CN109748143A - An electronic reciprocating multi-level precision winding control method - Google Patents

Abstract

The invention discloses an electronic reciprocating multi-stage precision winding control method. The traverse motor adopts a small inertia stepping motor, and drives the yarn guide to run at high speed and stably through a high-performance multi-subdivision vector control technology based on a family of S-curves. Accurate to the edge. The above S curve determines the number of segments m (m=5/7) included according to the target number of reciprocations per minute, the set slope, acceleration and acceleration and deceleration time of the i-th precision winding yarn guide (m=5/7). A typical S curve includes jerk segments. , uniform acceleration section, deceleration acceleration section, uniform speed section, acceleration and deceleration section, uniform deceleration section and deceleration deceleration section. Compared with the servo motor scheme, the invention reduces the cost of the winding equipment, avoids the shock, out-of-step and overshoot phenomena during the reciprocating motion of the traverse motor, makes the traverse motor run more smoothly, efficiently, and generates less heat, and improves the performance of the traverse motor. The service life of the motor is greatly improved, and the phenomenon of excessive density at the edge of the package can be significantly improved, and an excellent package with uniform density and high-speed unwinding performance can be obtained, which is suitable for industrialization.

Description

An electronic reciprocating multi-level precision winding control method

technical field

The invention relates to a yarn guide control technology in the textile field, in particular to an electronic reciprocating multi-stage precise winding control method.

Background technique

In textile engineering, yarn winding forming is a key process technology in textile production engineering. At present, the control of high-end winding equipment in the textile engineering field, such as loose winder, yarn doubling machine, texturing machine and other winding mechanisms, adopts electronic reciprocating multi-stage precision winding technology, which can achieve high speed, high efficiency and high capacity. And high-quality bobbin package to meet the requirements of high-speed unwinding and dyeing in the subsequent process.

Multi-stage precision winding During the winding process, the winding ratio (the ratio of the bobbin rotation speed per minute to the number of reciprocations of the traversing yarn guide) decreases stepwise with the increase of the package diameter, and at each winding stage The inner winding ratio is constant, and the winding angle is in a small range ( ) changes. Electronic reciprocating multi-stage precision winding technology realizes the constant winding ratio of each precision winding stage through real-time control of the winding motor that determines the rotational speed of the bobbin and the traverse motor that determines the reciprocating frequency of the yarn feeder. The traverse motor not only needs to realize High-speed and frequent commutation, and the need to achieve fast and smooth operation, accurate to the edge, is the core of the electronic reciprocating multi-stage precision winding technology.

At present, Swiss SSM Company and Italian Fadis Company have industrialized winding equipment using this technology. Among them, the traverse motor adopts ultra-small inertia stepper motor. Due to the increasing demand for equipment, some domestic winding equipment manufacturers continue to try to develop and adopt For the winding machine of this technology, the existing literature shows that the traverse motor of the winding equipment developed in China basically adopts a servo motor, and is equipped with a special servo motor controller to control the operation of the traverse motor, which greatly increases the cost and the inertia of the servo motor. It is too large, which limits the fast reversing performance of the yarn feeder, resulting in excessive package edge density. In the invention patent with the patent publication number CN107943122A, a servo motor is disclosed to control the reciprocating motion of the yarn carrier according to a periodic function, wherein the periodic function includes three motion states of acceleration section, constant speed section and deceleration section. Both the acceleration and deceleration segments are constant acceleration and deceleration. This method is simple to control and has good rapidity. However, since the speed is in a state of linear rise or fall, there is a sudden change in the speed at the end of the start and acceleration and deceleration, and the acceleration, uniform speed and deceleration process cannot be Smooth connection, which will affect the service life of the motor, reduce the quality of the package, and even affect the unwinding performance.

SUMMARY OF THE INVENTION

In order to solve the above problems, the purpose of the present invention is to provide a traverse stepping motor suitable for small inertia, which can realize the small inertia traverse stepping motor to be fast, stable and accurate to the edge, reduce the heat generation of the traverse stepping motor, and prolong the service life, and finally obtain the electronic reciprocating multi-stage precision winding control method of the package with excellent performance.

One solution to achieve the above is:

1. The electronic reciprocating multi-stage precision winding control method is suitable for a winding motor with a position encoder for controlling the winding speed of the bobbin, and a traverse motor with a position encoder for controlling the reciprocating motion of the yarn guide. , Overfeed motor with position encoder for controlling yarn winding tension, overfeed roller, yarn guide, tension sensor, diameter sensor, stepping tensioner, yarn breakage sensor, scissors, switch, upper computer, The single-spindle controller and the winding system composed of the various parts that determine the yarn path.

Further, the single-spindle controller belt includes the winding motor of the position encoder, the traverse motor, the drive module and the control module of the overfeed motor and the stepping tensioner, the signal input and output module, the communication module, the protection module, the power failure storage modules and power modules.

Further, single spindle controller with winding motor, traverse motor, overfeed motor, winding motor encoder, traverse motor encoder, overfeed motor encoder, tension sensor, diameter sensor, stepper tensioner, yarn breakage Sensors, scissors, switches, and the host computer are directly connected.

Further, the winding motor may be any one of an AC asynchronous motor, a DC brushless motor and a permanent magnet synchronous motor. One of the preferred solutions is a low-cost three-phase AC asynchronous motor.

Further, the traverse motor may be either a small inertia stepping motor or an ultra-small inertia stepping motor. One of the preferred solutions is an ultra-small inertia stepper motor.

2. The traverse stepping motor in the winding system of the present invention adopts a high-performance multi-subdivision vector control technology.

3. The present invention also provides a method for controlling the reciprocating motion of the traverse stepping motor: a reciprocating motion control technology for the traverse stepping motor based on a family of S-curves. The technical features are:

A. Each level of precision winding of a package corresponds to an S-curve, that is, a package containing N-level precision winding consists of a family (N) of S-curves. If N=1, multi-level precision winding degenerates into precision winding . The present invention also includes precision winding with N=1;

b. The traverse stepper motor reciprocates once refers to the process in which the traverse stepper motor drives the yarn guide from the reversing point A on one side to the reversing point D on the other side, and then returns to the reversing point A; the reversing point A and the The distance between the reversing points D is equal to the traverse stroke;

c. The reciprocating motion of the traverse stepper motor includes two identical S-curves with symmetrical acceleration and deceleration zones;

D. Each typical S-curve consists of seven sections, namely, jerk section, uniform acceleration section, deceleration section, uniform velocity section, acceleration and deceleration section, uniform deceleration section and deceleration section;

E. The S curve corresponding to each level of precision winding can be composed of 5 or 7 segments. According to the multi-level precision winding process, the ideal number of reciprocating movements n _HGi of the traversing stepper motor at each level of precision winding stage of the package is calculated and set The acceleration a _Gi of the traverse stepping motor, the slope k _Gi of the acceleration and deceleration section of the S curve (where i is the precision winding series i=[1,N], i is an integer) and the acceleration and deceleration time T determine the S curve The number of segments m (m=5/7);

F. The composition principle of the S curve is to make the acceleration and deceleration time as short as possible and the constant speed time as long as possible under the condition that the traverse stepping motor does not lose step and does not stall;

g. The number of reciprocating movements n _HGi of the traversing stepper motor at each stage of the precision winding stage of the package calculated according to the multi-stage precision winding process is determined by the ratio of the speed n _JGi of the winding motor at all levels and the corresponding winding ratio J _i , the function expression is: n _HGi =n _JGi /J _i ;

H. Preferably, the acceleration segments and the deceleration segments of the S-curve are mirror-symmetrical.

4. The present invention also provides an electronic reciprocating multi-level precision winding control method, comprising the following steps:

S1. The system is powered on, the traverse stepping motor drives the yarn guide to automatically find and determine the relative position zero point;

S2. The single-spindle controller judges whether the multi-level precision winding process parameters are changed;

If yes, execute step S3;

If not, go to step S4;

S3. The single-spindle controller receives the multi-level precision winding process parameters set by the host computer through the communication module, such as initial package speed, package speed, bobbin diameter d ₀ , package diameter dmax, minimum and maximum winding angle , traverse stroke H, package length, package end face angle, traverse retraction percentage, winding tension, etc.;

S4. Read the multi-level precision winding process parameters from the power-down storage module of the single-spindle controller;

S5. The traverse motor control module of the single-spindle controller uses the multi-level precision winding process algorithm embedded in it, and completes the precision winding and winding ratio J _i and the jump volume of each level according to the received multi-level precision winding process parameters. Install the calculation of the diameter d _i (where i is the precision winding series i=[1,N], i is an integer), and send the calculation result to the winding motor control module through the communication module;

S6. Obtain the diameter sensor information, send it to the winding motor control module through the signal input and output module of the single-spindle controller, and calculate the current package diameter d;

S7. Determine whether d is between the precision winding jump diameters d _i and d _i+1 at all levels,

If not, such as d<d ₀ , the protection module reports an error;

If d<d _i , take the last winding ratio J _i-1 and send it to the winding motor control module of the single-spindle controller, and execute S8;

If d>d _i+1 , take down a winding ratio J _i+1 and send it to the winding motor control module of the single-spindle controller, and execute S8;

If so, take the winding ratio J _i and send it to the winding motor control module of the single-spindle controller, and execute S8;

S8. The winding motor control module of the single-spindle controller calculates the target of the winding motor in this precision winding stage according to the received winding ratio and package diameter d, as well as the winding angle, initial package speed and package speed information Speed n _JGk (k=i-1/i/i+1) (the definition is the same in the whole text, and will not be marked below);

S9. According to the target speed n _JGk of the winding motor and the corresponding winding ratio J _k , calculate the target number of reciprocating movements per minute n _HGk of the traverse motor in the precision winding stage of this level, and send the calculation result to the traverse motor control module;

S10. Obtain the position coding information of the winding motor, send it to the winding motor control module through the signal input and output module of the single-spindle controller, and calculate the current speed n _Jk of the winding motor; The signal input and output module of the controller is sent to the traverse motor control module to calculate the current number of reciprocating movements per minute n _Hk of the traverse motor;

S11. Adjust n _Jk and n _Hk through the PID algorithm to make it approach the target n _JGk and n _HGk , and obtain a constant winding ratio at this stage;

Further, according to the output of the PID algorithm, the winding motor speed n _Jk outputs the PWM pulse signal through the winding motor control module of the single-spindle controller, and the driving module drives the winding motor to realize the closed-loop control of the winding motor speed.

Further, the number of reciprocating motions per minute n _Hk of the traverse motor is output through the traverse motor control module of the single-spindle controller according to the PID algorithm, and the corresponding PWM pulse signal is obtained by the high-performance multi-subdivision vector control technology, and the traverse drive module is used to drive the traverse. The traverse motor runs, and the closed-loop control of the number of reciprocating movements per minute of the traverse motor is realized.

Furthermore, the number of reciprocating motions of the traverse motor follows the S-curve. The slope of the S curve, the acceleration of the traverse motor, and the acceleration and deceleration time of the traverse motor can be set and adjusted by the program. After determining the appropriate S curve, it is determined according to the number of pulses sent by the position encoder of the traverse stepper motor and the driving subdivision. The segment of the S curve where the yarn feeder is located, and the traverse motor control PWM pulse signal at this moment is obtained;

Further, the number of reciprocating motions per minute n _Hk of the traverse motor is an average value, and the process of one reciprocating motion of the traverse motor includes 2 S-curves, including a total of 2*m segments of traverse rotational speed.

S12. Determine whether the set package diameter or set length is reached;

If so, the winding motor and the traverse motor stop, and the package is completed.

If not, return to S6.

The beneficial effects of the present invention are: an electronic reciprocating multi-level precision winding control method adopted in the present invention, the traverse motor adopts a small inertia or ultra-small inertia stepping motor, and the high-performance multi-subdivision vector based on a family of S-curves is adopted. The control technology realizes the high-speed operation of the yarn feeder, which is stable and accurate to the edge. The above S-curve determines the number of segments m (m can be 5/7) contained in the S-curve according to the target number of reciprocations per minute, the set slope, acceleration and acceleration/deceleration time of the i-th level (m can be 5/7). Acceleration section, uniform acceleration section, deceleration acceleration section, uniform speed section, acceleration and deceleration section, uniform deceleration section and deceleration deceleration section. Because the method of the invention is suitable for small inertia stepping motors, the cost of winding equipment is reduced, and a family of S-curves are introduced to control the reciprocating motion of the traverse motor, so as to realize smooth and accurate acceleration and deceleration of the yarn feeder, and compared with the prior art, the traverse motion is avoided. The phenomenon of shock, out-of-step and overshoot during the reciprocating motion of the moving motor makes the traverse motor run more smoothly, efficiently, and generates less heat, improves the service life of the motor, and can significantly improve the phenomenon of excessive edge density of the package. Excellent package with uniform density and high-speed unwinding performance, suitable for industrialization.

Description of drawings

Figure 1 is a block diagram of the single-spindle controller according to the present invention

2 is a schematic diagram of the running track of the traversing stepping motor reciprocating one-time yarn feeder according to the present invention

3 is a schematic diagram of the S-curve included in one reciprocating motion of the traverse stepping motor according to the present invention

4 is a schematic diagram of a family of S-curves including an N-level precision winding process according to the present invention

Figure 5 is a detailed diagram of the S-curve acceleration section and the constant velocity section according to the present invention

6 is a flow chart of the electronic reciprocating multi-stage precision winding control method of the present invention

Fig. 7 The flow chart of the electronic reciprocating multi-stage precision winding control method of the present invention (the continuation of Fig. 6)

Detailed ways

The present invention is further described below in conjunction with the accompanying drawings.

The electronic reciprocating multi-level precision winding control method is suitable for a winding motor with a position encoder for controlling the winding speed of the bobbin, a traverse motor with a position encoder for controlling the reciprocating motion of the yarn guide, and a Overfeed motor with position encoder for controlling yarn winding tension, overfeed roller, yarn guide, tension sensor, diameter sensor, step tensioner, yarn breakage sensor, scissors, switch, host computer, single spindle The controller and the winding system composed of the various parts that determine the yarn path.

1, the single-spindle controller 20 includes a winding motor control module 3, a traverse motor control module 4, an overfeed motor control module 14, a stepping tensioner control module 19, a winding motor drive module 5, Traverse motor drive module 6, overfeed motor drive module 12, stepping tensioner drive module 13, signal input and output module 7, communication module 9, protection module 16, power-down storage module 8 and power supply module 18, and are connected with the winding Motor 1, traverse motor 2, overfeed motor 10, stepper tensioner motor 11, position encoder, tension sensor, diameter sensor, stepper tensioner, yarn breakage sensor, scissors, switch and host computer 15 are directly connected.

Further, the winding motor 1 with the position encoder drives the package 22 (see FIG. 2 ) to move, and the winding motor 1 can be any type of AC asynchronous motor, DC brushless motor and permanent magnet synchronous motor. One of the preferred solutions is a low-cost three-phase AC asynchronous motor.

Further, the traverse motor 2 with the position encoder drives the yarn guide 21 (see FIG. 2 ) to reciprocate, and the traverse motor can be either a small inertia stepping motor or an ultra-small inertia stepping motor types. One of the preferred solutions is an ultra-small inertia stepper motor.

2. The traverse stepping motor 2 in the winding system of the present invention adopts a high-performance multi-subdivision vector control technology.

3. The present invention also provides a method for controlling the reciprocating motion of the traverse stepping motor 2: a reciprocating motion control technology for the traverse stepping motor based on a family of S-curves. The technical features are:

A. The reciprocating motion of the traverse stepper motor 1 time refers to the process that the traverse stepper motor 2 drives the yarn guide 21 from the reversing point A on one side to the reversing point D on the other side, and then back to the reversing point A, as shown in Figure 2 shown. The distance between the reversing point A and the reversing point D is equal to the traverse stroke H;

B. Referring to Figure 3, the reciprocating motion of the traverse stepping motor includes two S-curves that are completely identical and the acceleration and deceleration zones are completely symmetrical (ie, the AB segment and the CD segment are completely symmetrical). Each typical S-curve consists of It consists of seven sections. When the traverse stepping motor drives the yarn guide 21 to move from the reversing point A to the reversing point D, it passes through the acceleration and acceleration section AA1, the uniform acceleration section A1A2, the deceleration and acceleration section A2B, the uniform speed section BC, and the acceleration and deceleration sections. The segment CC1, the uniform deceleration segment C1C2 and the deceleration and deceleration segment C2D reach the reversing point D; when the traverse stepping motor drives the yarn guide 21 to return to the reversing point A from the reversing point D (corresponding to the italics in Figure 3), after The acceleration section DC2, the uniform acceleration section C2C1, the deceleration and acceleration section C1C, the uniform speed section CB, the acceleration and deceleration section BA2, the uniform deceleration section A2A1, and the deceleration and deceleration section A1A, return to the reversing point A, and complete the 1 time of the yarn guide 21 reciprocating movement;

c. Each level of precision winding of a package corresponds to an S-curve, that is, a package containing N-level precision winding consists of a family (N) of S-curves, as shown in Figure 4. If N=1, multi-stage precision winding degenerates into precision winding. The present invention also includes precision winding with N=1;

D. Referring to Figure 4, the S-curve corresponding to each level of precision winding can be composed of 5 or 7 segments, and the S-curve 40 in Acceleration and deceleration sections and deceleration and deceleration sections; S curves 41-43 are typical 7-segment S curves. The S-curve of the invention is smoothly connected between each segment, avoiding the sudden change of speed, and compared with the prior art, the running stability of the traverse stepping motor is increased, and the package forming is improved.

Taking the typical 7-segment S-curve described in the present invention as an example, since the acceleration and deceleration segments of the S-curve are completely symmetrical, the present invention only introduces the formation method of the acceleration segment and the uniform speed segment, and the method is as follows:

According to the multi-stage precision winding process, the ideal number of reciprocating movements n _HGi of the traverse stepper motor 2 in the precision winding stages of the package is calculated, and the adjustable parameters are set in the program, including: the acceleration a _Gi of the traverse stepper motor 2 (generally set as the maximum acceleration of the traverse stepper motor 2), the slope of the S-curve acceleration and deceleration segment k _Gi and the acceleration and deceleration time T, where i is the precision winding series i=[1,N], i is an integer , N is the total number of precision winding stages of the forming package).

Construct the S-curve acceleration segment model, as shown in Figure 5, a preferred solution is that the acceleration segment curve U and the deceleration acceleration segment curve U ₂ adopt a parabolic model, and the curve U and the curve U ₂ are symmetrical, and the uniform acceleration segment U ₁ is a straight line . The functional expression of the S-curve is as follows:

Among them, k _Gi is the slope of the acceleration and deceleration section of the S-curve, a _Gi is the acceleration of the straight-line section of the S-curve, T is the acceleration and deceleration time, and n _HGi is the ideal reciprocation times of the i-level precision winding and traversing stepper motor 2 . In order to make the curves of each segment connect smoothly, the function values at the connection of each segment should be equal. C in the above S-curve function expression is determined by the number of subdivisions, k _Gi and a _Gi in the multi-subdivision vector control technology adopted by the traverse stepping motor, and the expression is:

in, is a coefficient determined by the number of subdivisions driven by the traverse stepper motor.

Suppose at time t, the traverse motor control module 4 in the single-spindle controller 20 obtains the Mth pulse, and calculates the current position of the yarn carrier according to the parameters of the traverse stepper motor 2 and the driving subdivision, and at the same time, the Newton iteration method can be used to calculate the current position of the yarn carrier. Launch the current moment:

Substitute the current time value into the function expression of the above-mentioned S-curve to obtain the PWM pulse signal that the traverse motor control module 4 in the single-spindle controller 20 should output to the traverse motor drive module 6 at each moment, and the traverse motor drives the PWM pulse signal. The module 6 drives the traverse motor 2 to run smoothly according to the obtained PWM control signal.

The S-curve deceleration section and the acceleration section are mirror images of each other, so the S-curve control method of the deceleration section and the acceleration section control method are also mirror images of each other. The constant speed section U ₃ between the acceleration section and the acceleration section (as shown in Fig. 5 ) runs according to the calculated ideal reciprocating times n _HGi of the traversing stepper motor 2 in the precise winding stages of the package at all levels.

When the ideal reciprocation times n _HGi of the above-mentioned i-th precision winding traverse stepping motor 2 is low, and n _HGi can be reached after the acceleration and deceleration sections of the S curve, the S curve can be simplified to 5 sections.

E. The composition principle of the S curve is to make the acceleration and deceleration time as short as possible and the constant speed time as long as possible under the condition that the traverse stepping motor does not lose step and does not stall;

F. The number of reciprocating movements n _HGi of the traversing stepper motor 2 in each stage of the precision winding stage of the package calculated according to the multi-stage precision winding process is determined by the ratio of the speed n _JGi of the winding motor at all levels and the corresponding winding ratio J _i , the function expression is: n _HGi =n _JGi /J _i ;

4. The flow chart of the electronic reciprocating multi-stage precision winding control method of the present invention specifically includes the following steps, wherein steps S1-S7 are shown in Figure 6, and steps S8-S12 are shown in Figure 7:

S1. The system is powered on, the traverse stepping motor 2 drives the yarn guide 21 to automatically find and determine the relative position zero point;

S2. The single-spindle controller 20 judges whether the parameters of the multi-stage precision winding process are changed;

If yes, execute step S3;

If not, go to step S4;

S3. The single-spindle controller 20 receives the multi-level precision winding process parameters set by the host computer 15 through the communication module 9, such as initial package speed, package speed, bobbin diameter d ₀ , package diameter dmax, minimum and maximum Winding angle, traverse stroke, package length, package end face angle, traverse retraction percentage, winding tension, etc.;

S4. Read in the multi-level precision winding process parameters from the power-down storage module 8 of the single-spindle controller 20;

S5. The traverse motor control module 4 of the single-spindle controller 20 uses the multi-level precision winding process algorithm embedded therein to complete the precision winding and winding ratios J _i and Calculation of skip package diameter d _i (wherein i is the precision winding series i=[1,N], i is an integer), and the calculation result is sent to the winding motor control module 3 through the communication module 9;

S6. Obtain the diameter sensor information, send it to the winding motor control module 3 through the signal input and output module 7 of the single-spindle controller 20, and calculate the current package diameter d;

S7. Determine whether d is between the precision winding jump diameters d _i and d _i+1 at all levels,

If not, such as d<d ₀ , the protection module 16 reports an error;

If d<di, take the last winding ratio Ji-1 and send it to the winding motor control module 3 of the single-spindle controller 20, and execute

line S8;

If d>d _i+1 , take down a winding ratio J _i+1 and send it to the winding motor control module 3 of the single-spindle controller 20, and execute

S8;

If so, take the winding ratio J _i and send it to the winding motor control module 3 of the single-spindle controller 20, and execute S8;

S8. The winding motor control module 3 of the single-spindle controller 20 calculates the winding motor in the precision winding stage according to the received winding ratio and package diameter d, as well as the winding angle, initial package speed and package speed information 1 target speed n _JGk (k=i-1/i/i+1);

S9. According to the target rotational speed n _JGk of the winding motor 1 and the corresponding winding ratio J _k , calculate the target number of reciprocating movements per minute n _HGk of the traverse stepper motor in the precision winding stage of this stage, and send the calculation result to the traverse motor control module 4;

S10. obtain the position coding information of the winding motor 1, send it to the winding motor control module 3 through the signal input and output module 7 of the single-spindle controller 20, and calculate the current speed n _Jk of the winding motor; obtain the traverse stepper motor 2 position coding The information is sent to the traverse motor control module 4 through the signal input and output module 7 of the single-spindle controller 20, and the current number of reciprocating movements per minute n _Hk of the traverse motor 2 is calculated;

S11. Adjust n _Jk and n _Hk through the PID algorithm to make it approach the target n _JGk and n _HGk , and obtain a constant winding ratio at this stage;

Further, the rotational speed n _Jk of the winding motor 1 is output according to the PID algorithm, the PWM pulse signal is output by the winding motor control module 3 of the single-spindle controller 20, and the winding motor 1 is driven by the winding motor drive module 5 to realize the winding motor 1. Speed closed loop control.

Further, the number of reciprocating movements per minute n _Hk of the traverse motor 2 is output according to the PID algorithm, controlled by a single spindle, and the traverse motor control module 4 of 20 obtains the corresponding PWM pulse signal by the high-performance multi-subdivision vector control technology. The motor drive module 6 drives the traverse motor 2 to run, and realizes the closed-loop control of the number of reciprocating movements per minute of the traverse motor 2 .

Furthermore, the number of reciprocating motions of the traverse motor 2 follows the S-curve. The slope of the S curve, the acceleration of the traverse motor 2 and the acceleration and deceleration time of the traverse motor 2 can be set and adjusted by the program. The number of pulses sent and the number of driving subdivisions determine the segment of the S-curve where the yarn carrier is located, and the PWM pulse signal controlled by the traverse motor 2 at this moment is obtained.

Further, the number of reciprocating movements n _Hk of the traverse motor 2 per minute is an average value, and the process of reciprocating the traverse motor 2 once includes 2 S curves, including a total of 2*m segments of the traverse rotational speed;

S12. Determine whether the set package diameter or set length is reached;

If so, the winding motor and the traverse motor stop, and the packaging is completed;

If not, return to S6.

By adopting the electronic reciprocating multi-stage precision winding control method of the present invention, the cost of the winding equipment can be greatly reduced, the winding speed is high, and the impact and loss caused by the sudden change of the speed during the reciprocating motion of the traversing stepping motor can be effectively avoided. The phenomenon of step and overshoot makes the traverse motor run more smoothly, efficiently, and generates less heat, which improves the service life of the motor, reduces the noise of equipment operation, significantly improves the phenomenon of excessive edge density of the package, and obtains uniform density and high-speed unwinding. The package with excellent performance has important practical application value and is suitable for industrialization.

The above description is only an embodiment of the present invention, and the present invention is not limited to the above-mentioned embodiment. Those skilled in the relevant technical field should realize that, as long as the present invention is within the essential spirit and scope of the present invention, various modifications made to the above-described embodiment are not limited. Such changes or modifications will fall within the scope of the claims of the present invention.

Claims (9)

1. Electronic reciprocating multi-level precision winding control method, is characterized in that, described control method is applicable to the winding motor with position encoder that comprises the control bobbin winding rotational speed, is used to control the reciprocating motion of the yarn guide. Traverse motor with position encoder, overfeed motor with position encoder for controlling yarn winding tension, overfeed roller, yarn feeder, tension sensor, diameter sensor, step tensioner, yarn breakage sensor , scissors, switch, upper computer, single-spindle controller and winding system composed of various parts that determine the yarn path; The single-spindle controller includes a winding motor with a position encoder, a traverse motor, a drive module and a control module for an overfeed motor and a stepping tensioner, a signal input and output module, a communication module, a protection module, and a power-down storage module. and power module; The single-spindle controller and winding motor, traverse motor, overfeed motor, winding motor encoder, traverse motor encoder, overfeed motor encoder, tension sensor, diameter sensor, step tensioner, yarn breakage Sensors, scissors, switches, and the host computer are directly connected. 2 . The winding system according to claim 1 , wherein the winding motor can be any one of an AC asynchronous motor, a DC brushless motor and a permanent magnet synchronous motor. 3 . 3 . The winding system according to claim 1 , wherein the traverse motor can be either a small inertia stepping motor or an ultra-small inertia stepping motor. 4 . 4 . The winding system according to claim 1 , wherein the traverse stepping motor adopts a high-performance multi-subdivision vector control technology. 5 . 5 . The electronic reciprocating multi-stage precision winding control method based on the winding system of claim 1 , wherein the control method provides a reciprocating motion control technology of a traverse stepping motor based on a family of S-curves. 6 . 6. The control method according to claim 5, wherein each level of precision winding of the package corresponds to an S-curve, that is, a package containing N-level precision winding is composed of a family (N) of S-curves, If N=1, the multi-stage precision winding degenerates into precision winding, and the present invention also includes precision winding with N=1. 7. Based on the described control method of claim 5, it is characterized in that, the reciprocating motion of the traverse stepping motor once means that the yarn guide driven by the traversing stepping motor moves from the reversing point A on one side to the reversing point D on the other side , and then go back to the process of reversing point A; the distance between reversing point A and reversing point D is equal to the traverse stroke; The reciprocating motion of the traverse stepping motor includes two identical S-curves with symmetrical acceleration and deceleration zones; The typical value of the S-curve is composed of seven segments, which are jerk segment, uniform acceleration segment, deceleration segment, uniform speed segment, acceleration/deceleration segment, uniform deceleration segment, and deceleration/deceleration segment. 8. Based on the described control method of claim 6, it is characterized in that, the S curve corresponding to each level of precision winding can be composed of 5 segments or 7 segments, and the precision winding of the package at all levels calculated according to the multi-level precision winding process Step traverse stepper motor ideal reciprocating times n _HGi , set the traverse stepper motor acceleration a _Gi , the slope k _Gi of the acceleration and deceleration section of the S curve (where i is the precision winding series i=[1,N ], i is an integer) and the acceleration and deceleration time T to determine the number of segments m (m=5/7) of the S curve; The S-curve is characterized in that the acceleration and deceleration time is as short as possible, and the constant speed time is as long as possible under the condition that the traverse stepping motor is not out of step or locked; The number of reciprocating movements n _HGi of the traversing stepper motor in the precision winding stages of the package calculated according to the multi-stage precision winding process is determined by the ratio of the rotational speed n _JGi of the winding motors at all levels and the corresponding winding ratio J _i , the function expression is: n _HGi =n _JGi /J _i . 9. Based on the described electronic reciprocating multi-level precision winding control method of claim 5, it is characterized in that, the described traverse stepping motor reciprocating motion control technology based on a family of S-curves comprises the following steps: S1. The system is powered on, the traverse stepping motor 2 drives the yarn guide 21 to automatically find and determine the relative position zero point; S2. The single-spindle controller judges whether the parameters of the multi-level precision winding process are changed, if the parameters are changed, go to step S3, if the parameters are not changed, go to step S4; S3. The single-spindle controller receives the multi-level precision winding process parameters set by the host computer through the communication module, such as initial package speed, package speed, bobbin diameter d ₀ , package diameter dmax, minimum and maximum winding angles, Traverse stroke H, package length, package end face angle, traverse retraction percentage, winding tension, etc.; S4. Read the multi-level precision winding process parameters from the power-down storage module of the single-spindle controller; S5. The traverse motor control module of the single-spindle controller uses the multi-level precision winding process algorithm embedded in it, and completes the precision winding and winding ratio J _i and the jump roll of each level according to the received multi-level precision winding process parameters. Calculate the package diameter d _i (where i is the precision winding series i=[1,N], i is an integer, and N is the precision winding series contained in the package), and send the calculation result through the communication module to the winding motor control module; S6. Obtain the diameter sensor information, send it to the winding motor control module through the signal input and output module of the single-spindle controller, and calculate the current package diameter d; S7. Determine whether d is between the precision winding jump diameters d _i and d _i+1 at all levels, If not, such as d<d ₀ , the protection module reports an error; If d<d _i , take the last winding ratio J _i-1 and send it to the winding motor control module of the single-spindle controller, and execute S8; If d>d _i+1 , take down a winding ratio J _i+1 and send it to the winding motor control module of the single-spindle controller, and execute S8; If so, take the winding ratio J _i and send it to the winding motor control module of the single-spindle controller, and execute S8; S8. The winding motor control module of the single-spindle controller calculates the target of the winding motor in this precision winding stage according to the received winding ratio and package diameter d, as well as the winding angle, initial package speed and package speed information speed n _JGk ; S9. According to the target speed n _JGk of the winding motor and the corresponding winding ratio J _k , calculate the target number of reciprocating movements per minute n _HGk of the traverse motor in the precision winding stage of this level, and send the calculation result to the traverse motor control module; S10. Obtain the position coding information of the winding motor, send it to the winding motor control module through the signal input and output module of the single-spindle controller, and calculate the current speed n _Jk of the winding motor; The signal input and output module of the controller is sent to the traverse motor control module to calculate the current number of reciprocating movements per minute n _Hk of the traverse motor; S11. Adjust n _Jk and n _Hk through the PID algorithm to make it approach the target n _JGk and n _HGk , and obtain a constant winding ratio at this stage; The winding motor speed n _Jk of the winding motor outputs a PWM pulse signal through the winding motor control module of the single-spindle controller according to the PID algorithm output, and the driving module drives the winding motor to realize the closed-loop control of the winding motor speed; The number of reciprocating movements per minute n _Hk of the traverse motor is output through the traverse motor control module of the single-spindle controller according to the PID algorithm, and the corresponding PWM pulse signal is obtained by the high-performance multi-subdivision vector control technology, and the traverse drive module is used to drive the traverse. The traverse motor runs, and the closed-loop control of the number of reciprocating movements per minute of the traverse motor is realized; Further, the number of reciprocating movements of the traverse motor follows the S curve, and the slope of the S curve, the acceleration of the traverse motor, and the acceleration and deceleration time of the traverse motor can be set and adjusted by the program. After determining the appropriate S curve, according to The number of pulses sent by the position encoder of the traverse stepping motor and the number of driving subdivisions determine the motion segment of the S-curve where the yarn guide is located, and the PWM pulse signal of the traverse motor at this moment is obtained; Further, the number of reciprocating motions per minute n _Hk of the traverse motor is an average value, and the process of reciprocating motion of the traverse motor once includes 2 S curves, including a total of 2*m segments of traverse rotational speed; S12. Determine whether the set package diameter or set length is reached; If so, the winding motor and the traverse motor stop, and the packaging is completed; If not, return to S6.