CN108893857B - A kind of tricot machine electronics horizontal movement jacquard weave power-off is sequeled control method - Google Patents
A kind of tricot machine electronics horizontal movement jacquard weave power-off is sequeled control method Download PDFInfo
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- CN108893857B CN108893857B CN201810718631.5A CN201810718631A CN108893857B CN 108893857 B CN108893857 B CN 108893857B CN 201810718631 A CN201810718631 A CN 201810718631A CN 108893857 B CN108893857 B CN 108893857B
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B27/00—Details of, or auxiliary devices incorporated in, warp knitting machines, restricted to machines of this kind
- D04B27/10—Devices for supplying, feeding, or guiding threads to needles
- D04B27/24—Thread guide bar assemblies
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Abstract
The invention discloses a kind of tricot machine electronics horizontal movement jacquard weaves to power off control method of sequeling, and belongs to warp knit equipment technology field.Pass through complete design of control method, instruct the software of control system itself, pass through the currently practical physical angle position of main shaft after reading system electrification, and the related process data record of internal system, voluntarily reverse it can go out the electric cam coupling data pair of certain transverse motion section that master/slave axis has been completed before system is powered down, and it calculates after main shaft starts rotation and completes electric cam coupling data pair required for the secondary transverse motion section residue cam locus, the anti-calculate of electric cam data pair i.e. on electric cam motion profile before and after " breakpoint " is voluntarily completed by software inhouse upon power-up of the system, it solves the problems, such as to sequel using breakpoint of the tricot machine electronics horizontal movement control system of electric cam control algolithm after power-off restarting.
Description
Technical field
The present invention relates to a kind of tricot machine electronics horizontal movement jacquard weaves to power off control method of sequeling, and belongs to warp knit equipment technology neck
Domain.
Background technique
Electronics horizontal movement jacquard weave is worn as a kind of flexible height control mode using between yarn guiding chase combs different on tricot machine
The combination of yarn mode, then cooperate every traversing movement of the band yarn that yarn guiding chase comb is flexibly changed, can be formed on cloth cover it is abundant and
Unique electronics horizontal movement jacquard weave warp knit product.Simultaneously as electronics horizontal movement mechanism is with servo motor instead of original warp knit guide
Sley bar realizes racking chain block and floral disc cam necessary to jacquard weave, enriches degree and technique in the flower pattern for releasing warp-knitting jacquard product
While high design is spent by racking chain block length and floral disc cam dimension physical limit, for warp-knitting jacquard, product design personnel are provided
Wide technological design space is drawn a design and is provided a great convenience for the renovation of product, highly shortened the upper of new product
In city's period, therefore, electronics horizontal movement height control has become the important mating control skill of current jacquard-type tricot machine both at home and abroad
Art.
But electronics horizontal movement jacquard weave is providing the same of flexibly convenient electrified control as a kind of digital Control Technology
When, the natural defect carried as digitisation electric-control system itself but has also been introduced, that is, essence is realized after system cut-off
The problem that true breakpoint is sequeled, in current tricot machine electronics horizontal movement control system, the control method of part system is disposable arteries and veins
Rush output opened loop control, i.e., no matter tricot machine spindle speed speed whether, before yarn guiding chase comb reaches its needle or needle back is traversing
Start angle moment, control system disposably export the full number of command pulse of this target lateral displacement, drive yarn guiding chase comb
Servo-system secondary transverse motion instruction is completed within the shortest time with maximum acceleration, control system is not inquired not yet
Record servo system to command pulse completion as a result, default all yarn guiding chase combs it is each static when physics physical location i.e.
For process station of the completion target after traversing.Using the electronics horizontal movement control system of this control method, if tricot machine is producing
External power-off is met in the process, as long as servo-system is during executing transverse motion without any abnormal generation, servo-system
Each displacement of targets can be accurately completed, after system cut-off is restarted, it is only necessary to execute according to technique requirement sequence next
Transverse motion section.But the premise that this result is smoothly reached is: during external power down, in the static preceding institute of tricot machine main shaft
Before the last time transverse motion for having servo-system to start all terminates, enough reserve powers must be provided inside the control system
To ensure that whole system operating voltage is normal, otherwise, the servo-system in movement can stop halfway because power supply is under-voltage, Suo Youjing
Physical location when volume yarn guiding chase comb is static is no longer really corresponding with the process station that control system is thought, i.e., control system is lost
Lost the accurate location of all yarn guiding chase combs, caused by the result is that: after system cut-off is restarted, complicated artificial hand can only be passed through
A kind of dynamic this mode to needle again is likely to complete the continued access braiding of power-off front and back fabric top broken-point.
Closed-loop control is carried out using electronics horizontal movement of the electric cam control algolithm to tricot machine, because servo motor and guide are combed
Comb can have better kinetic characteristics and make yarn guiding chase comb mechanical shock is smaller, quality of fabric more preferably, tricot machine institute
Attainable speed of production is also higher, has become the main trend of tricot machine electronics horizontal movement control technology development.In order to from
Each transverse motion of axis provides sufficiently wide run duration utmostly to reduce acceleration and the mechanical shock of sley bar, such
The transverse motion time that electronics horizontal movement control system can make full use of mechanical mechanism to allow, before tricot machine angle of eccentricity enters needle
Or when needle back traversing start angle yarn guiding chase comb start it is traversing, before main shaft angle reaches needle or when needle back traversing angle at the end leads
Yarn sley bar just completes the specified displacement of targets amount of technique and terminates to move.From axis (warp knit guide during entire transverse motion
Sley bar) spindle angular velocity and the fully synchronized closed loop of angular displacement are followed with stringent electric cam mode, system is needed but is not deposited
The real time position feedback of sley bar is stored up, the displacement of targets of each transverse motion needs to complete across entire traversing angular interval,
Rather than as the electronics horizontal movement system of disposable pulse output opened loop control, regardless of tricot machine main shaft angle is before reaching needle
Or whether can stop immediately after the traversing start angle of needle back, the secondary complete object displacement can have all been run with peak acceleration from axis
(ensuring that whole sley points is allowed to be respectively positioned on safe whole needle gage process station at the end of a transverse motion section), so, when
It is suffered from after external power supply powers off suddenly in process of production using the electronics horizontal movement system of electric cam control algolithm, if warp knit
Owner's axis just stops inside some traversing angular interval, also just means the moment static in main shaft, all from the traversing of axis
Movement is synchronous to be stopped, and all displacement of targets from axis in the secondary transverse motion section inevitable do not complete namely all guides
The sley point of sley bar is on the non-process position of dangerous non-whole needle gage, even when entire electric-control system is during power-off
Accumulation of energy is all gone well, after re-powering starting, if control system cannot be automatically performed it is all from axis in the secondary transverse motion section
The front/rear actual physical location of upper power-off is corresponding with process control position and accurate continued access, can only just rely on operating staff
It participates in, moves the Distance Remaining that yarn guiding chase comb completes the secondary crossing target displacement manually, manual sley point reaches safety
Process station on, machine sequence could be started later and execute next transverse motion band yarn section.Current this situation, both increased
The operation difficulty of system user is added, apparent breakpoint defect trace can be also left on fabric.As it can be seen that being controlled using electric cam
The tricot machine electronics horizontal movement control system of algorithm, more excellent kinetic characteristics and more accurate principal and subordinate in providing high speed manufacturing processes
While axis cam tracking characteristics, but also bigger difficulty is brought to processing of accurately sequeling after system cut-off.
Summary of the invention
In order to solve presently, there are the tricot machine electronics horizontal movement control system using electric cam control algolithm in power off
The problem of accurately sequeling afterwards, the present invention provides a kind of tricot machine control methods of electronics horizontal movement jacquard weave, which comprises
Step 1: recording and stores every current process row serial number and electronics horizontal movement height control yarn guiding chase comb
Main shaft angle position before system power loss；
Step 2: after electronics horizontal movement jacquard control system powers on, the current master of tricot machine is read from system spindle encoder
Axis angle position, the main shaft angle position before comparison system power loss, within a predetermined range whether the differential seat angle both judged；
Step 3: current by tricot machine if the differential seat angle that judging result in step 2 both is is within a predetermined range
Main shaft angle position and every side traversing angular interval before needle set by yarn guiding chase comb and the traversing angular interval of needle back
Boundary's angle value, adjudicates whether current yarn guiding chase comb needs its current physical location of reverse；If current main shaft angle is located at when leading
Before the needle of yarn sley bar in traversing angular interval, or when being located in the traversing angular interval of needle back, then judgement needs reverse it is current
Physical location, after go to step six；If current main shaft angle is located at traversing angular interval and needle back cross before the needle of current yarn guiding chase comb
Move angular interval other than when, then judgement be not necessarily to its current physical location of reverse, after go to step four；
Step 4: being arranged current yarn guiding chase comb before system is powered down, and electric cam couples between the master/slave axis completed
Displacement data is to for (Pm0, Ps0): spindle angular displacement Pm0=0 follows displacement Ps0=0 from axis electric cam；
Step 5: being arranged current yarn guiding chase comb after main shaft starts rotation, electronics between first group of master/slave axis to be done
Cam couples displacement data to for (Pm1, Ps1): spindle angular displacement Pm1 is tricot machine main shaft since current angular, rotation
The pulse number that spindle encoder is passed by during to the traversing initial angle in next traversing section, follows from axis electric cam
Displacement Ps1=0；After go to step eight；
Step 6: calculating current yarn guiding chase comb before system is powered down, and electric cam couples between the master/slave axis completed
Displacement data is to for (Pm0, Ps0): spindle angular displacement Pm0 are as follows: main shaft is since the traversing start angle in current traversing section
Rotation is to the pulse number that during current angular, spindle encoder is passed by；Displacement Ps0 value is followed from axis electric cam
Calculating, be the complete target lateral displacement L of transverse motion section with current yarn guiding chase comb in current traversing section, current traversing
The displacement Pm0 that each revolution of pulse equivalency P of angular width W, the spindle encoder of angular interval, main shaft have been rotated through is parameter,
With electric cam movement function f () for original function, obtained by the reverse operation to following equations group:；
Step 7: calculating current yarn guiding chase comb after main shaft starts rotation, electronics between first group of master/slave axis to be done
Cam couples displacement data to for (Pm1, Ps1): spindle angular displacement is rotated from current angular to current traversing section for main shaft
Traversing angle at the end during, the pulse number passed by needed for spindle encoder；Displacement is followed from axis electric cam；Afterwards
Go to step eight；
Step 8: step 3 is repeated to step 7, until all servos are complete from axis in electronics horizontal movement jacquard control system
It is front/rear at system is powered down, calculating of the master/slave between centers electronics coupled displacement data to (Pm0, Ps0) and (Pm1, Ps1).
Optionally, the differential seat angle that both if judging result in step 2 is not within the predefined range, it is alert to provide system
Report, while terminating electric cam breakpoint data calculation process.
Optionally, preset range described in step 2 is that the two angle absolute value of the difference is less than or equal to 2 °.
Optionally, the current physical location of the current yarn guiding chase comb of reverse is to move letter by electric cam in the step 3
Number its current physical location of reverse.
Optionally, traversing angular interval before needle described in step 3 is the You Zhenqian in a swing circle of main shaft
The closure section comprising boundary angles that traversing angle at the end is constituted before traversing start angle and needle；The traversing angle of the needle back
Section is to include with what the traversing angle at the end of needle back was constituted by the traversing start angle of needle back in a swing circle of main shaft
The closure section of boundary angles.
Optionally, the rim angle angle value of traversing angular interval and the traversing angular interval of needle back is equal before every needle yarn guiding chase comb
Not identical, specific angle value is determined by space layout of the yarn guiding chase comb on tricot machine.
Optionally, the step 4 couples displacement data with electric cam in step 6 to (Pm0, Ps0) and step 5
Into step 7, electric cam coupling displacement data is that electronics horizontal movement jacquard control system uses relative coordinate system to (Pm1, Ps1)
In expression.
Optionally, the step 4 couples displacement data with electric cam in step 6 to the physical interpretation of (Pm0, Ps0)
Are as follows: in the control system using relative coordinate system, before system is powered down, tricot machine main shaft is Pm0's turning over angular displacement
In time, drives the servo motor of current yarn guiding chase comb to follow main shaft to rotate synchronously in a manner of electric cam, have been completed
Certain transverse motion section displacement is the front section of Ps0, therefore Pm0 and Ps0 are both tricot machine main shaft and current before system is powered down
Yarn guiding chase comb is from the latter two actual physical location of the process control position of axis and system electrification.
Optionally, the step 5 physical meaning of electric cam coupling displacement data to (Pm1, Ps1) into step 7
Are as follows: in the control system using relative coordinate system, after tricot machine main shaft starts rotation, main shaft also needs to continue to revolve through angle position
Shifting amount is Pm1, and the servo motor of current yarn guiding chase comb is driven to follow main shaft to rotate synchronously in a manner of electric cam simultaneously,
The hindfoot portion that the secondary transverse motion section displacement before power down is Ps 1 can be completed, therefore Pm1 and Ps1 are tricot machines after system electrification
Main shaft and current yarn guiding chase comb complete the process control position of remaining target lateral displacement from axis.
Optionally, transverse motion section complete target of the current yarn guiding chase comb in current traversing section in the step 6
Traversing amount L is that main shaft is current after technique row number and system electrification according to the current yarn guiding chase comb recorded before system is powered down
Angle is located at position between the transition zone of current sley bar, before the needle extracted in system jacquard process data or the traversing pad of needle back
Yarn number value, the displacement of targets arteries and veins that the servo motor shaft for driving current yarn guiding chase comb traversing after dimension is converted should turn over
Punching value.
Optionally, transverse motion section complete target of the current yarn guiding chase comb in current traversing section in the step 6
The extracting method of band yarn number corresponding to traversing amount L is: if main shaft current angular is located at the needle of current sley bar after system electrification
In preceding traversing angular interval, then traversing band yarn number value before needle is extracted；If the needle back that main shaft current angular is displaced current sley bar is horizontal
It moves in angular interval, then extracts the traversing band yarn number value of needle back.
Optionally, the accelerating curve that electric cam movement function f () is selected according to control system in the step 6
Difference has different expressions.
Optionally, the step 1 variable all into step 8 is to convert dimension after pulse quantifies as arteries and veins
It rushes to participate in operation after unit.
The medicine have the advantages that
By complete design of control method, software of control system itself is instructed, passes through main shaft after reading system electrification
The related process data of currently practical physical angle position and internal system records, and voluntarily reverse can go out that system is powered down
The electric cam coupling data pair for certain transverse motion section that preceding master/slave axis has been completed, and calculate after main shaft starts rotation
Electric cam coupling data pair required for the secondary transverse motion section residue cam locus is completed, i.e., on electric cam motion profile
The anti-calculate of electric cam data pair before and after " breakpoint " is voluntarily completed by software inhouse upon power-up of the system, without any
It is artificial to participate in, it can be solved disconnected after power-off restarting using the tricot machine electronics horizontal movement control system of electric cam control algolithm
Point is sequeled, therefore usage experience identical with mechanical decorative pattern carrier is used and production effect can be really provided to user.And
Tricot machine proposed by the invention removes the single needle bed suitable for 2 transverse motions of every row with the control method of electronics horizontal movement jacquard weave
Warp Knitted Fabrics are equally applicable to steel wire flower bar warp knitting machine and every cross that the lower every row of speed only has 1 transverse motion
4 traversing double rib warp looms are shown, method is succinctly clear, and Fit Models object range is wide.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Before Fig. 1 needle that be certain yarn guiding chase comb corresponding when every row completes 2 traversing band yarns movements with the traversing angle of needle back
Spend interval division schematic diagram；
Fig. 2 is the anti-calculate flow chart of cam coupling data pair when electronics horizontal movement jacquard weave power-off of the present invention is sequeled.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one:
The present embodiment provides a kind of tricot machine electronics horizontal movement jacquard weaves to power off control method of sequeling, which comprises
Step 1: recording and stores every current process row serial number and electronics horizontal movement height control yarn guiding chase comb
Main shaft angle position before system power loss；
Step 2: after electronics horizontal movement jacquard control system powers on, the current master of tricot machine is read from system spindle encoder
Axis angle position, the main shaft angle position before comparison system power loss, within a predetermined range whether the differential seat angle both judged；
Step 3: current by tricot machine if the differential seat angle that judging result in step 2 both is is within a predetermined range
Main shaft angle position and every side traversing angular interval before needle set by yarn guiding chase comb and the traversing angular interval of needle back
Boundary's angle value, adjudicates whether current yarn guiding chase comb needs its current physical location of reverse；If current main shaft angle is located at when leading
Before the needle of yarn sley bar in traversing angular interval, or when being located in the traversing angular interval of needle back, then judgement needs reverse it is current
Physical location, after go to step six；If current main shaft angle is located at traversing angular interval and needle back cross before the needle of current yarn guiding chase comb
Move angular interval other than when, then judgement be not necessarily to its current physical location of reverse, after go to step four；
Step 4: being arranged current yarn guiding chase comb before system is powered down, and electric cam couples between the master/slave axis completed
Displacement data is to for (Pm0, Ps0): spindle angular displacement Pm0=0 follows displacement Ps0=0 from axis electric cam；
Step 5: being arranged current yarn guiding chase comb after main shaft starts rotation, electronics between first group of master/slave axis to be done
Cam couples displacement data to for (Pm1, Ps1): spindle angular displacement Pm1 is tricot machine main shaft since current angular, rotation
The pulse number that spindle encoder is passed by during to the traversing initial angle in next traversing section, follows from axis electric cam
Displacement Ps1=0；After go to step eight；
Step 6: calculating current yarn guiding chase comb before system is powered down, and electric cam couples between the master/slave axis completed
Displacement data is to for (Pm0, Ps0): spindle angular displacement Pm0 are as follows: main shaft is since the traversing start angle in current traversing section
Rotation is to the pulse number that during current angular, spindle encoder is passed by；Displacement Ps0 value is followed from axis electric cam
Calculating, be the complete target lateral displacement L of transverse motion section with current yarn guiding chase comb in current traversing section, current traversing
The displacement Pm0 that each revolution of pulse equivalency P of angular width W, the spindle encoder of angular interval, main shaft have been rotated through is parameter,
With electric cam movement function f () for original function, obtained by the reverse operation to following equations group:；
Step 7: calculating current yarn guiding chase comb after main shaft starts rotation, electronics between first group of master/slave axis to be done
Cam couples displacement data to for (Pm1, Ps1): spindle angular displacement is rotated from current angular to current traversing section for main shaft
Traversing angle at the end during, the pulse number passed by needed for spindle encoder；Displacement is followed from axis electric cam；Afterwards
Go to step eight；
Step 8: step 3 is repeated to step 7, until all servos are complete from axis in electronics horizontal movement jacquard control system
It is front/rear at system is powered down, calculating of the master/slave between centers electronics coupled displacement data to (Pm0, Ps0) and (Pm1, Ps1).
The present invention instructs software of control system itself by complete design of control method, by reading system electrification
The related process data of the currently practical physical angle position of main shaft and internal system records afterwards, can voluntarily reverse be out
The electric cam coupling data pair for certain transverse motion section that master/slave axis has been completed before system power down, and calculate main shaft and start
Electric cam coupling data pair required for the secondary transverse motion section residue cam locus is completed after rotation, i.e. electric cam moves
The anti-calculate of electric cam data pair on track before and after " breakpoint " is voluntarily completed by software inhouse upon power-up of the system, nothing
Any artificial participation is needed, the tricot machine electronics horizontal movement control system using electric cam control algolithm can be solved in power-off restarting
Breakpoint afterwards is sequeled, therefore can really be provided usage experience identical with mechanical decorative pattern carrier is used to user and be produced and imitate
Fruit.
Embodiment two
The present embodiment provides a kind of tricot machine electronics horizontal movement jacquard weaves to power off control method of sequeling, right referring to Fig. 1 and Fig. 2
It is A (1≤A≤33) in total yarn guiding chase comb number, current process spends a height of H (1≤H≤10000), and main shaft is every to turn encoder output
Pulse equivalency be P (1≤P≤10000), from the corresponding servo motor pulse of the digital traversing needle gage of axis yarn guiding chase comb band yarn
Equivalent is K (1≤K≤1000), and i-th (1≤i≤A) is traversing band yarn number before the needle in yarn guiding chase comb current process row
L1(0≦L1≤ 2), i-th is L the traversing band yarn number of needle back in yarn guiding chase comb current process row2(0≦L2≤ 17) it, uses
Linear type acceleration carry out plus/minus speed electric cam principal and subordinate's shaft position relationship equation of motion f () expression formula for S=(a/2) ×
t2(S is from axis pulse track position coordinates, and a is acceleration value constant in certain cam motor segment, and t is main shaft pulse track
Position coordinates), then all yarn guiding chase combs are controlled using electric cam and completes 2 traversing band yarn movements during every row weaves
Tricot machine electronics horizontal movement jacquard control system, Yao Shixian is " disconnected in that secondary electric cam motion profile section of shutdown transient
Accurate continued access at point ", key be first have to accurate reverse go out that system is powered down preceding i-th yarn guiding chase comb main shaft is coupled with from axis and
At the displacement data that turns over of " cam " system to (Pm(i,0), Ps(i,0)), with determine after system electrification cam main shaft and cam from
The current physical location of axis, then also need accurately to calculate the remaining main shaft of the secondary electric cam motion profile with from axis coupling
Resultant displacement data are to (Pm(i,1),Ps(i,1)), after determining system electrification, continued access is completed main required for the secondary transverse motion section
Axis and the process control position from axis, therefore the present invention has following implementation steps:
Step 1: before electronics horizontal movement jacquard control system power down, recording and to store i-th horizontal the current process of yarn guiding chase comb
Column serial number hi(1≦hi≤ H) and electronics horizontal movement jacquard control system power loss before main shaft angle position θ0；
Step 2: after electronics horizontal movement jacquard control system powers on, reading the current main shaft angle of tricot machine from spindle encoder
Position θ, the main shaft angle position θ before comparison system power loss0, according to engineering experience, if | θ-θ0|≤2 °, then process sequence executes
Otherwise step 3 provides system alarm, by manual rotation's mistake during power-off, control system can not pass through prompt system main shaft
Subsequent control algorithm completes power-off continued access, therefore terminates follow-up process, prompts artificial participate in；
Step 3: by the current main shaft angle position θ of tricot machine and every traversing angle before needle set by yarn guiding chase comb
The rim angle angle value in section and the traversing angular interval of needle back is spent, to adjudicate whether i-th yarn guiding chase comb needs its current object of reverse
Manage position；If current main shaft angle θ is located at i-th angular interval [θ traversing before the needle of yarn guiding chase comb(i, 2),θ(i, 3)] in, i.e.,
θ(i,2)≤θ≤θ(i,3), or it is located at the traversing angular interval [θ of needle back(i, 4),360+θ(i, 1)] in, i.e. θ(i,4)≤ θ or θ≤
θ(i,1)When, need through its current physical location of electric cam movement function reverse, after go to step six；If current main shaft angle θ
Before the i-th needle yarn guiding chase comb other than traversing angular interval and the traversing angular interval of needle back, i.e. θ(i,1)<θ<θ(i,2)Or
θ(i,3)<θ<θ(i,4)When, because yarn guiding chase comb is to swing needle movement in the two main shaft angle sections, forbid it is traversing from axis, therefore
Without by its current physical location of electric cam movement function reverse, or regard the constant cam fortune for being 0 from axial displacement as
Dynamic section, after go to step four；
Step 4: calculating electric cam between the master/slave axis that i-th has completed yarn guiding chase comb before system is powered down and couple
Displacement data is to (Pm(i,0),Ps(i,0)): wherein spindle angular displacement Pm(i,0)=0, displacement Ps is followed from axis electric cam(i,0)
=0, i.e., control system power on after in relative coordinate system, when forward spindle with from axis physical coordinates be (0,0)；
Step 5: calculating current yarn guiding chase comb after main shaft starts rotation, electronics between first group of master/slave axis to be done
Cam couples displacement data to (Pm(i,1),Ps(i,1)): if current main shaft angle θ(i,1)<θ<θ(i,2)I.e. main shaft, which stops at, swung
Needle section 1, then spindle angular displacement Pm(i,1)=P × ((θ(i,2)- θ)/360), if current main shaft angle θ(i,3)<θ<θ(i,4)It is i.e. main
Axis, which stops at, swung needle section 2, then spindle angular displacement Pm(i,1)=P × ((θ(i,4)-θ)/360)；From axis electric cam with
With displacement Ps(i,1)=0；I.e. in the control system of relative coordinate system, main shaft and the cam track that current kinetic section is completed from axis
It is (Pm that mark, which also needs the program-controlled coordinate reached,(i,1), 0), after go to step eight；
Step 6: calculating i-th yarn guiding chase comb before system is powered down, electric cam couples between the master/slave axis completed
Displacement data is to (Pm(i,0),Ps(i,0)): if current main shaft angle θ(i,2)≤θ≤θ(i,3)Before needle in traversing section, then main shaft
Angular displacement Pm(i,0)=P × ((θ-θ(i,2))/360), if current main shaft angle is located in the traversing section of needle back and θ(i,4)≤θ
When, then spindle angular displacement Pm(i,0)=P × ((θ-θ(i,4))/360), if currently main shaft angle is located at the traversing section of needle back
Interior and θ≤θ(i,1)When, Pm(i,0)=P × (((360- θ(i,4))+(θ(i,1)-θ))/360)；If current main shaft angle is located at cross before needle
It moves in section, the secondary transverse motion section is completely from axis displacement of targets amount Li=L(i,1)× K, i-th horizontal before the needle of yarn guiding chase comb
Move the angular width W in sectioni=| θ(i,3)-θ(i,2)|, if current main shaft angle is located in the traversing section of needle back, the secondary transverse motion
Section is completely from axis displacement of targets amount Li=L(i,2)× K, i-th the angular width W in the traversing section of needle back of yarn guiding chase combi=
360-θ(i,4)+θ(i,1), then by the expression formula of electric cam movement function f () to following equations groupIt solves
: Ps(i,0)=Li×((Pm(i,0))2/(P×(Wi/360))2)；I.e. control system power on after in relative coordinate system, it is current main
Axis is (Pm with the physical coordinates from axis(i,0),Ps(i,0))；
Step 7: calculating i-th yarn guiding chase comb after main shaft starts rotation, electronics between first group of master/slave axis to be done
Cam couples displacement data to (Pm(i,1),Ps(i,1)): spindle angular displacement Pm(i,1)=P × (Wi/360)-Pm(i,0)；From axis electricity
Sub- cam follows displacement Ps(i,1)=Li-Ps(i,0)；I.e. in the control system of relative coordinate system, main shaft is completed currently with from axis
It is (Pm that the cam locus of motor segment, which also needs the program-controlled coordinate reached,(i,1),Ps(i,1))；After go to step eight；
Step 8: repeating step 3 to step 7, until A root is completed from axis in total in electronics horizontal movement jacquard control system
System is front/rear in power down, and master/slave between centers electric cam coupling displacement data is to (Pm(i,0),Ps(i,0)) and (Pm(i,1),Ps(i,1))
Whole calculate.
The present invention instructs software of control system itself by complete design of control method, by reading system electrification
The related process data of the currently practical physical angle position of main shaft and internal system records afterwards, can voluntarily reverse be out
The electric cam coupling data pair for certain transverse motion section that master/slave axis has been completed before system power down, and calculate main shaft and start
Electric cam coupling data pair required for the secondary transverse motion section residue cam locus is completed after rotation, i.e. electric cam moves
The anti-calculate of electric cam data pair on track before and after " breakpoint " is voluntarily completed by software inhouse upon power-up of the system, nothing
Any artificial participation is needed, the tricot machine electronics horizontal movement control system using electric cam control algolithm can be solved in power-off restarting
Breakpoint afterwards is sequeled, therefore can really be provided usage experience identical with mechanical decorative pattern carrier is used to user and be produced and imitate
Fruit.And tricot machine proposed by the invention is removed with the control method of electronics horizontal movement jacquard weave suitable for 2 transverse motions of every row
Single needle bed Warp Knitted Fabrics, be equally applicable to the lower every row of speed only have 1 transverse motion steel wire flower bar warp knitting machine,
And every row has 4 traversing double rib warp looms, method is succinctly clear, and Fit Models object range is wide.
Part steps in the embodiment of the present invention, can use software realization, and corresponding software program can store can
In the storage medium of reading, such as CD or hard disk.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
- The control method 1. a kind of tricot machine electronics horizontal movement jacquard weave power-off is sequeled, which is characterized in that the described method includes:Step 1: recording and stores every current process row serial number and electronics horizontal movement jacquard control system yarn guiding chase comb Main shaft angle position before power loss；Step 2: after electronics horizontal movement jacquard control system powers on, the current spindle angular of tricot machine is read from system spindle encoder Position is spent, whether within a predetermined range the main shaft angle position before comparison system power loss judges the differential seat angle of the two；Step 3: if the differential seat angle that judging result in step 2 both is is within a predetermined range, by the current master of tricot machine Axis angle position and every rim angle traversing angular interval before needle set by yarn guiding chase comb and the traversing angular interval of needle back Angle value, adjudicates whether current yarn guiding chase comb needs its current physical location of reverse；If current main shaft angle is located at current guide comb Before the needle of comb in traversing angular interval, or be located at the traversing angular interval of needle back in when, then judgement need its present physical of reverse Position, after go to step six；If current main shaft angle is located at traversing angular interval and the traversing angle of needle back before the needle of current yarn guiding chase comb Spend section other than when, then judgement be not necessarily to its current physical location of reverse, after go to step four；Step 4: being arranged current yarn guiding chase comb before system is powered down, electric cam coupling displacement between the master/slave axis completed Data are to for (Pm0, Ps0): spindle angular displacement Pm0=0 follows displacement Ps0=0 from axis electric cam；Step 5: being arranged current yarn guiding chase comb after main shaft starts rotation, electric cam between first group of master/slave axis to be done Displacement data is coupled to for (Pm1, Ps1): spindle angular displacement Pm1 is tricot machine main shaft since current angular, is rotated under The pulse number that spindle encoder is passed by during the traversing initial angle in one traversing section follows displacement from axis electric cam Measure Ps1=0；After go to step eight；Step 6: calculating current yarn guiding chase comb before system is powered down, electric cam coupling displacement between the master/slave axis completed Data are to for (Pm0, Ps0): spindle angular displacement Pm0 are as follows: main shaft is rotated since the traversing start angle in current traversing section To current angular, pulse number that spindle encoder is passed by；The meter of displacement Ps0 value is followed from axis electric cam It calculates, is the complete target lateral displacement L of transverse motion section with current yarn guiding chase comb in current traversing section, current traversing angle The displacement Pm0 that each revolution of pulse equivalency P of angular width W, the spindle encoder in section, main shaft have been rotated through is parameter, with electricity Sub- cam movement function f () is original function, is obtained by the reverse operation to following equations group:Step 7: calculating current yarn guiding chase comb after main shaft starts rotation, electric cam between first group of master/slave axis to be done Displacement data is coupled to for (Pm1, Ps1): spindle angular displacement Pm1=P × (W/360)-Pm0, it is that main shaft is rotated from current angular To current traversing section traversing angle at the end during, the pulse number passed by needed for spindle encoder；It is convex from axis electronics Wheel follows displacement Ps1=L-Ps0；After go to step eight；Step 8: repeating step 3 to step 7, until in electronics horizontal movement jacquard control system all servos completed from axis be Power down of uniting is front/rear, calculating of the master/slave between centers electric cam coupling displacement data to (Pm0, Ps0) and (Pm1, Ps1).
- 2. the method according to claim 1, wherein if judging result in step 2 both be differential seat angle not Within a predetermined range, then system alarm is provided, while terminating electric cam breakpoint data calculation process.
- 3. the method according to claim 1, wherein preset range described in step 2 is the exhausted of the two differential seat angle 2 ° are less than or equal to value.
- 4. the method according to claim 1, wherein in the step 3 the current yarn guiding chase comb of reverse current object Reason position is to pass through its current physical location of electric cam movement function reverse.
- 5. the method according to claim 1, wherein traversing angular interval before needle described in step 3, be In one swing circle of main shaft, what is be made of traversing angle at the end before start angle traversing before needle and needle includes boundary angles It is closed section；The traversing angular interval of the needle back, be in a swing circle of main shaft, by the traversing start angle of needle back with The closure section comprising boundary angles that the traversing angle at the end of needle back is constituted.
- 6. the method according to claim 1, wherein the step 4 couples displacement with electric cam in step 6 Data are electronics horizontal movement to (Pm1, Ps1) to electric cam coupling displacement data in (Pm0, Ps0) and step 5 and step 7 Jacquard control system is using the expression in relative coordinate system.
- 7. the method according to claim 1, wherein current yarn guiding chase comb is in current transition zone in the step 6 In the complete target lateral displacement L of transverse motion section, be according to the current yarn guiding chase comb recorded before system is powered down technique it is horizontal Main shaft current angular is located at position between the transition zone of current sley bar after row number and system electrification, from system jacquard process number According to before the needle of middle extraction or the traversing band yarn number value of needle back, the traversing servo of the current yarn guiding chase comb of driving after dimension is converted The displacement of targets pulse value that motor shaft should turn over.
- 8. the method according to claim 1, wherein current yarn guiding chase comb is in current transition zone in the step 6 The extracting method of band yarn number corresponding to the interior complete target lateral displacement L of transverse motion section is: if main after system electrification Axis current angular is located at before the needle of current sley bar in traversing angular interval, then extracts traversing band yarn number value before needle；If main shaft is worked as In the traversing angular interval of needle back of the preceding current sley bar of angle displacement, then the traversing band yarn number value of needle back is extracted.
- 9. the method according to claim 1, wherein electric cam movement function f () basis in the step 6 The difference for the accelerating curve that control system is selected has different expressions.
- 10. any method according to claim 1~9, which is characterized in that the step 1 change all into step 8 Amount is to participate in operation after converting dimension after pulse quantifies as unit of pulse.
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| TW207555B (en) * | 1991-09-16 | 1993-06-11 | Zorini Luigi Omodeo | |
| DE4215691C2 (en) * | 1992-05-13 | 1996-07-25 | Mayer Textilmaschf | Warp knitting machine |
| DE29909051U1 (en) * | 1999-05-22 | 1999-07-29 | Karl Mayer Textilmaschinenfabrik Gmbh, 63179 Obertshausen | Warp beam storage in a knitting machine |
| CN203513952U (en) * | 2013-09-30 | 2014-04-02 | 常州市第八纺织机械有限公司 | Warp feeding outage delay control device of yarn pressing type Jacquard warp knitting machine |
| TWM494153U (en) * | 2014-09-30 | 2015-01-21 | Fong Hwang Entpr Co Ltd | Power failure safety unhooking escape conversion device for hoister |
| CN106048879A (en) * | 2016-07-19 | 2016-10-26 | 柳州六品科技有限公司 | Control system for warp knitting machine |
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