGA.
2. a kind of computer automatic yarn changing machine real-time control system as claimed in claim 1, it is characterised in that：The real-time control
Two-port RAM (14) of the unit (2) including ARM controller (23), based on FPGA, extend out Flash flower pattern memory (15) and height
Fast light-coupled isolation (16)；The wherein described two-port RAM (14) based on FPGA is by parallel bus and S3C6410 controllers
(20) it is connected, the described two-port RAM (14) based on FPGA is connected by circuit with slide cam selector (7), it is described based on FPGA
Two-port RAM (14) be connected with Flash flower pattern memory (15) is extended out by parallel bus；The described both-end based on FPGA
Mouth RAM (14) is connected by parallel bus with ARM controller (23)；Described ARM controller (23) is isolated by high speed photo coupling
Respectively with mechanism's execution unit (3) on circle null pick-up (9), yarn break sensor (10), dropped stitch sensor (11), oil leak pass
Sensor (12), orthogonal encoder (13), variable-frequency motor drive control circuit (4) are connected；Described ARM controller (23) is by base
It is connected with slide cam selector (7) in the two-port RAM (14) of FPGA.
3. a kind of computer automatic yarn changing machine real-time control system as claimed in claim 1 or 2, it is characterised in that：It is described just
It is incremental rotary encoder to hand over encoder (13).
4. a kind of control method of computer automatic yarn changing machine real-time control system as claimed in claim 1, it is characterised in that bag
Include following steps：
1) shown by described liquid crystal display (21) first and the flower pattern file of customer demand is passed through into USB interface by operating
(18) or Ethernet interface (19) import S3C6410 controllers (20), then using the described two-port RAM based on FPGA
(14) enter in real-time controlling unit (2), and be parsed into by the ARM controller (23) on described real-time controlling unit (2)
Corresponding braiding file, be stored in described ARM controller (23) extends out Flash flower pattern memory (15)；
2) thread-adjusting machine start button is pressed, the ARM controller (23) of described real-time controlling unit (2) control starts variable-frequency motor
Drive control circuit (4), described variable-frequency motor drive control circuit (4) drives variable-frequency motor (5) work to drive thread-adjusting machine
Syringe (6) is rotated, and the orthogonal encoder (13) being fixed on described line transfer machine needle cylinder (6) reads current pin digit pulse；It is described
Orthogonal encoder (13) be incremental rotary encoder, using positive and negative two-way step-by-step counting, substantially increase control accuracy；
3) according to step 1) the corresponding braiding file that is parsed into and step 2) in pin digit pulse count, and circle null pick-up
(9) positioning is realized to system zero testing, described real-time controlling unit (2) is by the two-port RAM (14) based on FPGA
Action data is sent in slide cam selector (7), described slide cam selector (7) and line transfer machine needle cylinder (6) synchronous axial system simultaneously drive difference
Line transfer finger (8) complete 6 kinds of replacings of yarn color；
4) the also execution system operation monitoring of the ARM controller (23) of the real-time controlling unit (2) described in；When described broken yarn is sensed
It is described when device (10), dropped stitch sensor (11), oil leakage sensor (12) have sensed that broken yarn, dropped stitch or oil leak situation occur
The ARM controller (23) of real-time controlling unit (2) is isolated (16) and receives the abnormal alarm signal of detection signal by high speed photo coupling
Number when, perform stopping alarm treatment；
5) repeat second and third, FOUR EASY STEPS, until completing whole thread-adjusting machine knitting process.
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| CN105589389A (en) * | 2016-03-09 | 2016-05-18 | 浙江理工大学 | ARM-based embedded circular knitting machine controller real-time control unit |
| CN106886186A (en) * | 2017-04-27 | 2017-06-23 | 浙江理工大学 | A kind of active dynamic of circular knitting machine based on ARM send yarn control device |
| CN108251958B (en) * | 2018-03-30 | 2023-10-20 | 江苏润山精密机械科技有限公司 | Power-off compensation system for circular knitting machine |
| CN108588948B (en) * | 2018-07-12 | 2024-01-30 | 蔺会强 | Electronic jacquard control system |
| CN115821474A (en) * | 2022-11-04 | 2023-03-21 | 连云港元丰机械制造有限公司 | Weaving pattern compiling system and control method thereof |
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| CN204982266U (en) * | 2015-08-19 | 2016-01-20 | 浙江理工大学 | Automatic line machine real -time control system that transfers of computer |
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| CN202131454U (en) * | 2011-06-02 | 2012-02-01 | 浙江恒强科技股份有限公司 | Electric control system of flat knitting machine based on single-thread multi-connection technology |
| CN102634924B (en) * | 2012-04-24 | 2014-03-26 | 浙江理工大学 | Fully-mechanized circular knitting machine control system |
| JP6085125B2 (en) * | 2012-09-06 | 2017-02-22 | グンゼ株式会社 | Circular knitting machine |
| JP2014095157A (en) * | 2012-11-07 | 2014-05-22 | Precision Fukuhara Works Ltd | Method and apparatus for take-up control in circular knitting machine |
| CN103268126B (en) * | 2013-05-23 | 2016-09-07 | 浙江鼎炬电子科技股份有限公司 | The yarn guide kinetic control system of a kind of Full-automatic computerized flat and method |
| CN103995488A (en) * | 2014-05-28 | 2014-08-20 | 浙江理工大学 | Underwear machine jacquard closed loop control system and method |
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