CN112095218B - Yarn feeding device and method for feeding yarn to a textile machine - Google Patents

Yarn feeding device and method for feeding yarn to a textile machine Download PDF

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Publication number
CN112095218B
CN112095218B CN202010559149.9A CN202010559149A CN112095218B CN 112095218 B CN112095218 B CN 112095218B CN 202010559149 A CN202010559149 A CN 202010559149A CN 112095218 B CN112095218 B CN 112095218B
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China
Prior art keywords
motor
control unit
yarn
textile machine
separate control
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CN202010559149.9A
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CN112095218A (en
Inventor
F.奥内达
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Memminger IRO GmbH
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Memminger IRO GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H51/00—Forwarding filamentary material
    • B65H51/30—Devices controlling the forwarding speed to synchronise with supply, treatment, or take-up apparatus
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
    • D04B15/38—Devices for supplying, feeding, or guiding threads to needles
    • D04B15/48—Thread-feeding devices
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B35/00—Details of, or auxiliary devices incorporated in, knitting machines, not otherwise provided for
    • D04B35/10—Indicating, warning, or safety devices, e.g. stop motions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Abstract

A yarn conveying device for conveying a yarn to a textile machine comprises at least two active feeders and a common control unit, wherein each active feeder comprises a yarn conveying wheel, a brushless dc motor for driving the wheel and a separate control unit having at least one microcontroller. Each motor comprises a sensor device with a hall sensor for monitoring the position of the motor in order to control the coils of the motor, wherein the individual control unit is designed to compare the monitored position of the motor with a given position of the motor corresponding to the movement of the textile machine and to adjust the current of the coils of the motor depending on the difference between the two. For each feeder, the sensor arrangement comprises three analog hall sensors, wherein the sensors are arranged with a displacement of 120 ° from each other, wherein the analog hall sensors generate the signals as a sine wave.

Description

Yarn feeding device and method for feeding yarn to a textile machine
Technical Field
The present invention relates to a yarn delivery device having at least two active feeders (positive feeders) and a common control unit, and a method for delivering a yarn to a textile machine according to the preambles of the independent claims. The subject of the invention is to synchronize the yarn transport of an active feeder with the speed of a textile machine using an active feeder with an electric motor.
Background
US 2005/0146294 a1 describes an electronic device for delivering a yarn to a textile machine, which is able to regulate the delivery of the yarn by varying the rotational speed of at least one motor, so as to keep the speed as synchronized as possible according to an adjustable scaling factor with respect to the rotational speed of the textile machine.
A device is associated with each yarn winding wheel for feeding each single yarn to the textile machine. It comprises a motor and an electronic control board of the motor, equipped with at least one microcontroller capable of controlling the rotation speed of the motor and the current in the phases of the motor, and of maintaining this rotation speed in synchronism with the rotation speed of the textile cartridge. The motor is a dc brushless motor comprising sensor means for detecting the position of the rotor outside said motor. The electronic control board of the motor controls a driver that switches the phases of the motor and the currents to be delivered to said phases.
The electronic board is able to detect the input frequency from a first coding device engaged with the drum of the textile machine in order to compare the input frequency with the output frequency obtained from a second coding device mounted on the shaft of the motor.
The second coding means mounted on the shaft of the motor do not allow determining a very precise position of the motor.
From US 2007/0272784 a1 a yarn feeding device for a knitting machine is known, which has a yarn feeding wheel, an electric motor for the yarn feeding wheel and an angle encoder for detecting the rotational position of the yarn feeding wheel.
In one of the embodiments, the angle encoder comprises a rotatable permanent magnet M and four hall sensors arranged in the magnetic field of the permanent magnet M. It is indicated that this type of angular encoder is installed in some brushless electric motors in order to control the electronic switches for triggering the motor coils. It is stated that the angular encoder can be used as a position sensor of the connected control circuit, but is not so specified.
The control loop comprises a regulating circuit, an actual value input to which the angle encoder is connected and a desired value input to which the preselection unit is connected.
In operation, several yarn delivery devices are controlled by a central control device. The central control device sends control pulses to the preselected unit of each device, for example, the central control device sends out individual pulses, wherein each single pulse of one step of rotation of the electric motor corresponds to the annular (angular) resolution of the angular encoder.
The angular encoder has such angular resolution: the angular resolution is at least so large that the ratio s/d between the angular resolution s and the diameter d of the yarn delivery wheel is greater than 3 mm-1。
In the case of knitting machines with several active feeders, it is necessary to synchronize a multitude of yarn winding wheels (i.e. a multitude of motors). The position of the motor must be determined more accurately.
Disclosure of Invention
The subject of the invention is to improve the synchronization of the yarn delivery with the speed of the textile machine, in particular to improve the position determination resolution of the motor position of the active yarn delivery feeder to achieve synchronization.
The yarn delivery device for delivering a yarn to a textile machine according to the invention comprises at least two active feeders and a common control unit. Each feeder comprises a yarn delivery wheel, a brushless dc motor for driving the wheel, and a separate control unit having at least one microcontroller. The motor comprises a sensor device with hall sensors to monitor the position of the motor in order to control the coils of the motor. The common control unit is designed to provide information about the movement of the textile machine to the individual control units.
Each individual control unit is designed to control the position of its motor in correspondence with the movement of the textile machine. Designed to compare the monitored position of the motor with a given position of the motor corresponding to the movement of the textile machine and to adjust the current of the coils of the motor according to the difference between the two. The given position of the motor is determined relative to the movement of the textile machine (for example, the rotational speed of the needle cylinder) and an adjustable scaling factor or ratio factor.
The sensor device of each feeder is provided with three analog hall sensors for monitoring the position of the motor used. The sensors are arranged with a displacement of 120 deg. from each other as seen from the motor axis. Three analog hall sensors are designed to generate a signal that is a sine wave.
The individual control unit is designed to determine the monitored position of the motor by analyzing the three sine-wave signals by means of their inverse trigonometric functions. It is designed such that: when a discontinuity in the inverse trigonometric function of one of these sinusoids occurs, the monitored position of the motor is determined by selecting two of the three signals without discontinuity for this determination.
Since the three analog hall sensors are arranged with a displacement of 120 ° from each other, the discontinuity of the inverse trigonometric function of the sine wave is also shifted. Thus, at each angle of rotation, at most one of the three inverse trigonometric functions exhibits a discontinuity if so.
As a result, it is possible to determine the value of the motor position at each angle (i.e., at each point of the sine wave). The resolution of this determination is limited only by the number of bits provided for the value of the motor position.
This very accurate determination of the motor position of each feeder enables the use of an active feeder with an electric motor to achieve a uniform knitted fabric.
In one embodiment, the separate control unit is designed to determine the position of the textile machine on the basis of the movement information and to determine a given position of the motor in relation to the determined position of the textile machine.
The movement information of the textile machine (i.e. the circular knitting machine) is, for example, a speed signal with a pulse sequence from an encoder arranged at the motor of the knitting cylinder or at the knitting cylinder itself. In one embodiment, the single control unit is designed to analyze the speed signal (i.e. the pulse sequence) in order to determine the speed or frequency of the knitting cylinder and to determine the position of the knitting cylinder. The separate control unit is designed to assign a given position of the motor to the position of the knitting cylinder, for example subject to the desired knitting pattern.
In one embodiment, a separate control unit is designed to control the motor using a field oriented control FOC method. Field oriented control FOC for motor rotation requires an accurate indication of the motor position. As described above, a sensor arrangement with three analog hall sensors is utilized to provide such an accurate indication of the motor position.
In one embodiment, the separate control is designed to adjust the position of the motor by adjusting the current of the coils of the motor using pulse width modulation, PWM.
Therefore, a single unit is designed to determine the monitoring position by analyzing the sine wave and to use the field oriented control FOC method for controlling the motor rotation by adjusting the current of the coils of the motor.
The method for feeding a yarn to a textile machine according to the present invention is suitable for using a yarn feeding device having the characteristics and advantages described above.
A method for delivering a yarn to a textile machine by means of a yarn delivery device comprising at least two active feeders and a common control unit, wherein each active feeder has a yarn delivery wheel, a brushless dc motor for driving the wheel, and a separate control unit having at least one microcontroller, said method comprising: monitoring the position of the motor by a sensor device with a hall sensor in order to control the coils of the motor; providing information about the movement of the textile machine to the individual control units by the common control unit; and controlling the position of the motor by a separate control unit in correspondence with the movement of the textile machine.
The monitored position of the motor is compared by a separate control unit with a given position of the motor corresponding to the movement of the textile machine, and the current of the coils of the motor is adjusted by the separate control unit as a function of the difference between the two.
The method further comprises the following steps: for each active feeder, the signals of three analog hall sensors of the sensor device are provided as sine waves, said analog hall sensors being arranged with a displacement of 120 ° from each other as seen from the motor axis; and determining, by a separate control unit, the monitored position of the motor by analysing the three sine wave signals by means of their inverse trigonometric functions and, if so, by selecting two of the three signals without discontinuities for this determination.
In one embodiment, the method comprises: a separate control unit determines the position of the textile machine on the basis of the movement information and determines a given position of the motor which is associated with the determined position of the textile machine.
In one embodiment, the method comprises: the coils of the motor are controlled by a separate electronic control unit using the field oriented control FOC method.
In one embodiment, the method comprises: the position of the motor is regulated by a separate electronic control unit by adjusting the current of the coils of the motor using pulse width modulation, PWM.
In one embodiment, the method comprises: for calibration, the shape of three sine waves is recorded by a separate control unit at a given rotation speed; and determining the position of the motor during a portion of the rotation of the motor for synchronization. The size of the partial rotation depends on the number of pole pairs of the motor, where the size is one rotation divided by the number of pole pairs.
In one embodiment, the method comprises: when the difference between the monitored position and the given position of the motor is greater than 1 mm, a stop signal is provided to the textile machine by a separate control unit.
In one embodiment, the method comprises: when a drop in yarn tension is recognized, the rotation of the feeder's motor is automatically reduced by a given number of degrees by the feeder's individual control unit. Thus, the yarn tension is increased as quickly as possible. In one example, the rotational speed of the motor is reduced by a given modification to an adjustable scaling factor or ratio factor relative to the speed of the syringe. For example, a drop in yarn tension is recognized by an output sensor of the feeder. For example, a drop in yarn tension is detected when the speed of the textile machine is reduced or when the textile machine is stopped.
Drawings
The invention will be further explained using an embodiment of a yarn feeding device arranged at a circular knitting machine, which is schematically shown in the drawing. The figures show:
fig. 1 is a schematic view of a yarn feeding device arranged at a circular knitting machine;
fig. 2 is a schematic view of an active feeder of the yarn conveying device;
FIG. 3 is sine waves W1, W2, and W3 as a function of rotation angle θ;
FIG. 4 is a flow chart of a calibration process;
FIG. 5 is a flow chart of a synchronization process; and
fig. 6 shows a detail of the third step of fig. 5.
Detailed Description
Fig. 1 schematically shows a yarn conveying device for conveying a yarn Y to a textile machine, having several active feeders 1 and a common control unit 2. In figure 2 only the yarn Y delivered by one active feeder 1 is shown.
In this embodiment, the yarn delivery device is arranged at the textile machine, i.e. at the circular knitting machine. The circular knitting machine comprises: a knitting cylinder 3; a housing 4; and an electric motor 5 of the knitting cylinder 3 and a take-off device for letting out the knitted fabric 6, which are inside the casing 4. The payoff device has a frame 7 with an electric motor 8 and two sets of rollers 9, 10 with their electric motors 11, 12. The circular knitting machine comprises a machine control unit 13, which is arranged in a second housing 14. The housing is provided with a display 15.
The active feeder 1 of the yarn conveying device is fixed to a machine annular element 16 supported by suspension means 17. Only two of the active feeders 1 are schematically shown, the other active feeders being indicated by short lines in fig. 1.
The common control unit 2 of the yarn feeding devices is placed into the second housing 14. The common control unit 2 is connected to each active feeder 1 through a communication line L1. The machine control unit 13 is connected to the motor 5 by a second communication line L2, to the common control unit 2 by a third communication line L3, to the two motors 11 of the roller 9 by communication lines L4, L5 and to the two motors 12 of the roller 10 by communication lines L6, L7.
In fig. 2 an active feeder 1 is schematically shown. Each active feeder 1 comprises a feeder housing 20, a yarn delivery wheel 21, a brushless dc motor 22 for driving the wheel 21 and a separate control unit 23. The motor 22 and the separate control unit 23 are arranged inside the feeder housing 20 shown by the broken lines. The shaft a of the motor 22, on which the drive wheel 21 is fixed, is also shown by a broken line.
The active feeder 1 is provided with a fastening device 24 to fasten the feeder 1 to the machine annular part 16. It is also provided with an eyelet 25 for the yarn Y, a braking device 26, an input sensor 27 and an output sensor 28.
The motor 22 has a sensor device S with three analog hall sensors to monitor the position of the motor 22 in order to control the coils of the motor. The sensors are arranged with a displacement of 120 deg. from each other as seen from the axis of the motor shaft a, i.e. the motor axis.
The three analog hall sensors of the sensor device S are designed to generate signals as sine waves W1, W2, and W3. FIG. 3 shows sine waves W1, W2, and W3 as a function of rotation angle θ. For example, a sinusoidal (sine) curve of sine wave W1 corresponds to the period p of one pole pair of motor 22.
The motor 22 has at least five pole pairs. In this embodiment, the motor 22 has seven pole pairs of a rotor permanent magnet and a stator coil.
The individual control unit 23 is designed as an electronic control unit with at least one microcontroller. The individual control unit 23 is designed to determine the monitored position of the motor 22 accurately by analysing the three sine wave W1, W2, W3 signals by means of their inverse trigonometric functions. It is designed to select two of the three signals without discontinuities for this determination.
The individual control unit 23 is designed to determine the value of the motor position at each angle θ (i.e., at each point of the sine waves W1, W2, and W3).
The resolution of the monitored motor position is limited only by the number of bits provided for the value of the motor position. In this embodiment, the value of the motor position for each pole pair is monitored by a 16 bit variable. Resolution of motor position 5,5 ° 10-3Each pole pair p. In the case of seven pole pairs, the resolution is 7,85 ° 10-4。
The separate control unit 23 is designed to control the motor 22 using the field oriented control FOC method and to adjust the position of the motor by adjusting the currents of the three coils of the motor 22 using pulse width modulation PWM.
The separate control unit 23 is designed to determine the position of the textile machine on the basis of the movement information and to determine a given position of the motor 22 in relation to the determined position of the textile machine. The movement information of the textile machine, i.e. of the circular knitting machine, is a speed signal with a sequence of pulses, for example from an encoder (not shown in figure 1) which is arranged at the motor 5 of the knitting cylinder 3.
In an alternative, the encoder is connected to a separate control unit via a communication line L2, the machine control unit 13 and a communication line L3. In another alternative, the encoders are connected to a separate control unit 23 via a separate communication line (not shown in fig. 1).
The single control unit 23 is designed to analyze the speed signal (i.e. the pulse sequence) in order to determine the speed or frequency of the knitting cylinder and to use it to determine the position of the knitting cylinder. The individual control unit 23 is designed to assign to the position of the knitting cylinder a given position of the motor, subject to the desired knitting pattern.
The separate control unit 23 is designed to compare the monitored position of the motor with a given position of the motor 22 corresponding to the movement of the textile machine and to adjust the current of the coils of the motor according to the difference between the two.
Therefore, the individual units 23 are designed to accurately determine the monitored position by analyzing the sine waves W1, W2, W3 and to control the motor rotation by using the field-oriented control FOC method and by PWM-adjusting the current of the coils of the motor 22 by the pulse width method.
In operation, a yarn is delivered to the textile machine by the above-described yarn delivery device having at least two active feeders 1 and a common control unit 2, wherein each active feeder 1 comprises a yarn delivery wheel 21, a brushless dc motor 22 for driving the wheel 21, and a separate control unit 23 having at least one microcontroller:
for each feeder 1, the position of the motor 22 is monitored by a sensor device 24 of the motor 22 having three hall sensors, the signals of which are provided as sine waves W1, W2, W3, the analog hall sensors being arranged with a displacement of 120 ° from each other,
determining the monitored position of the motor 22 by the single control unit 23 by analysing the three sinusoidal W1, W2, W3 signals by means of their inverse trigonometric functions, and if so, by selecting two of the three signals without discontinuity for this determination, determining the monitored position of the motor 22,
the individual control units 23 are provided with information about the movement of the textile machine by the common control unit 2,
the position of the motor 22 is controlled by the separate control unit 23 by comparing the position of the motor 22 monitored by the sensor device 24 with a given position of the motor 22 corresponding to the movement of the textile machine and by adjusting the current of the coils of the motor 22 by the separate control unit 23 according to the difference between the two.
To determine the monitored position of the motor 22, analysis of each of the three sinusoidal wave W1, W2, W3 signals results in three monitored rotational angles θ i being phase shifted by 120 °. Therefore, inverse trigonometric functions of the monitored sine waves W1, W2, W3 are calculated and stored in data reduction form, from which the rotation angle θ i is reconstructed. Discontinuities may occur using the reduced data. If a discontinuity occurs, the data of two of the three signals without discontinuity is selected for this determination.
The position of the textile machine is determined from the movement information by a separate control unit 23 and the given position of the motor 22 is determined in relation to the determined position of the textile machine.
The coils of the motor 22 are controlled by a separate control unit 23 using the field oriented control FOC method.
The position of the motor 22 is adjusted by a separate control unit 23 by adjusting the current of the coils of the motor 22 using pulse width modulation, PWM.
Fig. 4 shows a block diagram of a calibration process performed by each individual control unit 23 for its motor 22.
Once first initiated, a calibration procedure is performed, which is initialized to the initiate 1 command.
In a first step it is checked whether calibration data CD of the motor 22 are recorded. If so, the synchronization process is initiated by the Start 2 command.
If not, in a second step, the rotation of the motor 22 is controlled so as to rotate at a rotational speed of, for example, 200 revolutions per minute (i.e., 200 rpm).
In a third step, the sine waves W1, W2, W3 are analyzed. It is checked whether a certain starting value, e.g. the minimum value W2 of the sine wave W2 has been reachedmin. If not, the analysis continues.
If so, in a fourth step, the calibration data CD (i.e., the values of the sine waves W1, W2, and W3 for all periods p of the pole pair) for one full rotation of the motor 22 is recorded once.
In a sixth step, the calibration data CD is stored in a non-volatile memory of the separate control unit 23.
After the calibration data CD has been stored, the calibration process is ended by an end command.
Therefore, for calibration, the shapes of the three sine waves W1, W2, W3 of one full rotation of the motor 22 at a given rotation speed are recorded as the values of the sine waves W1, W2, and W3, i.e., the calibration data CD, depending on the rotation angle θ by the separate control unit 23.
The calibration data CD is used to overcome deviations of the measured sine waves W1, W2, W3 from normal conditions, for example, caused by: mechanical tolerances during the motor assembly process, non-uniformities in the rotor magnets, and deviations in the arrangement of the three hall sensors with respect to their 120 ° displacement.
Fig. 5 shows a block diagram of the synchronization process, which is performed by each individual control unit 23 for its motor 22.
If the calibration data CD of the motor 22 are recorded, the synchronization process is initialized to the start 2 command each time the yarn feed is activated with the start 1 command.
In the first step, the values of the sine waves W1, W2, and W3 are reset.
In a second step, the values wi (p) of the sine waves W1, W2 and W3 are recorded and it is checked whether one full period p corresponding to one pole pair is recorded. If not, recording is continued.
If so, in a third step the recorded values wi (P) are analyzed and compared with the calibration data CD in order to determine the period P of the calibration data CD (P) that best matches the recorded values wi (P).
In a fourth step, the position of the motor 22 is determined by means of the calibration data cd (p). The recorded value wi (p) is assigned to the position of the motor 22, i.e. its angle θ, for the following operations.
After the position of the motor 22 is determined, the synchronization process is ended by an end command.
Thus, for synchronization, the position of the motor 22 during a partial revolution of the motor 22 (i.e. one complete cycle p corresponding to one pole pair) is determined by means of the calibration data CD.
The third step of fig. 5 is further described in fig. 6.
The recorded values wi (p) are analysed, for example by determining a characteristic term, such as the peak-to-peak term Δ Ap. The characteristic terms are compared with corresponding terms of the calibration data CD of the periods P0, P1, … of the pole pairs, such as the peak-to-peak terms Δ a0, Δ a1, …, in order to determine the period P of the calibration data CD (P) that best matches the recorded values wi (P), in particular their peak-to-peak terms Δ Ap. In this case, the peak-to-peak term Δ A is determined with the recorded values wi (p)minAnd the period P of the calibration data CD (P) of the lowest difference of the calibration data CD.
When the difference between the monitored position of the motor 22 and the given position at any position is greater than a threshold value for this difference (for example greater than 1 mm), a stop signal for the textile machine is provided by the separate control unit 23.
When a drop in the yarn tension is identified by the output sensor 28, the rotation of the motor 22 is automatically reduced by a given degree by its individual control unit 23.
List of reference numerals
1 active feeder
2 common control unit
3 knitting cylinder
4 casing
5 electric motor
6 knitted fabric
7 frame
8 electric motor
9 roller
10 rollers
11 electric motor
12 electric motor
13 machine control unit
14 second casing
15 display
16 machine ring
17 suspension device
20 feeder housing
21 yarn conveying wheel
22 motor
23 individual control units
24 fastening device
25 hole
26 brake device
27 input sensor
28 output sensor
L1 communication line
L2 communication line
L3 communication line
L4/5 communication line
L6/7 communication line
Y yarn
A Motor shaft
S sensor device

Claims (10)

1. A yarn feeding device for feeding a yarn to a textile machine,
the yarn conveying device has at least two active feeders (1) and a common control unit (2),
wherein each active feeder (1) comprises a yarn delivery wheel (21), a brushless DC motor (22) for driving said wheel (21), and a separate control unit (23) having at least one microcontroller,
wherein the motor (22) comprises a sensor device (24) with a Hall sensor for monitoring the position of the motor (22) in order to control the coils of the motor (22),
wherein the common control unit (2) is designed to provide the individual control units (23) with information about the movement of the textile machine, and
wherein the separate control unit (23) is designed to control the position of its motor (22) in correspondence with the movements of the textile machine,
wherein the separate control unit (23) is designed to compare the monitored position of the motor (22) with a given position of the motor (22) corresponding to the movement of the textile machine and to adjust the current of the coils of the motor (22) as a function of the difference between the two,
it is characterized in that
For each feeder, the sensor device (24) comprises three analogue Hall sensors arranged with a displacement of 120 DEG from each other as seen from the axis of the motor shaft (A), wherein the analogue Hall sensors are designed to generate signals as sine waves (W1, W2, W3), and
wherein the separate control unit (23) is designed to determine a monitored position of the motor (22) by analyzing the three sinusoidal (W1, W2, W3) signals by means of their inverse trigonometric functions, and if one of their inverse trigonometric functions has a discontinuity, to determine the monitored position of the motor (22) by selecting two of the three signals without discontinuity for this determination.
2. Yarn feeding device as in claim 1, characterised in that the separate control unit (23) is designed to determine from the movement information a position of the textile machine and to determine a given position of the motor (22) in relation to the determined position of the textile machine.
3. Yarn feeding device according to claim 1 or 2, characterised in that the separate control unit (23) is designed to control the coils of the motor (22) using a field oriented control, FOC, method.
4. Yarn feeding device according to claim 1 or 2, characterised in that the separate control unit (23) is designed to adjust the position of the motor (22) by adjusting the current of the coils of the motor (22) using pulse width modulation, PWM.
5. Method for delivering a yarn to a textile machine by means of a yarn delivery device comprising at least two active feeders (1) and a common control unit (2),
wherein each active feeder (1) comprises a yarn delivery wheel (21), a brushless DC motor (22) for driving said wheel (21), and a separate control unit (23) having at least one microcontroller,
wherein the position of the motor (22) is monitored by a sensor device (24) with a Hall sensor for controlling the coils of the motor (22),
wherein the individual control units (23) are provided with information about the movement of the textile machine by the common control unit (2),
wherein the position of the motor (22) is controlled by the separate control unit (23) in correspondence with the movement of the spinning machine,
wherein the monitored position of the motor (22) monitored by the sensor device (24) is compared by the separate control unit (23) with a given position of the motor (22) corresponding to the movement of the textile machine and the current of the coils of the motor (22) is adjusted by the separate control unit (23) as a function of the difference between the two, characterized in that
For each active feeder (1), the sensor device (24) comprises three analogue hall sensors arranged with a displacement of 120 ° from each other as seen from the axis of the motor shaft (a), wherein the signals of the three analogue hall sensors are provided as sine waves (W1, W2, W3), and
wherein the monitored position of the motor (22) is determined by the separate control unit (23) by analysing the three sine wave (W1, W2, W3) signals by means of their inverse trigonometric functions, and if one of their inverse trigonometric functions has a discontinuity, by selecting two of the three signals without discontinuity for this determination.
6. Method for delivering a yarn to a textile machine according to claim 5, characterized in that the position of the textile machine is determined by the separate control unit (23) on the basis of the movement information and the given position of the motor (22) in relation to the determined position of the textile machine is determined.
7. Method of delivering a yarn to a textile machine according to claim 5 or 6, characterized in that the coils of the motor (22) are controlled by the separate control unit (23) using a field-oriented control FOC method.
8. Method of delivering a yarn to a textile machine according to claim 5 or 6, characterized in that the position of the motor (22) is regulated by the separate control unit (23) by adjusting the current of the coils of the motor (22) using pulse width modulation, PWM.
9. Method of delivering a yarn to a textile machine according to claim 5 or 6, characterized in that, for calibration, the shape of the three sinusoidal waves is recorded by the single control unit (23) as Calibration Data (CD) at a given rotation speed during one full revolution of the motor (22); and for synchronization, determining the position of the motor (22) during a partial rotation of the motor (22) by means of the Calibration Data (CD).
10. Method for delivering a yarn to a textile machine according to claim 5 or 6, characterised in that when a drop in yarn tension is identified, the rotation of the motor (22) of the feeder (1) is automatically reduced by a given number of degrees by the individual control unit (23) of the feeder.
CN202010559149.9A 2019-06-18 2020-06-18 Yarn feeding device and method for feeding yarn to a textile machine Active CN112095218B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP19180938.3 2019-06-18
EP19180938.3A EP3754079B1 (en) 2019-06-18 2019-06-18 A yarn delivery device and a method for delivering yarn to a textile machine

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CN112095218A CN112095218A (en) 2020-12-18
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