CN105603624B - Weaving device and its degree mesh control system - Google Patents
Weaving device and its degree mesh control system Download PDFInfo
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- CN105603624B CN105603624B CN201610093920.1A CN201610093920A CN105603624B CN 105603624 B CN105603624 B CN 105603624B CN 201610093920 A CN201610093920 A CN 201610093920A CN 105603624 B CN105603624 B CN 105603624B
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- circuit
- servo
- servo motor
- degree mesh
- driver
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Classifications
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/32—Cam systems or assemblies for operating knitting instruments
- D04B15/36—Cam systems or assemblies for operating knitting instruments for flat-bed knitting machines
Abstract
The invention discloses a kind of Weaving device and its degree mesh control systems.The degree mesh control system of the Weaving device includes：Servo-driver, servo motor and magnetic coder.Wherein, magnetic coder is acted synergistically with servo motor and is oppositely arranged with output shaft, obtains sensing signal so as to sense the rotation of the servo motor output shaft, magnetic coder is connect with servo-driver, and sensing signal is output to servo-driver, servo motor to be driven to rotate.The present invention is realized and degree purpose is accurately controlled by above-mentioned degree mesh control system；Save the space resources and production cost needed for equipment installation；Simplify equipment mounting process.
Description
Technical field
The present invention relates to textile technology field, particularly a kind of Weaving device and its degree mesh control system.
Background technology
Weaving device such as knitting machine etc. is the equipment for knitted or woven fabrics, mainly includes power circuit, operating case, master control
Circuit board, head, motor, driver and the lathe for installing said elements.It is by head that knitting machine, which carries out knitting control, at present
It is movable back and forth on lathe, and push pin completing knitting operation by the three-legged structure on head.In the three-legged structure,
The degree mesh triangle of control braiding lopping density is installed, which is to be controlled by degree mesh motor by transmission device
's.
Current degree mesh motor generally using stepper motor or brushless motor, be circumscribed with switching mode photoelectric sensor and
The reception processing conversion circuit of corresponding sensor.Under machine normal operating conditions, when spending the rotation of mesh motor, the axis of motor
On baffle by the photoelectric sensor in equipment, at this point, sensor can export a zero-bit transducing signal, null pick-up letter
Number through in excessive mesh control system reception processing conversion circuit processing and conversion after obtain zero signal, this signal as
Zero signal in equipment.
However, it is existing degree mesh control system have the following problems it is urgently to be resolved hurrily：The realization degree mesh of existing stepper motor
Control highest output speed only has 600RPM, and positioning accuracy is 1.8 °；Turned using the control highest output of brushless motor realization degree mesh
Speed is 3000RPM, but can only realize positioning of poor quality, and positioning accuracy is 15 °.The current servo motor highest with photoelectric encoder
Output speed is 3000RPM, and positioning accuracy is 0.09 °, but motor volume is big, expensive；External photoelectric coding in addition
The installation of device is complicated, and needs to increase sensor reception processing conversion circuit on the controller, increases equipment mounting process
Complexity.
Invention content
The purpose of the present invention is to provide a kind of Weaving device and its degree mesh control system, can degree of realization purpose accurately control
System reduces production cost, simplifies equipment mounting process.
To solve the above problems, the present invention provides a kind of degree mesh control system of Weaving device, including：Servo is driven
Dynamic device, servo motor and magnetic coder；The servo-driver connects the magnetic coder, and for driving the servo motor
To control the degree mesh of the Weaving device；The magnetic coder with the servo motor output shaft for being oppositely arranged, with sensing
The rotation of the servo motor output shaft and obtain sensing signal, and send the sensing signal to the servo-driver；Institute
The degree mesh control system stated includes：Current output circuit is no more than the electric current of first threshold to drive for output current
State servo motor operating；Circuit variation detection circuit, for detecting the servo in the current output circuit output current
The rotation speed change situation of motor and the curent change situation of electric current output；Decision circuitry, for judging that the rotating speed becomes
Whether change situation is that motor speed is decelerated to whether second threshold, the curent change situation are that electric current output increases to third threshold
Value；Encoder values obtain circuit, for be judged as the rotation speed change situation whether be motor speed be decelerated to second threshold,
When the curent change situation increases to third threshold value for electric current output simultaneously, the current operating position of the servo motor is defined
For equipment zero-bit, and obtain the encoder values that the corresponding servo motor of the equipment zero-bit currently exports；Storage circuit,
For storing the corresponding encoder values of the equipment zero-bit acquired.
Wherein, the magnetic coder is Increament type magnetic coder, including magnetic coding circuit and hall sensing analog circuit；
The magnetic coding circuit connects the hall sensing analog circuit, is obtained for sensing the rotation of the servo motor output shaft
The sensing signal, and it is sent to the servo-driver；The hall sensing analog circuit is used to compile according to from the magnetic
The servo motor output shaft rotation position information that code circuit obtains simulates three Hall sensors and exports three road Hall letters
Number output is to the servo-driver.
Wherein, the degree mesh control system includes the first difference transmission circuit and the second difference transmission circuit；Described first
Difference transmission circuit is connected between the magnetic coding circuit and the servo-driver, the second difference transmission circuit connection
Between the hall sensing analog circuit and the servo-driver.
Wherein, the servo motor is defined as the rotation work stroke of the servo motor of connection servo-driver no more than one
Circle, the first threshold is to make a current value of the without hindrance operating of the servo motor；Second threshold is servo motor operating
Velocity amplitude during to target location；Third threshold value is less than the current load maximum value of the servo motor.
The present invention provides a kind of Weaving device, including：Head and degree mesh, degree mesh servo electricity on the head
Machine, degree mesh servo-driver and magnetic coder；The degree mesh servo-driver connects the magnetic coder, degree mesh servo respectively
Motor, and be used to that the degree mesh servo motor to be driven to control the degree mesh；The magnetic coder and the degree mesh servo motor
Output shaft is oppositely arranged, and sensing signal is obtained, and be sent to described to sense the rotation of the degree mesh servo motor output shaft
Spend mesh servo-driver；The Weaving device further comprises：Current output circuit is no more than the first threshold for output current
The electric current of value is to drive the degree mesh servo motor operating；Circuit variation detection circuit, for defeated in the current output circuit
The rotation speed change situation of the degree mesh servo motor and the curent change situation of electric current output are detected when going out electric current；Judge
Circuit, for judging whether the rotation speed change situation is that motor speed is decelerated to second threshold, the curent change situation is
It is no to increase to third threshold value for electric current output；Encoder values obtain circuit, for whether being judged as the rotation speed change situation
Second threshold is decelerated to for motor speed while when the curent change situation is that electric current output increases to third threshold value, definition
The current operating position of the degree mesh servo motor is equipment zero-bit, and obtains the corresponding degree mesh of the equipment zero-bit and watch
Take the encoder values that motor currently exports；Storage circuit, for storing the corresponding institute of the equipment zero-bit acquired
State encoder values.
Wherein, the magnetic coder is Increament type magnetic coder, including magnetic coding circuit and hall sensing analog circuit；
The magnetic coding circuit connects the hall sensing analog circuit, for sensing the rotation of the degree mesh servo motor output shaft
The sensing signal is obtained, and is sent to the degree mesh servo-driver；The hall sensing analog circuit is used for basis and comes from
The degree mesh servo motor output shaft rotation position information that the magnetic coding circuit obtains, three Hall sensors of simulation are simultaneously defeated
Go out three road hall signals to export to the degree mesh servo-driver.
Wherein, the Weaving device, including the first difference transmission circuit and the second difference transmission circuit；Described first is poor
Transmission circuit is divided to be connected between the magnetic coding circuit and the degree mesh servo-driver, the second difference transmission circuit connects
It is connected between the hall sensing analog circuit and the degree mesh servo-driver.
The beneficial effects of the invention are as follows：Prior art moderate mesh control system includes stepper motor or brushless motor, external
Photoelectric sensor and corresponding receive handle conversion circuit；Unlike the prior art, the present invention proposes that a kind of new weaving is set
Standby and its degree mesh control system, degree mesh control device.Its moderate mesh control system uses servo-control system, including SERVO CONTROL
Device, magnetic coder and servo motor, the magnetic coder that servo-control system carries have higher positioning accuracy and small
Feature, and without external processing conversion circuit, be accurately positioned control so as to fulfill degree purpose, save production cost, and simplify
Equipment mounting process.
Description of the drawings
Fig. 1 is the structure diagram of the degree mesh control system first embodiment of Weaving device of the present invention；
Fig. 2 is the structure for spending the working mechanism of magnetic coder in mesh control system second embodiment of Weaving device of the present invention
Schematic diagram；
Fig. 3 is the structure diagram of Increament type magnetic coder in degree mesh control system second embodiment of the present invention；
Fig. 4 is the structure diagram of the first application examples of the fourth embodiment of degree mesh control system of the present invention.
Fig. 5 is the structure diagram of the first embodiment of Weaving device of the present invention.
Specific embodiment
As shown in Figure 1, the first embodiment of the degree mesh control system 1 of Weaving device of the present invention includes：
Servo-driver 1, servo motor 3 and magnetic coder 2；
Wherein, servo-driver 1 connects magnetic coder 2, and for driving servo motor 3 to control the Weaving device
Spend mesh；Magnetic coder 2 is obtained for being oppositely arranged with 3 output shaft of servo motor with sensing the rotation of 3 output shaft of servo motor
Sensing signal, and sensing signal is sent to servo-driver 2.
It before equipment work, needs to fix magnet steel in motor tail portion, magnetic coder chip needs to be aligned magnet steel, and protect
Card magnet steel and magnetic coder chip distance keep to use between 0.8MM~1.5MM.
At work, on the basis of the servo motor of opened loop control 3, magnetic coder 2 receives opposite position and speed
The electric signal of signal period property, then this electric signal is walked around and changes counting pulse into, the size of displacement is represented with the number of pulse；
Then, for magnetic coder 2 by output of pulse signal to servo-driver 1, servo-driver 1 believes current location and target location
After breath and speed signal are calculated, to drive servo motor 3 that drive actions element is driven to run to target location, with reality
Now the degree purpose of Weaving device is accurately controlled.
The second embodiment of degree mesh control system of the present invention is the demonstration about the working mechanism of magnetic coder therein；
As shown in Fig. 2, magnetic coder therein is Increament type magnetic coder, including：Magnetic coding circuit 21 and hall sensing simulation electricity
Road 22.
Wherein magnetic coding circuit 21 for being connect with hall sensing analog circuit 22, angle to the magnetic material of variation and
Displacement measures；Since the variation of magnetic material angle either displacement can cause the variation of certain resistance or voltage, generate
Electric signal；Hall sensing analog circuit 22 then can simulate three hall sensings according to the electrical signal information that magnetic coding circuit 21 provides
Device simultaneously exports three road hall signals, so as to fulfill the purpose of measurement.Then by this analog signal output to servo-driver with reality
Existing degree of control purpose operation.
The 3rd embodiment of degree mesh control system of the present invention is on the basis of second embodiment, is compiled about increment type magnetic
The structural representation of code device output signal circuit；As shown in figure 3, Increament type magnetic coder output signal circuit is sent out including the first difference
33 and second difference transmission circuit 34 of power transmission road；
Wherein the first difference transmission circuit 33 is connected between magnetic coding circuit 31 and servo-driver 1, the second difference hair
Power transmission road 34 is connected between hall sensing analog circuit 32 and servo-driver 1.
Wherein the first difference transmission circuit 33 exports six kinds of states of three prescription shape impulse wave A, B and Z phases, two phase wave of A, B
Direction is provided and speed signal, Z phases provide origin reference location signal；Second difference transmission circuit 34 exports three groups of U, V and W magnetic pole letters
Number six kinds of states, for making initial alignment to the rotor of magnetic coder 2.First difference transmission circuit 33 and the second difference are sent
Circuit 34 exports signal to servo-driver 1, servo motor 3 to be driven to drive action element operation.
The fourth embodiment of degree mesh control system of the present invention is the specific reality about circuit structure in the degree mesh control system
Apply example.The degree mesh control system includes：Current output circuit 41, circuit variation detection circuit 42, decision circuitry 43, encoder values
Obtain circuit 44 and storage circuit 45.
Wherein current output circuit 41 is no more than the electric current of first threshold to drive servo motor 3 for output current
Operating；Circuit variation detection circuit 42, for detecting the rotation speed change of servo motor 3 in 41 output current of current output circuit
Situation and the curent change situation of electric current output；Decision circuitry 43, for judging whether above-mentioned rotation speed change situation is motor
Rotating speed is decelerated to whether second threshold, above-mentioned curent change situation are that electric current output increases to third threshold value；Encoder values obtain
Circuit 44, for being judged as that above-mentioned rotation speed change situation is that motor speed is decelerated to second threshold while above-mentioned curent change
When situation increases to third threshold value for electric current output, it is equipment zero-bit, and obtain to define the current operating position of servo motor 3
The encoder values that the corresponding servo motor of the equipment zero-bit currently exports；Storage circuit 45 acquires for storing
The corresponding encoder values of equipment zero-bit.
As shown in figure 4, the first application examples of the fourth embodiment of figure degree of the demonstrating mesh control system, specifically, is
Servo motor carries out the specific implementation process of zero position.It includes：Servo motor 3, current output circuit 41, circuit variation inspection
Slowdown monitoring circuit 42, decision circuitry 43, encoder values obtain circuit 44 and storage circuit 45.
Wherein current output circuit 41 applies an electric current for being no more than first threshold to servo motor 3 makes servo motor 3
Rotated toward direction, when servo motor 3 occur it is stuck cannot rotate situation when, velocity of rotation becomes zero at this time, while electricity
Electric current increases to third threshold value in road, and circuit variation detection circuit 42 detects the velocity of rotation and electric current of current motor at this time,
And judging that the left and right of motor limits according to the velocity of rotation and electric current of current motor by decision circuitry 43, encoder values obtain at this time
Sense circuit 44 can according to left and right limiting acquisition of information motor null pick-up in equipment corresponding position, current coding
Device value is the zero-bit of equipment；In the zero-bit storage to storage circuit 45 of last accessed equipment；When each power down, when
Encoder values corresponding to preceding device location can be all stored in storage circuit 45, are spent mesh control system after the power is turned on and are passed through reading
Storage circuit 45 obtains the encoder values corresponding to the position of the corresponding encoder values of equipment zero-bit and last time power down equipment, you can
The efficient fast positioning function of realization degree mesh control system.
The first embodiment of Weaving device of the present invention, including：Head 51 and degree mesh 52, degree on the head
Mesh servo motor 53, degree mesh servo-driver 54 and magnetic coder 55.
As shown in figure 5, its moderate mesh servo-driver 54 is connected respectively with magnetic coder 55 and degree mesh servo motor 53；
When operating, on the basis of the degree mesh servo motor 53 of opened loop control, magnetic coder 55 receives opposite position and speed letter
Number periodic electric signal, then this electric signal is walked around and changes counting pulse into, the size of displacement is represented with the number of pulse；So
Afterwards, magnetic coder 55 is by output of pulse signal to degree mesh servo-driver 5, and degree mesh servo-driver 5 is to current location and target
After location information and speed signal are calculated, driving is driven and positioned at the head with degree of driving mesh servo motor 53
On degree mesh 52 run to target location, with realize the degree purpose of Weaving device is accurately controlled.
Degree mesh control system of the present invention is not only applicable on Weaving device, is being printed, and mechanical packaging and coiled strip system etc. are more
A field can apply.
Degree mesh control system of the present invention is by using stepper motor used in servo motor degree of substitution mesh control system, brushless
Motor, and replace existing photoelectric sensor with the magnetic coder that servo motor carries；First, the present invention solves existing motor
The problem of positioning accuracy is poor is effectively improved the positioning accuracy of motor；Secondly, existing photoelectric sensor is big there are volume,
Expensive, the defects of zero-point positioning width is limited by barrier width, the present invention is by the application of Increament type magnetic coder, not only
Reduce the dimensional footprint of equipment, reduce cost, and also achieve the precision of zero-bit positioning, can navigate on a little；Most
Afterwards, the present invention does not have to external sensor and receives processing conversion circuit, greatly reduces the complexity of equipment mounting process, reduces
Human cost.
The foregoing is merely embodiments of the present invention, are not intended to limit the scope of the invention, every to utilize this
It is relevant to be directly or indirectly used in other for the equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made
Technical field is included within the scope of the present invention.
Claims (7)
1. a kind of degree mesh control system of Weaving device, which is characterized in that including：
Servo-driver, servo motor and magnetic coder；
The servo-driver connects the magnetic coder, and for driving the servo motor to control the Weaving device
Spend mesh；
The magnetic coder with the servo motor output shaft for being oppositely arranged, to sense turning for the servo motor output shaft
It is dynamic to obtain sensing signal, and send the sensing signal to the servo-driver；
The degree mesh control system further comprises：
Current output circuit is no more than the electric current of first threshold so that the servo motor to be driven to operate for output current；
Circuit variation detection circuit becomes for detecting the rotating speed of the servo motor in the current output circuit output current
Change situation and the curent change situation of electric current output；
Decision circuitry, for judging whether the rotation speed change situation is that motor speed is decelerated to second threshold, the electric current becomes
Whether change situation is that electric current output increases to third threshold value；
Encoder values obtain circuit, for being judged as whether the rotation speed change situation is that motor speed is decelerated to the second threshold
When value while the curent change situation are that electric current output increases to third threshold value, the current running of the servo motor is defined
Position is equipment zero-bit, and obtains the encoder values that the corresponding servo motor of the equipment zero-bit currently exports；
Storage circuit, for storing the corresponding encoder values of the equipment zero-bit acquired.
2. degree mesh control system according to claim 1, which is characterized in that
The magnetic coder is Increament type magnetic coder, including magnetic coding circuit and hall sensing analog circuit；
The magnetic coding circuit connects the hall sensing analog circuit, for sensing the rotation of the servo motor output shaft
The sensing signal is obtained, and is sent to the servo-driver；
The hall sensing analog circuit is used to be turned according to the servo motor output shaft obtained from the magnetic coding circuit
Dynamic location information, simulates three Hall sensors and three road hall signals of output are exported to the servo-driver.
3. degree mesh control system according to claim 2, which is characterized in that
The Increament type magnetic coder includes the first difference transmission circuit and the second difference transmission circuit；
The first difference transmission circuit is connected between the magnetic coding circuit and the servo-driver, second difference
Transmission circuit is connected between the hall sensing analog circuit and the servo-driver.
4. degree mesh control system according to claim 3, which is characterized in that the servo motor is defined as connection servo and drives
The rotation work stroke of the servo motor of dynamic device is no more than a circle, and the first threshold is to make the without hindrance operating of the servo motor
A current value；Second threshold is velocity amplitude when servo motor is operated to target location；Third threshold value is less than described
The current load maximum value of servo motor.
5. a kind of Weaving device, which is characterized in that including：
Head and degree mesh, degree mesh servo motor, degree mesh servo-driver and magnetic coder on the head；
The degree mesh servo-driver connects the magnetic coder, degree mesh servo motor respectively, and for the degree mesh to be driven to watch
Motor is taken to control the degree mesh；
The magnetic coder is oppositely arranged with the degree mesh servo motor output shaft, to sense the degree mesh servo motor output shaft
Rotation and obtain sensing signal, and be sent to it is described degree mesh servo-driver；
The Weaving device further comprises：
Current output circuit is no more than the electric current of first threshold to drive the degree mesh servo motor fortune for output current
Turn；
Circuit variation detection circuit, for detecting turning for the degree mesh servo motor in the current output circuit output current
Fast situation of change and the curent change situation of electric current output；
Decision circuitry, for judging whether the rotation speed change situation is that motor speed is decelerated to second threshold, the electric current becomes
Whether change situation is that electric current output increases to third threshold value；
Encoder values obtain circuit, for being judged as whether the rotation speed change situation is that motor speed is decelerated to the second threshold
When value while the curent change situation increase to third threshold value for electric current output, it is current to define the degree mesh servo motor
Operating position is equipment zero-bit, and obtains the encoder that the corresponding degree mesh servo motor of the equipment zero-bit currently exports
Value；
Storage circuit, for storing the corresponding encoder values of the equipment zero-bit acquired.
6. Weaving device according to claim 5, which is characterized in that
The magnetic coder is Increament type magnetic coder, including magnetic coding circuit and hall sensing analog circuit；
The magnetic coding circuit connects the hall sensing analog circuit, for sensing turning for the degree mesh servo motor output shaft
It is dynamic to obtain the sensing signal, and it is sent to the degree mesh servo-driver；
The hall sensing analog circuit is used for according to the degree mesh servo motor output obtained from the magnetic coding circuit
Axis rotation position information simulates three Hall sensors and exports three road hall signals and export to described and spends mesh servo-driver.
7. Weaving device according to claim 6, which is characterized in that
Including the first difference transmission circuit and the second difference transmission circuit；
The first difference transmission circuit is connected between the magnetic coding circuit and the degree mesh servo-driver, and described second
Difference transmission circuit is connected between the hall sensing analog circuit and the degree mesh servo-driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610093920.1A CN105603624B (en) | 2015-12-31 | 2016-02-19 | Weaving device and its degree mesh control system |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511023524 | 2015-12-31 | ||
| CN2015110235243 | 2015-12-31 | ||
| CN201610093920.1A CN105603624B (en) | 2015-12-31 | 2016-02-19 | Weaving device and its degree mesh control system |
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| Publication Number | Publication Date |
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| CN105603624A CN105603624A (en) | 2016-05-25 |
| CN105603624B true CN105603624B (en) | 2018-07-03 |
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| CN201610093920.1A Active CN105603624B (en) | 2015-12-31 | 2016-02-19 | Weaving device and its degree mesh control system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109787520B (en) * | 2019-03-08 | 2024-02-23 | 深圳市雷赛智能控制股份有限公司 | Drive control equipment, integrated motor and automatic control system |
| CN110597308A (en) * | 2019-09-06 | 2019-12-20 | 北京精密机电控制设备研究所 | Servo device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8193748B2 (en) * | 2008-10-10 | 2012-06-05 | Smi Holdings, Inc. | Integrated brushless DC motor and controller |
| CN101594114B (en) * | 2009-07-02 | 2011-04-20 | 哈尔滨工业大学 | Method for determining initial position angle of rotor of permanent magnet synchronous motor |
| CN202135031U (en) * | 2011-06-07 | 2012-02-01 | 杭州之山科技有限公司 | Magnetic encoder used for servo control system |
| CN202492681U (en) * | 2012-02-10 | 2012-10-17 | 北京大豪科技股份有限公司 | Transverse weaving machine |
| CN203465564U (en) * | 2013-10-07 | 2014-03-05 | 揭阳市南星机械有限公司 | Computer flat-machine shaking-table control system and shaking-table-motor special-purpose coder thereof |
| CN104158450A (en) * | 2014-08-08 | 2014-11-19 | 浙江恒强科技股份有限公司 | Control system for stitch setting control on machine head of flat knitting machine |
| CN205711214U (en) * | 2015-12-31 | 2016-11-23 | 福建睿能科技股份有限公司 | Weaving device and degree mesh control system thereof |
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