CN111764010A - Single-channel ring spinning frame time-sequence control spinning method and control system - Google Patents
Single-channel ring spinning frame time-sequence control spinning method and control system Download PDFInfo
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Abstract
The invention relates to a time sequence control spinning method of a single-channel ring spinning frame, which is characterized in that the time sequence control spinning method is implemented by fusing yarn design and a spinning processing process and carrying out time sequence control on electric control devices of all mechanisms of spinning equipment based on a time sequence change rule of yarn structure parameters so as to realize accurate control on the time sequence change rule of the spinning process and obtain a target formed yarn; detecting and feeding back the operation parameters, the spinning process parameters and the yarn structure parameters of the ring spinning system through a sensing system, and performing visual display based on a constructed mathematical model; meanwhile, a control system of the spinning method is constructed, and the spinning process can be controlled and monitored through a field PLC, a local client, a central control room, a remote client, a mobile client and the like; the invention has the advantages of higher digital processing level, more comprehensive monitoring system and visual display function, more convenient and fast man-machine cooperative control function and strong practicability.
Description
Technical Field
The invention relates to a single-channel ring spinning frame time-sequence control spinning method and a single-channel ring spinning frame time-sequence control spinning system, and belongs to the technical field of intelligent time-sequence spinning.
Background
In recent years, intelligent spinning technology is developed rapidly, firstly, spinning equipment is automated and digitalized, secondly, spinning procedures are continuous, and thirdly, on-line monitoring and monitoring based on sensing technology and network technology and information management of spinning workshops are achieved. In the aspect of single-platform spinning equipment, a full-electric spinning frame with multi-motor driven electronic drafting, electronic winding and electronic forming under the coordination control of a PLC appears, and the electronization, automation and digitization levels of spinning machinery are greatly improved.
The intelligent spinning method aims at achieving intelligent spinning without humanization operation, how to enable single digital spinning equipment to be integrated into a continuous spinning production flow and improve the informatization management level of a spinning workshop, and is a key problem to be solved at present.
The existing all-electric spinning frame has two concerns, wherein the first concern is to improve the mechanical spinning system of mechanical drafting, mechanical twisting and mechanical winding driven by the original single motor into the electronic spinning system of electronic drafting, electronic twisting and electronic winding formed by PLC control and multi-motor cooperative drive; the second concern is to improve the flexibility of the spinning processing and realize the spinning processing of changing the structural parameters on line and the integrated processing of various yarns.
The digital level of the single-machine platform ring spinning frame is improved, and a better foundation is laid for realizing spinning intellectualization. However, the following problems currently exist: firstly, electronic drafting, electronic twisting and electronic winding of a numerical control spinning frame belong to mutually independent control units, and meanwhile, a simulation model of yarns is not integrated into a digital spinning processing process, the digital spinning processing process can be completed only by manual intervention or preset parameters, and the intelligent digital spinning processing process cannot be realized; a digital simulation model for expressing the structure and the appearance of the yarn is lacked, data support cannot be provided for digital forming processing of the spun yarn, and flexible intelligent production of the spun yarn cannot be realized; the spinning process is controlled on site by adopting a PLC (programmable logic controller), and the mechanism motion parameters, the spinning process parameters and the structure parameters of the formed yarns are not displayed visually; in the aspect of monitoring, the speed of a moving part of a spinning machine is mainly monitored at present, and the structural parameters and spinning process parameters of the formed yarn cannot be monitored.
Disclosure of Invention
The invention aims to solve the technical problem of providing a time-sequence control spinning method for a single-channel ring spinning frame, which can realize precise time-sequence spinning control aiming at the spinning process and effectively improve the obtaining efficiency of target forming yarns.
The invention adopts the following technical scheme for solving the technical problems: the invention designs a time-sequence control spinning method for a single-channel ring spinning frame, which is based on a single-channel ring spinning mechanism and is used for spinning from roving to target forming yarn, and is characterized by comprising the following steps:
step A, defining the spinning time of a sample target forming yarn s with a preset length as T, and the spinning time lengths corresponding to n sections of different structural yarn sections on the sample target forming yarn s are ξ1、…、ξi、…、ξn1. ltoreq. i.ltoreq.n, and is defined
Then entering the step B;
b, detecting and obtaining the discrete value rho of the density of each yarn distributed on the sample target forming yarn s according to the time sequence based on the spinning process of the sample target forming yarn ssiThe discrete value T of the twist of each yarnwiAnd further obtaining a yarn density distribution function rho corresponding to the sample target forming yarn s in a data fitting modes(T) yarn twist value distribution function Tw(t), wherein ti≤t≤ti+1Then entering step C;
step C, according to the crude yarn density rho and the yarn densities distributed on the sample target forming yarn s according to the time sequenceDiscrete value ρsiObtaining the discrete value E of the draft ratio of the roving at the corresponding time sequencei＝ρ/ρsiObtaining a draft ratio distribution function E (t) corresponding to the roving by adopting a curve data fitting mode, and then entering the step D;
step D, according to the ring ingot rotating speed nd(t), linear density of the roving ρ, constant Ck∈[1，1.38]The ascending and descending pitch h of the ring plates(t)、hx(t), forming angle gamma, total height H of cop, maximum winding radius R, rotation angle theta (t) of steel ring around steel collar, and short lifting distance H of steel collar platesAnd a short stroke H of descentxStep Δ ═ Hs-HxAccording to the following formulas:
front roller speed: vq(t)＝nd(t)/Tw(t)；
Rear roller speed: vh(t)＝Vq(t)*ρs(t)*λ(t)/ρ；
Speed of the middle roller: vz(t)＝Vq(t)/[E(t)/Ck]；
Ring plate rising speed:
descending speed of ring plate:
and controlling each working mechanism in the ring spinning mechanism to work according to the corresponding time sequence function respectively, so as to realize the spinning from the rough yarn to the target forming yarn.
As a preferred technical scheme of the invention: detecting the time sequence motion parameters output by the servo motors respectively corresponding to the back roller, the middle roller, the front roller, the ring ingot and the ring plate as Ubh(t)、Ubz(t)、Ubq(t)、Ubd(t)、Ubg(t); according to the transmission ratio mu from each servo motor to the driven mechanismh、μz、μq、μd、μgTo obtain individual operations in ring spinning mechanismsThe mechanism operation parameters and the spinning process parameters are used for feedback display, and the feedback operation parameters of each working mechanism are as follows:
front roller feedback speed: vbq(t)＝Ubq(t)×μq；
Feedback speed of the middle roller: vbz(t)＝Ubz(t)×μz；
Rear roller feedback speed: vbh(t)＝Ubh(t)×μh；
The rising feedback speed of the ring plate is as follows: vbgs(t)＝Ubgs(t)×μg；
The descending feedback speed of the ring plate is as follows: vbgx(t)＝Ubgx(t)×μg；
The spindle feeds back the rotating speed: n isbd(t)＝Ubd(t)×μd；
The spinning process parameters are fed back as follows:
feedback yarn density of target formed yarn: rhobs(t)＝ρ*[Ubh(t)×μh]/[Ubq(t)×μq]；
Feedback yarn twist of target formed yarn:
feed forward zone draw ratio:
zone draft ratio after feedback: ebh(t)＝[Ubz(t)×μz]/[Ubh(t)×μh]；
Feeding back the total draft ratio: eb(t)＝[Ubq(t)×μq)]/[(Ubh(t)×μh]。
As a preferred technical scheme of the invention: the step C comprises the following steps C1 to C2;
step C1. discrete value rho of each yarn density distributed according to time sequence on sample target forming yarn ssiAccording to the followingFormula (II):
Ei(t)＝ρ/ρsi
obtain corresponding tiDraw ratio discrete value E ofiThen proceed to step C2;
step C2. for each tiDraw ratio discrete value E ofiAnd obtaining a corresponding time-series variation drafting ratio distribution function E (t) by a data fitting mode.
As a preferred technical scheme of the invention: the step C also comprises the steps C3 to C5, and after the step C2 is executed, the step C3 is executed;
step C3. according to Eqi＝Ei/CkObtaining the draft ratio E of the front area of the channel in each time periodqiThen proceed to step C4;
and C4, obtaining the draft ratio of the rear zone in each time period: ehi＝Ei/EqiThen proceed to step C5;
step C5. is based on the following equation:
ξ time for spinningi＝li/Vqi(ii) a Certain spinning length: li＝Vqi*ξi；
Cumulative spinning time
Speed of a certain spinning front roller: vqi＝ndi/Twi；
Cumulative length of spun yarn
Respectively obtain spinning time length ξ corresponding to single section on the target forming yarniLength of the spun yarn liSpeed V of front rollerqiCumulative spinning time TiAnd the cumulative length L of the target formed yarn obtainedi。
In view of the above, the technical problem to be solved by the present invention is to provide a control system for a single-channel ring spinning frame time-sequenced control spinning method, which realizes the automation of detection and control through the cooperative control of a plurality of subsystems, realizes the precise time-sequenced spinning control for the spinning process, and effectively improves the obtaining efficiency of the target formed yarn.
The invention adopts the following technical scheme for solving the technical problems: the invention designs a control system of a single-channel ring spinning frame time-sequence control spinning method, which comprises a sensing subsystem, a spinning machine execution subsystem and a local control module, wherein the sensing subsystem is connected with the local control module, and the local control module is butted with the spinning machine execution subsystem; the sensing subsystem comprises displacement sensors, speed sensors, force sensors, optical sensors, electric sensors, a scanner, a camera and a camera, wherein the density value of the formed yarn is detected by the optical sensors or the electric sensors, the twist value of the formed yarn is detected by the scanner or the camera, the rotating speed of each roller is detected by each speed sensor, and the draft ratio of each channel is detected by each displacement sensor and each force sensor;
the spinning machine execution subsystem comprises mutually butted servo drive system hardware and spinning machine execution system hardware, the servo drive system hardware is used for adjusting the motor rotating speed aiming at the spinning machine execution system hardware, and the spinning machine execution system hardware is front rollers, middle rollers, spindles, ring plates and back rollers.
As a preferred technical scheme of the invention: the system also comprises a network communication module connected with the local control module, and each terminal and the cloud server which are connected with the local control module through the network communication module.
Compared with the prior art, the time-sequence control spinning method and the control system for the single-channel ring spinning frame have the following technical effects:
according to the time-series control spinning method for the single-channel ring spinning frame, the time-series yarn structure parameters are integrated into the spinning processing process through the constructed mathematical model and algorithm, the time-series control of the electric control devices of all mechanisms of the spinning equipment can be realized based on the characteristics of the rough yarn raw material and the formed target yarn, and therefore the accurate spinning process is realized, and the target formed yarn is obtained; meanwhile, an integrated intelligent control system of the ring spinning frame is constructed based on the designed spinning method, and the intelligent control system integrates the dispersed control of the spinning drafting mechanism, the twisting mechanism and the winding forming mechanism into an integrated system for control; the intelligent spinning technology is characterized in that a control system is used for realizing digital control of the motion rule of a spinning forming mechanism and spinning technological parameters based on yarn time-sequence structural parameters, and the intelligent spinning technology is used for converting time-sequence digital signals detected by a sensor into ring spinning system operation parameters, spinning technological parameters and yarn structural parameters and performing visual display; meanwhile, the intelligent spinning technology can upload input and output signals of the field controller to the cloud platform and realize remote monitoring and control of the spinning frame based on the mobile equipment and the remote control platform; compared with the existing numerical control spinning frame, the control system has the advantages of higher digital processing level, more comprehensive monitoring system and visual display function and more convenient man-machine cooperative control function, and practical application tests show that the scheme provided by the invention is simple to operate, can meet expected requirements, and has strong practicability.
Drawings
FIG. 1 is a time-sequenced yarn simulation model in the time-sequenced control spinning method of the single-channel ring spinning frame designed by the invention;
FIG. 2 is a time-sequenced yarn simulation model constructed based on feedback signals in the time-sequenced control spinning method of the single-channel ring spinning frame designed by the invention;
fig. 3 is a schematic block diagram of a control system of a time-sequenced spinning method of the single-channel ring spinning frame designed by the invention.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention designs a time sequence control spinning method for a single-channel ring spinning frame, which is based on a single-channel ring spinning mechanism and is used for spinning from roving to target forming yarn.
Step A, defining the spinning time of a sample target forming yarn s with a preset length as T, and the spinning time lengths corresponding to n sections of different structural yarn sections on the sample target forming yarn s are ξ1、…、ξi、…、ξn1. ltoreq. i.ltoreq.n, and is defined
Then step B is entered.
And B, detecting and obtaining the discrete value rho of the yarn density distributed on the sample target forming yarn s according to the time sequence based on the spinning process of the sample target forming yarn s as shown in figure 1siThe discrete value T of the twist of each yarnwiAnd further obtaining a yarn density distribution function rho corresponding to the sample target forming yarn s in a data fitting modes(T) yarn twist value distribution function Tw(t), wherein ti≤t≤ti+1Then, step C is entered.
In practical application, as shown in fig. 2, for the yarn density distribution function, a section of sample target forming yarn is detected by a yarn fineness meter of an optical or electric sensor, an optical signal is converted into an electric signal or the electric signal is directly used through digital signal processing, and then the discrete value rho of each yarn density distributed on the sample target forming yarn s according to time series can be obtained through detection and obtained through A/D and D/A conversionsiAnd further obtaining a yarn density distribution function rho corresponding to the sample target forming yarn s in a data fitting modes(t)。
For the yarn twist value distribution function, as shown in fig. 2, a high-definition scanner or a camera is used to scan a section of sample target forming yarn, an image processor processes the scanned section of sample target forming yarn to convert an optical signal into an electrical signal, and the electrical signal is then subjected to a/D and D/a conversion to obtain the discrete value T of each yarn twist value distributed in time series on the sample target forming yarn swiAnd further obtaining a yarn twist value distribution function T corresponding to the sample target forming yarn s in a data fitting modew(t)。
Step C, according to the density rho of the coarse yarn, andand the discrete values rho of the respective yarn densities distributed in time series on the sample target-formed yarn ssiObtaining the discrete value E of the draft ratio of the roving at the corresponding time sequencei＝ρ/ρsiAnd obtaining a draft ratio distribution function E (t) corresponding to the roving by adopting a curve data fitting mode, and then entering the step D.
In practical applications, the step C is performed as the following steps C1 to C5.
Step C1, respectively corresponding to t according to the rough yarniA discrete value λ of the blending ratio ofiAnd the discrete values rho of the respective yarn densities distributed in time series on the sample target-formed yarn ssiAccording to the following formula:
Ei(t)＝ρ/ρsi
obtaining corresponding t of rovingiDraw ratio discrete value E ofiThen, the process proceeds to step C2.
Step C2. corresponds to each t for the rovingiDraw ratio discrete value E ofiObtaining a draft ratio distribution function E (t) corresponding to the roving through a data fitting mode, and then entering a step C3
Step C3. according to Eqi＝Ei/CkObtaining the draft ratio E of the front area of the channel in each time periodqiThen, the process proceeds to step C4.
And C4, obtaining the draft ratio of the rear zone in each time period: ehi＝Ei/EqiThen, the process proceeds to step C5.
Step C5. is based on the following equation:
ξ time for spinningi＝li/Vqi(ii) a Certain spinning length: li＝Vqi*ξi；
Cumulative spinning time
Speed of a certain spinning front roller: vqi＝ndi/Twi；
Cumulative length of spun yarn
Respectively obtain spinning time length ξ corresponding to single section on the target forming yarniLength of the spun yarn liSpeed V of front rollerqiCumulative spinning time TiAnd the cumulative length L of the target formed yarn obtainedi。
Step D, according to the ring ingot rotating speed nd(t), linear density of the roving ρ, constant Ck∈[1，1.38]The ascending and descending pitch h of the ring plates(t)、hx(t), forming angle gamma, total height H of cop, maximum winding radius R, rotation angle theta (t) of steel ring around steel collar, and short lifting distance H of steel collar platesAnd a short stroke H of descentxStep Δ ═ Hs-HxAccording to the following formulas:
front roller speed: vq(t)＝nd(t)/Tw(t)；
Rear roller speed: vh(t)＝Vq(t)*ρs(t)*λ(t)/ρ；
Speed of the middle roller: vz(t)＝Vq(t)/[E(t)/Ck]；
Ring plate rising speed:
descending speed of ring plate:
and controlling each working mechanism in the ring spinning mechanism to work according to the corresponding time sequence function respectively, so as to realize the spinning from the rough yarn to the target forming yarn.
During the working process of each working mechanism in the ring spinning mechanism, the time sequence motion parameters of the servo motors corresponding to the rear roller, the middle roller, the front roller, the ring ingot and the ring rail are detected to be Ubh(t)、Ubz(t)、Ubq(t)、Ubd(t)、Ubg(t); according to the servo motors to be drivenThe transmission ratio of the moving mechanism is muh、μz、μq、μd、μgAnd obtaining the running parameters of each working mechanism in the ring spinning mechanism and the spinning technological parameters for feedback display, wherein the feedback running parameters of each working mechanism in the ring spinning mechanism are as follows:
front roller feedback speed: vbq(t)＝Ubq(t)×μq；
Feedback speed of the middle roller: vbz(t)＝Ubz(t)×μz；
Rear roller feedback speed: vbh(t)＝Ubh(t)×μh；
The rising feedback speed of the ring plate is as follows: vbgs(t)＝Ubgs(t)×μg；
The descending feedback speed of the ring plate is as follows: vbgx(t)＝Ubgx(t)×μg；
The spindle feeds back the rotating speed: n isbd(t)＝Ubd(t)×μd；
The spinning process parameters are fed back as follows:
feedback yarn density of target formed yarn: rhobs(t)＝ρ*[Ubh(t)×μh]/[Ubq(t)×μq]；
Feedback yarn twist of target formed yarn:
feed forward zone draw ratio:
zone draft ratio after feedback: ebh(t)＝[Ubz(t)×μz]/[Ubh(t)×μh]；
Feeding back the total draft ratio: eb(t)＝[Ubq(t)×μq)]/[(Ubh(t)×μh]。
The invention further designs a control system for the time-sequence control spinning method of the single-channel ring spinning frame, which corresponds to the designed time-sequence control spinning method of the single-channel ring spinning frame, and specifically comprises a perception subsystem, a spinning machine execution subsystem, a local control module, a network communication module, terminals and a cloud server, wherein the perception subsystem is connected with the local control module, and the local control module is in butt joint with the spinning machine execution subsystem; the sensing subsystem comprises displacement sensors, speed sensors, force sensors, optical sensors, electric sensors, a scanner, a camera and a camera, wherein the density value of the formed yarn is detected by the optical sensors or the electric sensors, the twist value of the formed yarn is detected by the scanner or the camera, the rotating speed of each roller is detected by each speed sensor, and the draft ratio of each channel is detected by each displacement sensor and each force sensor.
The spinning machine execution subsystem comprises mutually butted servo drive system hardware and spinning machine execution system hardware, the servo drive system hardware is used for adjusting the motor rotating speed aiming at the spinning machine execution system hardware, and the spinning machine execution system hardware is front rollers, middle rollers, spindles, ring plates and back rollers.
The local control module is connected and communicated with each terminal and the cloud server through the network communication module, and in practical application, the local control module is used for controlling and monitoring a spinning process, such as a field PLC or an industrial personal computer, a local client, a central control room, a remote client, a mobile client and the like.
In practical application, as shown in fig. 3, the network and communication module hardware mainly comprises storage hardware (i.e. a storage hard disk) of a remote server and a router (i.e. a PLC-500T PRO industrial networking device), wherein the storage hardware is responsible for storing detailed parameter data of a spinning process for a user to check, download and call on line; the router supports a TCP/IP communication protocol and is responsible for connecting the cloud server, the client and the programmable controller to play a role of a bridge.
The management and control module hardware mainly comprises a management part such as a mobile phone, a tablet personal computer, a PC host, a TPC-1061Hi touch screen and a control part such as a Programmable Logic Controller (PLC). The Programmable Logic Controller (PLC) mainly comprises an AC500 CPU, an AC500-ETH CPU mainboard, a CD522 high-speed counting module, a TU516 module bottom plate and a digital IO module. The management part is mainly responsible for processing real-time data from the control part and visually displaying the real-time data in a chart form. The control part is responsible for converting the process parameters sent by the management part into data which can be identified by the machine so as to be executed by the execution module.
The execution module hardware mainly comprises servo drive system hardware and spinning machine execution system hardware. The servo drive system hardware comprises an HDR switch, a DZ47-60 miniature circuit breaker, a B2-220V pulse type servo driver, an A2-220V Ethernet type servo driver, an ECMA servo motor and a speed reducer, and mainly plays a role in adjusting the rotating speed of the motor. The spinning machine executing system hardware comprises a front roller, a middle roller, a back roller, spindles, a ring plate and the like.
The hardware of the perception module mainly comprises displacement sensors, speed sensors, force sensors, a scanner, a video camera and a camera. The hardware of the module is responsible for feeding back the movement speed of the spinning mechanism and the appearance parameters of the yarn structure to the programmable controller for subsequent regulation and control.
Based on the construction of the modules, in practical application, the network and communication module software is matched with control system software, wherein the network and communication module software mainly comprises remote server system software and router driving software, the remote server system software is integrated in client software, and the software is mainly responsible for retrieving and calling data stored in a network hard disk, so that the management and the further management of the control module are facilitated.
The management and control module software mainly comprises management part software and control part software. The management part software comprises mobile phone client software, remote client software (such as a webpage), client software, a touch screen program and the like; the control portion includes a programmable controller (PLC) program. With the above procedures, the motion law of the machine can be accurately and efficiently controlled.
The execution module software is used for converting the electric signals transmitted by the system into the motion parameters of the spinning machine so as to facilitate the subsequent production and processing; the sensing module software mainly comprises scanner driving software, video camera driving software and camera driving software. Under the action of hardware and driving software of the module, the spinning motion rule can be better regulated and controlled.
According to the time-sequence control spinning method for the single-channel ring spinning frame, the time-sequence yarn structure parameters are integrated into the spinning processing process through the constructed mathematical model and algorithm, the time-sequence control can be carried out on the electric control devices of all mechanisms of the spinning equipment based on the characteristics of the rough yarn raw material and the formed target yarn, and therefore the precise spinning process is achieved, and the target formed yarn is obtained; meanwhile, an integrated intelligent control system of the ring spinning frame is constructed based on the designed spinning method, and the intelligent control system integrates the dispersed control of the spinning drafting mechanism, the twisting mechanism and the winding forming mechanism into an integrated system for control; the intelligent spinning technology is characterized in that a control system is used for realizing digital control of the motion rule of a spinning forming mechanism and spinning technological parameters based on yarn time-sequence structural parameters, and the intelligent spinning technology is used for converting time-sequence digital signals detected by a sensor into ring spinning system operation parameters, spinning technological parameters and yarn structural parameters and performing visual display; meanwhile, the intelligent spinning technology can upload input and output signals of the field controller to the cloud platform and realize remote monitoring and control of the spinning frame based on the mobile equipment and the remote control platform; compared with the existing numerical control spinning frame, the control system has the advantages of higher digital processing level, more comprehensive monitoring system and visual display function and more convenient man-machine cooperative control function, and practical application tests show that the scheme provided by the invention is simple to operate, can meet expected requirements, and has strong practicability.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (6)
1. A time sequence control spinning method of a single-channel ring spinning frame is based on a single-channel ring spinning mechanism to realize spinning from roving to target forming yarn, and is characterized by comprising the following steps:
step A, defining the spinning time of a sample target forming yarn s with a preset length as T, and the spinning time lengths corresponding to n sections of different structural yarn sections on the sample target forming yarn s are ξ1、…、ξi、…、ξn1. ltoreq. i.ltoreq.n, and is defined
Then entering the step B;
b, detecting and obtaining the discrete value rho of the density of each yarn distributed on the sample target forming yarn s according to the time sequence based on the spinning process of the sample target forming yarn ssiThe discrete value T of the twist of each yarnwiAnd further obtaining a yarn density distribution function rho corresponding to the sample target forming yarn s in a data fitting modes(T) yarn twist value distribution function Tw(t), wherein ti≤t≤ti+1Then entering step C;
c, according to the density rho of the coarse yarn and the discrete value rho of the density of each yarn distributed on the sample target forming yarn s according to the time sequencesiObtaining the discrete value E of the draft ratio of the roving at the corresponding time sequencei＝ρ/ρsiObtaining a draft ratio distribution function E (t) corresponding to the roving by adopting a curve data fitting mode, and then entering the step D;
step D, according to the ring ingot rotating speed nd(t), linear density of the roving ρ, constant Ck∈[1，1.38]The ascending and descending pitch h of the ring plates(t)、hx(t), forming angle gamma, total height H of cop, maximum winding radius R, rotation angle theta (t) of steel ring around steel collar, and short lifting distance H of steel collar platesAnd a short stroke H of descentxStep Δ ═ Hs-HxAccording to the following formulas:
front roller speed: vq(t)＝nd(t)/Tw(t)；
Rear roller speed: vh(t)＝Vq(t)*ρs(t)*λ(t)/ρ；
Speed of the middle roller: vz(t)＝Vq(t)/[E(t)/Ck]；
Ring plate rising speed:
descending speed of ring plate:
and controlling each working mechanism in the ring spinning mechanism to work according to the corresponding time sequence function respectively, so as to realize the spinning from the rough yarn to the target forming yarn.
2. The time-sequence control spinning method of the single-channel ring spinning frame according to claim 1, characterized in that: detecting the time sequence motion parameters output by the servo motors respectively corresponding to the back roller, the middle roller, the front roller, the ring ingot and the ring plate as Ubh(t)、Ubz(t)、Ubq(t)、Ubd(t)、Ubg(t); according to the transmission ratio mu from each servo motor to the driven mechanismh、μz、μq、μd、μgAnd obtaining the operating parameters of each working mechanism in the ring spinning mechanism and the spinning process parameters for feedback display, wherein the feedback operating parameters of each working mechanism are as follows:
front roller feedback speed: vbq(t)＝Ubq(t)×μq；
Feedback speed of the middle roller: vbz(t)＝Ubz(t)×μz；
Rear roller feedback speed: vbh(t)＝Ubh(t)×μh；
The rising feedback speed of the ring plate is as follows: vbgs(t)＝Ubgs(t)×μg；
The descending feedback speed of the ring plate is as follows: vbgx(t)＝Ubgx(t)×μg；
The spindle feeds back the rotating speed: n isbd(t)＝Ubd(t)×μd；
The spinning process parameters are fed back as follows:
feedback yarn density of target formed yarn: rhobs(t)＝ρ*[Ubh(t)×μh]/[Ubq(t)×μq]；
Feedback yarn twist of target formed yarn:
feed forward zone draw ratio:
zone draft ratio after feedback: ebh(t)＝[Ubz(t)×μz]/[Ubh(t)×μh]；
Feeding back the total draft ratio: eb(t)＝[Ubq(t)×μq)]/[(Ubh(t)×μh]。
3. The time-series control spinning method for the single-channel ring spinning frame according to any one of claims 1 to 2, characterized in that: the step C comprises the following steps C1 to C2;
step C1. discrete value rho of each yarn density distributed according to time sequence on sample target forming yarn ssiAccording to the following formula:
Ei(t)＝ρ/ρsi
obtaining corresponding t of rovingiDraw ratio discrete value E ofiThen proceed to step C2;
step C2. for each tiDraw ratio discrete value E ofiAnd obtaining the corresponding draft ratio distribution function E (t) by a data fitting mode.
4. The time-sequence control spinning method of the single-channel ring spinning frame according to claim 3, characterized in that: the step C also comprises the steps C3 to C5, and after the step C2 is executed, the step C3 is executed;
step C3. according to Eqi＝Ei/CkObtaining the draft ratio E of the front area of the channel in each time periodqiThen proceed to step C4;
and C4, obtaining the draft ratio of the rear zone in each time period: ehi＝Ei/EqiThen proceed to step C5;
step C5. is based on the following equation:
ξ time for spinningi＝li/Vqi(ii) a Certain spinning length: li＝Vqi*ξi；
Cumulative spinning time
Speed of a certain spinning front roller: vqi＝ndi/Twi；
Cumulative length of spun yarn
Respectively obtain spinning time length ξ corresponding to single section on the target forming yarniLength of the spun yarn liSpeed V of front rollerqiCumulative spinning time TiAnd the cumulative length L of the target formed yarn obtainedi。
5. A control system applying the single-channel ring spinning frame time-sequence control spinning method of any one of claims 2 to 4, is characterized in that: the spinning machine comprises a sensing subsystem, a spinning machine execution subsystem and a local control module, wherein the sensing subsystem is connected with the local control module, and the local control module is butted with the spinning machine execution subsystem; the sensing subsystem comprises displacement sensors, speed sensors, force sensors, optical sensors, electric sensors, a scanner, a camera and a camera, wherein the density value of the formed yarn is detected by the optical sensors or the electric sensors, the twist value of the formed yarn is detected by the scanner or the camera, the rotating speed of each roller is detected by each speed sensor, and the draft ratio of each channel is detected by each displacement sensor and each force sensor;
the spinning machine execution subsystem comprises mutually butted servo drive system hardware and spinning machine execution system hardware, the servo drive system hardware is used for adjusting the motor rotating speed aiming at the spinning machine execution system hardware, and the spinning machine execution system hardware is front rollers, middle rollers, rear rollers, spindles and ring plates.
6. The control system of the single-channel ring spinning frame time-sequenced control spinning method according to claim 5, characterized in that: the system also comprises a network communication module connected with the local control module, and each terminal and the cloud server which are connected with the local control module through the network communication module.
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