CN106874078A - A kind of directrix process control method of computerized loom - Google Patents
A kind of directrix process control method of computerized loom Download PDFInfo
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- CN106874078A CN106874078A CN201510925259.1A CN201510925259A CN106874078A CN 106874078 A CN106874078 A CN 106874078A CN 201510925259 A CN201510925259 A CN 201510925259A CN 106874078 A CN106874078 A CN 106874078A
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- control
- directrix
- thread
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4812—Task transfer initiation or dispatching by interrupt, e.g. masked
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4812—Task transfer initiation or dispatching by interrupt, e.g. masked
- G06F9/4818—Priority circuits therefor
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- Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Looms (AREA)
Abstract
The invention discloses a kind of directrix process control method of computerized loom, the method includes：Main thread is interacted by bus with from control coprocessor, obtains the excitation condition of quasi- thread creation, and aids in directrix journey to carry out execution unit IO grade controlling；When head is static, slave header encoder device position interrupt service routine obtains the control of control and the alarm condition identification of the CAN passages that main control MCU is controlled head to main thread；When head is controlled actively to be run, main thread will return the control of the CAN passages of head control and the control of alarm condition identification to main control MCU.The method is realized reaching more preferable control performance, lifts operating efficiency.
Description
Technical field
The present invention relates to computerized loom technical field, more particularly to a kind of directrix of computerized loom
Process control method.
Background technology
At present, knitting loom is the big branch for being molded Knitting Machinery, and computer knitted loom is simple
Claim computerized loom, be integrated with the technologies such as machinery, electronics, automatic control, knitting and be integrated, can
To weave complicated sweater tissue.Computerized loom braiding sweater using weft-knitted technique, with one or
Threads are knitted to order lopping along cloth cover.
General, computerized loom is controlled using normal line process control mode, standard thread
The effect application of control, typically nonautonomous system, or the classification of large-scale control device are sub
System, its primary processor is generally high-performance multi-core CPU, the processor of subsystem is classified, with mark
The matching degree in quasi- service function storehouse, there is considerable influence to overall performance, and multithreading can be with
Concurrently, but there must be a corresponding hardware guarantee, the minimum that thread inherently program is performed in stream is single
Unit, standard thread is the elementary cell of independent scheduling and distribution, so normal line process control can not
Good control effect and performance requirement are reached, operating efficiency is relatively low.
The content of the invention
It is an object of the invention to provide a kind of directrix process control method of computerized loom, to realize reaching
To more preferable control performance, operating efficiency is lifted.
In order to solve the above technical problems, the present invention provides a kind of directrix process control side of computerized loom
Method, the method includes：
Main thread is interacted by bus with from control coprocessor, obtains swashing for quasi- thread creation
Condition is encouraged, and aids in directrix journey that IO grades is carried out to execution unit and controlled；
When head is static, slave header encoder device position interrupt service routine obtains master to main thread
The control of the CAN passages that control MCU is controlled head and the control of alarm condition identification；
When head is controlled actively to be run, main thread will return the CAN passages of head control
Control and the control of alarm condition identification are to main control MCU.
Preferably, methods described also includes：
When head leaves knitting zone to before turning round, each linkage part action of head and needle-bar knit shifting
Control thread is opened；
Head start-stop speed regulating control thread；The control thread includes alarm input detection thread,
Error handle thread, often row linkage part action data pretreatment thread, system power failure data are protected
The machine debugger thread of shield thread and non-operating state.
Preferably, methods described also includes：
The CAN interrupt flags for interrupting case and main control MCU from inside control coprocessor are scanned,
Obtain new interrupt vector；
New interrupt vector and previous main thread are performed, untreated complete interrupt vector is carried out
Compare, according to mutual exclusion, exclusive and normalizing business principle, determine that this needs the interruption of response
Vector, and set up the data structure of correspondence directrix journey.
Preferably, after the data structure for setting up correspondence directrix journey, also include：
The interrupt vector of response is needed according to this main thread, directrix journey is in ready state,
Or according to exclusive business principle, created previous main thread, but unrevoked directrix journey,
It is changed to cancel state；
The directrix journey of load and execution carries out prioritization needed for being performed to this main thread, and obtains
Obtain directrix journey and perform counting.
Preferably, the directrix journey that required load and execution is performed to this main thread enters row major
Level sequence, and obtain directrix journey perform count after, also include：
For the directrix journey that this has been not carried out, the data in Thread Control Unit are preserved；
The directrix journey being finished is revoked, and initializes corresponding data structure, removes each interruption
Correspondence markings.
Preferably, the correspondence markings include by business rule shielding, are not created directrix journey
Interrupt vector.
A kind of directrix process control method of computerized loom provided by the present invention, main thread is by total
Line is interacted with from control coprocessor, obtains the excitation condition of quasi- thread creation, and aids in standard
Thread carries out IO grades of control to execution unit；Main thread when head is static, slave header encoder
Device position interrupt service routine, obtains the control of the CAN passages that main control MCU is controlled head
Power and the control of alarm condition identification；When head is controlled actively to be run, main thread will be returned
The control of the CAN passages of head control and the control of alarm condition identification are to master control
MCU.It can be seen that, directrix process control needs the hardware cell of similar coprocessor, aids in MCU
Master control is carried out, such as realizes that the sequential logic of IO grades of each directrix journey drives and samples, hardware choosing
Type configuration is relatively flexibly more convenient, and it is that computer is knitted to executing agency that directrix process control completes robot control system(RCS)
A kind of implementation pattern of the motion control of machine, the pattern is directed to motion control feature, by each directrix
Journey sequence, scheduling, motion control is carried out by system business rule, is aided in using from coprocessor
IO grades of time series stereodata of multipath concurrence is realized, to reach more preferable control effect and performance
It is required that, so realize reaching more preferable control performance, lift operating efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below
The accompanying drawing to be used needed for embodiment or description of the prior art will be briefly described, show and
Easy insight, drawings in the following description are only embodiments of the invention, common for this area
For technical staff, on the premise of not paying creative work, can also be attached according to what is provided
Figure obtains other accompanying drawings.
Fig. 1 is a kind of flow of the directrix process control method of computerized loom provided by the present invention
Figure；
Fig. 2 is defined the schematic flow sheet of main control MCU in thread control；
Fig. 3 is the scheduling schematic diagram of main control MCU directrix process control.
Specific embodiment
Core of the invention is to provide a kind of directrix process control method of computerized loom, to realize reaching
To more preferable control performance, operating efficiency is lifted.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with this
Accompanying drawing in inventive embodiments, is carried out clear, complete to the technical scheme in the embodiment of the present invention
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, protection of the present invention is belonged to
Scope.
Fig. 1 is a kind of flow of the directrix process control method of computerized loom provided by the present invention
Figure, the method includes：
S11：Main thread is interacted by bus with from control coprocessor, obtains directrix journey wound
The excitation condition built, and aid in directrix journey execution unit is carried out IO grades control；
S12：Main thread when head is static, slave header encoder device position interrupt service routine,
Obtain the control of control and the alarm condition identification of the CAN passages that main control MCU is controlled head
System power；
S13：When head is controlled actively to be run, the CAN that main thread will return head control leads to
The control of control and the alarm condition identification in road is to main control MCU.
In above method, directrix process control needs the hardware cell of similar coprocessor, auxiliary
MCU carries out master control, such as realizes that the sequential logic of IO grades of each directrix journey drives and samples, firmly
Part type selection is more flexibly facilitated, and it is electricity to executing agency that directrix process control completes robot control system(RCS)
A kind of implementation pattern of the motion control of brain loom, the pattern is directed to motion control feature, will be each
Quasi- thread ordering, scheduling, motion control is carried out by system business rule, using from coprocessor
Auxiliary realizes IO grades of time series stereodata of multipath concurrence, with reach more preferable control effect and
Performance requirement, so realizes reaching more preferable control performance, lifts operating efficiency.
Specifically, methods described also includes：
S21：When head leaves knitting zone to before turning round, each linkage part of head is acted and needle-bar
The control thread for knitting shifting is opened；
S22：Head start-stop speed regulating control thread；The control thread includes alarm input detection
Thread, error handle thread, often row linkage part action data pretreatment thread, system power failure
The machine debugger thread of data protection thread and non-operating state.
Methods described also includes：
S31：Scan the CAN interruptions for interrupting case and main control MCU from inside control coprocessor
Mark, obtains new interrupt vector；
S32：New interrupt vector and previous main thread are performed, to untreated complete interruption to
Amount is compared, and according to mutual exclusion, exclusive and normalizing business principle, determines that this needs response
Interrupt vector, and set up the data structure of correspondence directrix journey.
Wherein, after the data structure for setting up correspondence directrix journey, according to this main thread need
The interrupt vector to be responded, makes directrix journey be in ready state, or according to exclusive business principle,
Previous main thread has been created, but unrevoked directrix journey, it is changed to cancel state；To this
The directrix journey that secondary main thread performs required load and execution carries out prioritization, and obtains directrix journey
Perform counting.
Wherein, the directrix journey that required load and execution is performed to this main thread carries out priority
Sequence, and obtain after directrix journey performs and count, for the directrix journey that this has been not carried out, protect
Deposit the data in Thread Control Unit；The directrix journey being finished is revoked, and initializes correspondence
Data structure, removes each interruption correspondence markings.
Wherein, the correspondence markings include by business rule shielding, are not created in directrix journey
Disconnected vector.
Detailed, directrix journey needs the hardware cell of similar coprocessor, aids in MCU to carry out
Master control, such as realizes that the sequential logic of IO grades of each directrix journey drives and samples, and hardware selection is matched somebody with somebody
Put more flexible facility.Directrix journey is not only created and cancelled, in main thread, and three kinds of bases
This state also be unable to do without the operation of main thread；Directrix process control pattern is using above-mentioned embedded skill
Art means, complete a kind of implementation pattern of the robot control system(RCS) to executing agency's motion control.The pattern
With method for designing from top to bottom, for motion control feature, each level control event is divided,
That is task or directrix journey, and by Synchronism Unit such as time, position or counting, by each standard
Thread ordering, scheduling, motion control is carried out by system business rule.Generally need using at association
Reason device auxiliary realizes IO grades of time series stereodata of multipath concurrence, or multichannel input sample is for example
Current detecting and signal scanning, to reach more preferable control effect and performance requirement.
Fig. 2 is defined the schematic flow sheet of main control MCU in thread control, wherein, main thread is
15ms repeats the timing interrupt service routine of loading；Each directrix journey is carried by realization of main thread
Body, possesses establishment, ready or obstruction, operation, revocation, several standard state, and and main line
The data structure of the shared Thread Control Unit of journey；Main thread is encoded with the head higher than its priority
Device position interrupt service routine, shares partial data structure, and is protected by data access, hands over
Change the control power of partial function；Main thread also can be relatively low with relative priority system principal function,
Shared partial data structure, and protected by data access, the pretreatment control of order principal function backstage
Data processed；Main thread is interacted by bus A with from control coprocessor a, can ensure acquisition
The partial activation condition of quasi- thread creation, and can aid in realizing directrix journey correspondence execution unit IO
The control of level；Main thread is static in head, or during artificial promotion head operation, slave header encoder
Device position interrupt service routine, obtains the control of the CAN passages N that MCU is controlled head,
And alarm condition identification control, and when head is controlled actively run when, above-mentioned control will be returned
System power.
The directrix journey included in main thread includes：Head leaves knitting zone to before turning round, and head is each
The control thread that linkage part action and needle-bar knit shifting starts to perform；Head start-stop speed regulating control line
Journey, such as alarm input detection, and error handle thread；Often row linkage part action data is pre-
Treatment thread；System power failure such as power electric is disconnected but UPS provides signal electricity, data protection thread；
Machine debugger thread of non-operating state etc..
Fig. 3 is the scheduling schematic diagram of main control MCU directrix process control, it is known that, head encoder
Interrupt service routine, using the logic pin position after compensation as the preset criterion of counting interrupt, then matches somebody with somebody
8 sections of hardware guarantees of needle selection are closed, by the transmission delay of rear class hardware in control figure 2, can
Apply directrix process control call by pattern.
From the directrix journey of control MCU, main control MCU sends needle selection and instructs by CAN,
Parsed by MCU (B) again and forwarded, b (X) is carried out the IO grades of instruction transmission delay of control,
It is less than most hour hand bit interval time 1.51ms and substantially stationary.The service of interruption is received in CAN
In program, needle selection instruction forwarding is carried out, be the essential condition for ensureing that needle selection time interval is linear.
CAN receives the process interrupted:Receive, parse communication data；To from control coprocessor
B (X) sends needle selection order；According to data are received, quasi- thread-data structure is created.Directrix journey is adjusted
Spend Interruption process be：Ready directrix journey, obstruction, revocation shape are marked according to business rule
State.Directrix journey with being performed in main thread, is provided with data protection relation, to prevent race hazard.
The process of main thread is：Directrix journey is performed；Directrix journey is cancelled；Interrupted with directrix journey scheduling timing,
There are data protection schemes, to prevent race hazard.
Directrix journey in MCU (B) main thread includes：Before head leaves knitting zone to revolution, machine
Each station electromagnet and stepper motor, are coordinated signals thread that descending braiding prepares；Setting
Under standby debugging mode, the control thread of each execution unit self contained function of head；Head section is furnished with
Thread detects in place in the mechanism of sensor；Head part linkage sequence list transmission and data prediction
Thread.
The similar figure MCU (B) of directrix journey scheduling mode of MCU (C), but without needle selecting function.
In order to realize directrix process control pattern, assume responsibility for aiding in control task from control coprocessor：
Servo step actuator chopper speed control auxiliary control.Because pull bar starting device or head revolution rise
Speed, main thread creates starting raising speed speed governing directrix journey.In S_Thread_Execute () function
In, the directrix journey is performed, and only needs main control MCU by bus A, to from control coprocessor a
The deviation post of the corresponding controlling curve table of head target control speed is indicated by agreement.Assisted from control
Processor a by the speed governing table prestored inside it, speed-regulating pulse will be sent to servomechanism automatically.If
When rising to target velocity, head is introduced into revolution reduction of speed area, then main control MCU is to raising speed speed governing
No longer intervene；If before reaching target velocity, head enters revolution reduction of speed area, then main control MCU
The speed governing order to a will be changed, i.e., encoder interrupt service routine is according to the corresponding pin in reduction of speed area
Position, specifies a to carry out speed regulating control to driver in corresponding speed step point, until head stops
Operation.
When from control coprocessor control dual force torque motor, drawing of the bodkin away from computerized loom is applied to
During power apparatus, in order to be able to keep the electromagnetic torque of two-way torque motor in a basic balance, it is necessary to utilize
Pulling force sensor, and A/D converter, it is anti-that auxiliary builds torque from control coprocessor and MCU
Feedback control closed loop.MCU can apply the control method of PI and PD in correspondence directrix journey,
Regulation Control is carried out respectively.And for fine needle away from configuration type, the pulling device of single torque motor
Substantially conform to demand.
With from control coprocessor FPGA or CPLD Multipexer pulse signal generator, pass through
Output timing broad pulse control drives the break-make of MOS, to meet electromagnet action requirement.By
In power-supply system to instantaneous peak inrush current ImaxCurrent limiting is protected, so FPGA or CPLD
Need to limit the most driving paths that can instantaneously turn on.By the mode of fundamental frequency time synchronisation, phase
The switch control time point of solenoid actuated MOS is closed, heavily loaded segmentation can be sequentially aligned to
In timer, and performed by the sequential of FIFO.
FPGA or CPLD has the hardware architecture for processing concurrent sequential logic simultaneously, by setting
Surely the sampling fundamental frequency of required precision is met, such programming device energy real time scan multichannel input is drawn
The change of pin interrupt source signal.When level or the interrupt source signal of edging trigger type, by with
FPGA or CPLD realize from control coprocessor to scan fundamental frequency debounce after, its real change
Change state will be recorded in the interruption case from control coprocessor.With reference to Fig. 3, MCU main thread weights
The load time is 15ms, and the most hour hand position break period is 1.51ms, either in main thread or
In pin position is interrupted, MCU can be by access interrupt case, and most of acquisition needs the interruption of response
Vector information.And from control coprocessor, MCU will be aided in interrupting according to quasi- thread state
Interrupt vector in case is updated.
A kind of directrix process control method of computerized loom provided by the present invention, main thread is by total
Line is interacted with from control coprocessor, obtains the excitation condition of quasi- thread creation, and aids in standard
Thread carries out IO grades of control to execution unit；Main thread when head is static, slave header encoder
Device position interrupt service routine, obtains the control of the CAN passages that main control MCU is controlled head
Power and the control of alarm condition identification；When head is controlled actively to be run, main thread will be returned
The control of the CAN passages of head control and the control of alarm condition identification are to master control
MCU.It can be seen that, directrix process control needs the hardware cell of similar coprocessor, aids in MCU
Master control is carried out, such as realizes that the sequential logic of IO grades of each directrix journey drives and samples, hardware choosing
Type configuration is relatively flexibly more convenient, and it is that computer is knitted to executing agency that directrix process control completes robot control system(RCS)
A kind of implementation pattern of the motion control of machine, the pattern is directed to motion control feature, by each directrix
Journey sequence, scheduling, motion control is carried out by system business rule, is aided in using from coprocessor
IO grades of time series stereodata of multipath concurrence is realized, to reach more preferable control effect and performance
It is required that, so realize reaching more preferable control performance, lift operating efficiency.
The directrix process control method to a kind of computerized loom provided by the present invention is carried out above
It is discussed in detail.Specific case used herein is carried out to principle of the invention and implementation method
Illustrate, the explanation of above example is only intended to help and understands that the method for the present invention and its core are thought
Think.It should be pointed out that for those skilled in the art, not departing from this hair
On the premise of bright principle, some improvement and modification can also be carried out to the present invention, these improve and
Modification is also fallen into the protection domain of the claims in the present invention.
Claims (6)
1. a kind of directrix process control method of computerized loom, it is characterised in that including：
Main thread is interacted by bus with from control coprocessor, obtains swashing for quasi- thread creation
Condition is encouraged, and aids in directrix journey that IO grades is carried out to execution unit and controlled；
When head is static, slave header encoder device position interrupt service routine obtains master to main thread
The control of the CAN passages that control MCU is controlled head and the control of alarm condition identification；
When head is controlled actively to be run, main thread will return the CAN passages of head control
Control and the control of alarm condition identification are to main control MCU.
2. the method for claim 1, it is characterised in that methods described also includes：
When head leaves knitting zone to before turning round, each linkage part action of head and needle-bar knit shifting
Control thread is opened；
Head start-stop speed regulating control thread；The control thread includes alarm input detection thread,
Error handle thread, often row linkage part action data pretreatment thread, system power failure data are protected
The machine debugger thread of shield thread and non-operating state.
3. the method for claim 1, it is characterised in that methods described also includes：
The CAN interrupt flags for interrupting case and main control MCU from inside control coprocessor are scanned,
Obtain new interrupt vector；
New interrupt vector and previous main thread are performed, untreated complete interrupt vector is carried out
Compare, according to mutual exclusion, exclusive and normalizing business principle, determine that this needs the interruption of response
Vector, and set up the data structure of correspondence directrix journey.
4. method as claimed in claim 3, it is characterised in that the foundation correspondence directrix
After the data structure of journey, also include：
The interrupt vector of response is needed according to this main thread, directrix journey is in ready state,
Or according to exclusive business principle, created previous main thread, but unrevoked directrix journey,
It is changed to cancel state；
The directrix journey of load and execution carries out prioritization needed for being performed to this main thread, and obtains
Obtain directrix journey and perform counting.
5. method as claimed in claim 4, it is characterised in that described to this main thread
The directrix journey of load and execution needed for performing carries out prioritization, and obtains directrix journey and perform counting
Afterwards, also include：
For the directrix journey that this has been not carried out, the data in Thread Control Unit are preserved；
The directrix journey being finished is revoked, and initializes corresponding data structure, removes each interruption
Correspondence markings.
6. method as claimed in claim 5, it is characterised in that the correspondence markings include
The interrupt vector of directrix journey is shielded, is not created by business rule.
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| CN201510925259.1A CN106874078A (en) | 2015-12-14 | 2015-12-14 | A kind of directrix process control method of computerized loom |
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| CN201510925259.1A CN106874078A (en) | 2015-12-14 | 2015-12-14 | A kind of directrix process control method of computerized loom |
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Cited By (1)
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| CN107450973A (en) * | 2017-07-28 | 2017-12-08 | 成都优博创通信技术股份有限公司 | A kind of detection method and device |
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| US20090151806A1 (en) * | 2007-09-28 | 2009-06-18 | John Wingate Jameson | Methods, Apparatus and Articles for an Air Jet Loom |
| CN101900619A (en) * | 2010-05-13 | 2010-12-01 | 天津工业大学 | Method for measuring weft yarn tension of polyester weaving machine based on multithreading |
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| CN107450973A (en) * | 2017-07-28 | 2017-12-08 | 成都优博创通信技术股份有限公司 | A kind of detection method and device |
| CN107450973B (en) * | 2017-07-28 | 2020-04-17 | 成都优博创通信技术股份有限公司 | Detection method and device |
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