CN112458592A - Electromagnetic transmission mechanism of electronic jacquard - Google Patents
Electromagnetic transmission mechanism of electronic jacquard Download PDFInfo
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- CN112458592A CN112458592A CN202011294631.0A CN202011294631A CN112458592A CN 112458592 A CN112458592 A CN 112458592A CN 202011294631 A CN202011294631 A CN 202011294631A CN 112458592 A CN112458592 A CN 112458592A
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- permanent magnet
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- electronic jacquard
- broach
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- D—TEXTILES; PAPER
- D03—WEAVING
- D03C—SHEDDING MECHANISMS; PATTERN CARDS OR CHAINS; PUNCHING OF CARDS; DESIGNING PATTERNS
- D03C3/00—Jacquards
- D03C3/24—Features common to jacquards of different types
- D03C3/32—Jacquard driving mechanisms
- D03C3/36—Griffe operating mechanisms
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Abstract
The invention discloses an electromagnetic transmission mechanism of an electronic jacquard, which comprises a permanent magnet stator, a coil rotor assembly, a broach frame plate, a small pull rod part, a broach blade, a frame and an anti-abrasion roller; the upper end of the permanent magnet stator and the rack form a revolute pair, and a revolute pair is formed between the connecting piece on the coil rotor assembly and the broach frame plate through a rolling bearing; the broach frame plate and the small pull rod part form a rotating pair through a rolling bearing; a rotating pair is formed between the small pull rod part and the broach blade through an anti-abrasion shaft sleeve; the pull blade and another mechanism component box of the electronic jacquard form a sliding pair to limit the displacement of the pull blade in the horizontal direction; the anti-abrasion roller is arranged on the connecting piece of the coil mover assembly on the right side, and the coil mover assembly on the right side is limited to generate displacement in the horizontal direction through a sliding pair formed by the anti-abrasion roller and the rack. The invention greatly improves the transmission efficiency of the transmission mechanism of the jacquard, reduces the abrasion among parts, enhances the energy utilization rate and simultaneously leads the maintenance to be simpler and more convenient.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, relates to an opening movement mechanism, and particularly relates to an electromagnetic transmission mechanism of an electronic jacquard.
Background
The connecting rod type shedding mechanism is a mechanism formed by connecting a plurality of rigid rods by adopting a low pair, and has the function of completing the shedding of warps, and simultaneously controlling the lifting sequence of heald frames according to the sequence set by a fabric upper drawing so as to ensure that the fabric obtains a required organization structure.
In the preparation process before weaving, warp yarns penetrate into heddle eyes of heddles according to the sequence of a drafting pattern and are sent to a weaving machine along with a heddle frame reed and the like, when the heddles lift along with the heddle frame, the whole warp yarns are simultaneously separated into an upper layer and a lower layer to form a channel which can enable a shuttle or a weft insertion device and a weft insertion medium to pass, namely a shed, so as to be convenient for attracting the weft yarns; when the weft yarns are drawn, the two layers of warp yarns begin to close and alternate up and down to form a new shed, and the process is repeated repeatedly, so that the interweaving of the warp yarns and the weft yarns is realized. The process that the warp is separated up and down along with the heald frame to form a shed is shedding motion, the crank connecting rod shedding mechanism is used for finishing the shedding of the warp, and simultaneously, the lifting sequence of the heald frame is controlled according to the sequence set by a loom diagram of the fabric, so that the fabric obtains a required organization structure.
The shedding mechanism is the most widely and efficiently used electronic jacquard machine in the prior art.
The main problems and deficiencies in the prior art include:
the Chinese patent with application number '201811569333.0' proposes a conjugate cam driving mechanism of an electronic jacquard machine, which adopts a conjugate cam structure to convert the torque of a motor into the driving force of a broach blade. The Chinese patent with application number '201410626906.4' proposes an electronic jacquard with a multi-rod shedding mechanism, which adopts a multi-rod transmission mechanism to convert the torque of a motor into the driving force of a broach blade. Chinese utility model patent application number "201520209471.3" provides an electron jacquard chain wheel drive with automatic tensioning ware, transmits the motor torque for the broach piece through chain drive to through automatic tensioning ware automatically regulated chain elasticity, promote machine operating efficiency.
However, the above electronic jacquard transmission mechanisms are all mechanical transmission devices in structure, and the torque of the rotating motor is converted into the driving force of the pull blade through a series of mechanical cooperation. At present, the research of enterprises and colleges on the field mainly focuses on how to reduce the volume of materials and the utilization rate of energy, and rarely has a breakthrough in principle. The mechanical transmission mechanism has the problems of low transmission efficiency, serious mechanical abrasion among parts, difficult maintenance among the parts due to interference fit and the like caused by the limitation of the mechanical structure.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides the electromagnetic transmission mechanism of the electronic jacquard, which improves the transmission efficiency of the transmission mechanism of the jacquard, reduces the abrasion among parts, enhances the energy utilization rate and simultaneously leads the maintenance to be simpler and more convenient.
Therefore, the invention adopts the following technical scheme:
an electromagnetic transmission mechanism of an electronic jacquard comprises a permanent magnet stator, a coil rotor assembly, a broach frame plate, a small pull rod part, a broach blade, a frame and an anti-abrasion roller; the upper end of the permanent magnet stator and the rack form a revolute pair, so that the permanent magnet stator on the left side swings left and right around a fixed point, and the upper end of the permanent magnet stator on the right side is fixed on the rack; the coil rotor assembly comprises a connecting piece and a rotor coil and is positioned below the permanent magnet stator, and a rotating pair is formed between the connecting piece on the coil rotor assembly and the broach frame plate through a rolling bearing; the broach frame plate and the small pull rod part form a rotating pair through a rolling bearing; a rotating pair is formed between the small pull rod part and the broach blade through an anti-abrasion shaft sleeve; the pull blade is matched with another mechanism component box of the electronic jacquard machine to form a sliding pair to limit the displacement of the pull blade in the horizontal direction; the anti-abrasion roller is arranged on the connecting piece of the coil mover assembly on the right side, and the coil mover assembly on the right side is limited to generate displacement in the horizontal direction through a sliding pair formed by the anti-abrasion roller and the rack.
Preferably, the coil rotor assembly moves up and down to drive the broach frame plate to move up and down, the broach frame plate moves up and down to drive the small pull rod component to move up and down, and the small pull rod component moves up and down to drive the pull blade to move up and down.
Preferably, the permanent magnet stator is a stator part of a cylindrical linear motor, and the coil mover assembly is a mover part of the cylindrical linear motor.
Preferably, the permanent magnet stator is composed of a neodymium iron boron permanent magnet and a ten-steel magnetizer, and the neodymium iron boron permanent magnet and the ten-steel magnetizer are bonded according to a set size and a set sequence through a high-strength bonding agent.
Preferably, the coil mover assembly is composed of a connector and a three-phase coil, the three-phase coil is wound on a resin material according to a set phase sequence, and then the resin material is bonded to the connector.
Preferably, the coil mover assembly is provided with thrust in the direction of the permanent magnet stator by passing varying three-phase alternating current to the coil mover assembly.
Preferably, the cylindrical linear motor is powered by three-phase current, and the effect of controlling the thrust of the rotor is achieved by controlling the amplitude, the frequency and the phase of the three-phase current.
Preferably, FOC vector control is adopted for the cylindrical linear motor, two-phase direct current is converted into three-phase alternating current by using an inverter to supply power to the motor, and then the three-phase alternating current is converted into direct-axis current and alternating-axis current by park conversion and clark conversion to be controlled.
Preferably, the magnitudes of the direct-axis current and the quadrature-axis current are adjusted to be close to ideal values through double closed-loop control of the position loop and the speed loop based on a PID parameter adjusting mode.
Preferably, an air gap exists between the permanent magnet stator and the coil mover assembly.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides an electromagnetic transmission mechanism of an electronic jacquard, which reduces the number of intermediate transmission components and reduces the transmission grade of a kinematic pair.
(2) The cylindrical linear motor is used as an execution unit of the linear driving device, and the energy conversion efficiency is improved.
(3) The stress of the rotor can be kept in a stable state only by controlling the frequency of the three-phase current and the speed of the coil rotor to keep a certain proportion; the linear increase of the motor thrust can be realized by increasing the number of coil groups and increasing the coil current.
(4) Simple structure, convenient use and easy maintenance.
Drawings
Fig. 1 is a front view of an electromagnetic driving mechanism of an electronic jacquard machine according to the present invention.
Fig. 2 is a right side view of an electromagnetic actuator of an electronic jacquard machine according to the present invention.
Fig. 3 is an isometric view of an electromagnetic drive mechanism for an electronic jacquard machine according to the present invention.
Fig. 4 is a structural diagram of a cylindrical linear motor for an electromagnetic transmission mechanism of an electronic jacquard machine according to the present invention.
FIG. 5 is a graph of the power ratio of the rotary motor to the pull blade of the mechanical drive mechanism of the electronic jacquard machine.
FIG. 6 is a structural diagram of the connection between the stator and the frame of the electromagnetic transmission mechanism of the electronic jacquard machine.
FIG. 7 is a flow chart of vector control for an electromagnetic actuator of an electronic jacquard machine.
Fig. 8 is a schematic diagram of the relative positions of the permanent magnets and the coils.
FIG. 9 is a diagram of the force applied to the coil and the relative position of the permanent magnet and the coil.
FIG. 10 is a schematic control modeling diagram of an electromagnetic actuator of an electronic jacquard machine according to the present invention.
FIG. 11 is a diagram showing the effect of speed regulation of an electromagnetic driving mechanism of an electronic jacquard machine according to the present invention.
Description of reference numerals: 1. a permanent magnet stator; 2. a coil mover assembly; 3. a broach frame plate; 4. a small pull rod member; 5. pulling the blade; 6. a frame; 7. the abrasion-proof roller.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
As shown in fig. 1-3, the present invention discloses an electromagnetic transmission mechanism for an electronic jacquard, which comprises a permanent magnet stator 1, a coil mover assembly 2, a broach frame plate 3, a small pull rod part 4, a broach blade 5, a frame 6 and an anti-wear roller 7; the upper end of the permanent magnet stator 1 and the rack 6 form a revolute pair, so that the permanent magnet stator 1 on the left side swings left and right around a fixed point, and the upper end of the permanent magnet stator 1 on the right side is fixed on the rack 6; the coil rotor assembly 2 comprises a connecting piece and a rotor coil and is positioned below the permanent magnet stator 1, and a rotating pair is formed between the connecting piece on the coil rotor assembly 2 and the broach frame plate 3 through a rolling bearing; the broach frame plate 3 and the small pull rod part 4 form a rotating pair through a rolling bearing; a rotating pair is formed between the small pull rod part 4 and the broach blade 5 through an anti-abrasion shaft sleeve; the pull blade 5 is matched with another mechanism component box of the electronic jacquard machine to form a sliding pair to limit the displacement of the pull blade 5 in the horizontal direction; the anti-abrasion roller 7 is installed on the connecting piece of the coil mover assembly 2 on the right side, and the coil mover assembly 2 on the right side is limited to move in the horizontal direction by forming a sliding pair with the frame 6.
Specifically, the up-and-down movement of the coil rotor assembly 2 drives the broach frame plate 3 to move up and down, the up-and-down movement of the broach frame plate 3 drives the small pull rod component 4 to move up and down, and the up-and-down movement of the small pull rod component 4 drives the broach blade 5 to move up and down.
Specifically, the permanent magnet stator 1 is a stator part of a cylindrical linear motor, and the coil rotor assembly 2 is a rotor part of the cylindrical linear motor.
Specifically, the permanent magnet stator 1 is composed of a neodymium iron boron permanent magnet and a ten-steel magnetizer, and the neodymium iron boron permanent magnet and the ten-steel magnetizer are bonded according to a set size and a set sequence through a high-strength bonding agent.
Specifically, the coil mover assembly 2 is composed of a connector and a three-phase coil, the three-phase coil is wound on a resin material according to a set phase sequence, and then the resin material and the connector are bonded.
Specifically, the coil mover assembly 2 is provided with thrust in the direction of the permanent magnet stator 1 by passing varying three-phase alternating current to the coil mover assembly 2.
Specifically, the cylindrical linear motor is powered by three-phase current, and the effect of controlling the thrust of the rotor is achieved by controlling the amplitude, the frequency and the phase of the three-phase current.
Specifically, FOC vector control is adopted for a cylindrical linear motor, two-phase direct current is converted into three-phase alternating current by using an inverter to supply power to the motor, and then the three-phase alternating current is converted into direct-axis current and alternating-axis current by park conversion and clark conversion to be controlled.
Specifically, the magnitude of the direct-axis current and the magnitude of the quadrature-axis current are adjusted through double closed-loop control of a position loop and a speed loop based on a PID parameter adjusting mode, so that the direct-axis current and the quadrature-axis current approach to ideal values.
Specifically, an air gap exists between the permanent magnet stator 1 and the coil mover assembly 2.
Examples
As shown in fig. 1 to 3, the present invention provides an electromagnetic transmission mechanism of an electronic jacquard machine driven by a cylindrical linear motor, comprising: a permanent magnet stator 1; the coil mover assembly 2 comprises a connecting piece and a mover coil; a broach frame plate 3; a small tie rod member 4; pulling the blade 5; a frame 6; the wear-resistant roller 7.
As shown in fig. 6, the upper end of the left permanent magnet stator 1 and the frame 6 form a revolute pair, so that the left permanent magnet stator 1 can swing left and right around a fixed point; the upper end of the permanent magnet stator 1 on the right side is fixed on the frame 6.
The coil mover assembly 2 is provided with a certain thrust in the direction of the permanent magnet stator 1 by passing a varying three-phase alternating current to the coil mover assembly 2.
A rotating pair is formed between the connecting piece on the coil rotor assembly 2 and the broach frame plate 3 through a rolling bearing, so that the vertical motion of the coil rotor assembly 2 can drive the broach frame plate 3 to move vertically.
The broach frame plate 3 and the small pull rod part 4 form a rotating pair through a rolling bearing, so that the vertical movement of the broach frame plate 3 drives the small pull rod part 4 to move vertically.
An abrasion-proof shaft sleeve is adopted between the small pull rod part 4 and the broach blade 5 to form a revolute pair, so that the broach blade 5 is driven to move up and down by the up-and-down movement of the small pull rod part 4.
The pull blade 5 cooperates with another mechanism component box of the electronic jacquard machine to form a sliding pair to limit the displacement of the pull blade 5 in the horizontal direction.
And the anti-abrasion roller 7 is arranged on a connecting piece on the coil mover assembly 2 on the right side, and the coil mover assembly 2 on the right side is limited to generate displacement in the horizontal direction by forming a sliding pair with the frame 6.
As shown in fig. 4, the cylindrical linear motor is composed of a stator and a mover, the permanent magnet stator 1 is a stator portion of the cylindrical linear motor, and the coil mover assembly 2 is a mover portion of the cylindrical linear motor.
The structure of the permanent magnet stator 1 is composed of a neodymium iron boron permanent magnet and a No. ten steel magnetizer, and the neodymium iron boron permanent magnet and the No. ten steel magnetizer are bonded according to a certain size and sequence through a high-strength binder.
The coil rotor assembly 2 consists of a three-phase coil and a connecting piece. The three-phase coil is wound on the resin material according to a certain phase sequence, and then the resin material is bonded with the connecting piece.
The energy waste of the traditional mechanical electronic jacquard transmission mechanism has two aspects, one is that certain energy is also consumed for maintaining the stable motion of the middle transmission member, and the other is that serious friction loss exists under the transmission of a multi-stage kinematic pair. The structure provided by the application reduces the number of intermediate transmission components and reduces the transmission grade of the kinematic pair.
Aiming at the energy loss in the first form, the invention obtains a driving power curve of the pull blade and an output power curve of the rotating motor through the analysis of kinematics and dynamics, and referring to a curve shown in fig. 5, the obvious energy loss of the mechanical transmission mechanism can be obviously seen, and the transmission efficiency is about 59.6%.
Aiming at the energy loss in the second form, the invention analyzes the structure of the mechanical transmission mechanism, and the transmission mechanism can be abstracted to adopt 1 coupler, 2 gear transmissions and 7 revolute pairs to be connected in series. The bearings are adopted for transmission at the rotating pairs, so that the transmission efficiency result is 75.2% by estimating according to the common transmission efficiency among mechanisms.
The two energy losses above can be considered to be linearly coupled, so the overall efficiency is 42.48%.
After the optimization of the invention, the intermediate members are reduced, so that the energy loss of the first form is reduced; the number of gear pairs is reduced and therefore the energy loss reduction of the second form is also reduced. Because the linear motor is used as a driving unit, the power loss of the linear motor is analyzed to a certain extent.
The power formula of the linear motor is as follows
Wherein: the first term represents the heat loss of the motor, the second term represents the eddy current loss, and the third term represents the output electromagnetic thrust. According to the relevant documents, the first and second energy losses of the linear motor usually only occupy less than 5% of the power of the whole motor, so that the energy conversion efficiency of the linear motor is very high.
A certain air gap exists between the permanent magnet stator 1 and the coil mover 2 assembly, a large amount of magnetic fields generated by the permanent magnets exist at the position, electrons in the energized coils generate lorentz force under the action of the magnetic fields, and the lorentz force is macroscopically an force which can be decomposed into radial and transverse directions.
The radial ampere force is counteracted by the annular structure of the coil, and the transverse ampere force gives thrust parallel to the rotor to the coil. The motor thrust can be estimated from the following equation, where J is the current density in the coil, u0Is a constant of vacuum permeabilityAnd M is the magnetization density of the permanent magnet, and the remaining parameters are shown in fig. 8.
According to the above formula, it can be deduced that the magnitude of the interaction force between the energized coil and the permanent magnet has a nonlinear relationship with the length of the center of the coil from the center of the permanent magnet, as shown in fig. 9. According to the property, the combination of the coils with proper lengths can be known, and after the same current is introduced, the stress of any coil can be the same. Based on the characteristic, the three-phase coil is used as the rotor coil, the three-phase coil can generate a traveling wave magnetic field after three-phase current is introduced, and in macroscopic view, an interaction force is generated between the traveling wave magnetic field and a stator magnetic field generated by the permanent magnet; microscopically, the current in the three-phase coil is subjected to a magnetic field, which generates a lorentz force.
Therefore, the stress of the rotor can be maintained in a stable state only by controlling the frequency of the three-phase current and the speed of the coil rotor to keep a certain proportion, and the stress and the current are in a linear relation according to the formula, so that the linear increase of the motor thrust can be realized by increasing the number of coil groups and the coil current.
The cylindrical linear motor is powered by three-phase current, and the effect of controlling the thrust of the rotor can be achieved by controlling the amplitude, the frequency and the phase of the three-phase current. According to this basic principle, the invention decides to adopt FOC (Field-Oriented Control) -vector Control, and the method supplies power to the motor by converting two-phase direct current into three-phase alternating current by using an inverter, and then converts the three-phase alternating current into direct-axis current Id and quadrature-axis current Iq for Control by park conversion and close conversion. The direct-axis current Id and the quadrature-axis current Iq are adjusted through double closed-loop control of a position loop and a speed loop based on a PID parameter adjusting mode, and are close to ideal values.
The specific implementation method is that based on the kinematic analysis result of the mechanism, displacement, speed and acceleration curves of the controlled point can be obtained, the curve data is used as the input value of a mechanical motion equation, the required driving force can be solved, and the mechanical motion equation is as follows
FemIs electromagnetic thrust, FLIs the load resistance, m is the mass, and D is the viscous friction coefficient.
And solving the Iq _ ref by using a thrust equation, a voltage equation and a flux linkage equation based on the electromagnetic thrust Fem obtained by the formula.
The thrust equation:
the flux linkage equation:
ψd＝LdId+ψf+MdqIq
ψq＝LqIq+MdqId
voltage equation:
iq _ ref is used as an input parameter of a PID parameter adjusting mode, then the FOC control mode is adopted to keep the track of a controlled point consistent with the original track under the action of a linear driving device, the current speed and displacement of the rotor are calculated by a grating ruler and used as a loop of negative feedback to correct the position of the current rotor, and the accuracy of the operation displacement can be guaranteed to reach the micron level.
The FOC control flow chart is shown in FIG. 7, a grating ruler reading head is installed on one side of a rotor assembly of the cylindrical linear motor, a grating ruler is installed on one side corresponding to the reading head to serve as a position and speed monitor shown in FIG. 7, then a control strategy with Id being 0 is adopted, current speed and position information of the rotor fed back by a grating detector is compared with expected speed and position information, and the current three-phase current value is modified according to an output value obtained after the difference value is subjected to PID control.
Modeling simulation is carried out in MATLAB/Simulink according to the current flow, the established model is shown in figure 10, the speed regulation effect is shown in figure 11, and it can be seen that under the appropriate PID parameters, the speed can reach the expected value after 0.017S, and no overshoot occurs.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.
Claims (10)
1. An electromagnetic transmission mechanism of an electronic jacquard machine is characterized in that: the permanent magnet rotor type broach comprises a permanent magnet stator (1), a coil rotor assembly (2), a broach frame plate (3), a small pull rod part (4), broach blades (5), a rack (6) and an anti-abrasion roller (7); the upper end of the permanent magnet stator (1) and the rack (6) form a revolute pair, so that the permanent magnet stator (1) on the left side swings left and right around a fixed point, and the upper end of the permanent magnet stator (1) on the right side is fixed on the rack (6); the coil rotor assembly (2) comprises a connecting piece and a rotor coil and is positioned below the permanent magnet stator (1), and a rotating pair is formed between the connecting piece on the coil rotor assembly (2) and the broach frame plate (3) through a rolling bearing; the broach frame plate (3) and the small pull rod part (4) form a revolute pair through a rolling bearing; a rotating pair is formed between the small pull rod part (4) and the broach blade (5) through an anti-abrasion shaft sleeve; the pull blade (5) is matched with another mechanism component box of the electronic jacquard machine to form a sliding pair to limit the displacement of the pull blade (5) in the horizontal direction; the anti-abrasion roller (7) is arranged on a connecting piece of the coil rotor assembly (2) on the right side, and the coil rotor assembly (2) on the right side is limited to move in the horizontal direction by forming a sliding pair with the rack (6).
2. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 1, characterized in that: the up-and-down movement of the coil rotor assembly (2) drives the broach frame plate (3) to move up and down, the up-and-down movement of the broach frame plate (3) drives the small pull rod component (4) to move up and down, and the up-and-down movement of the small pull rod component (4) drives the broach blade (5) to move up and down.
3. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 1, characterized in that: the permanent magnet stator (1) is a stator part of the cylindrical linear motor, and the coil rotor assembly (2) is a rotor part of the cylindrical linear motor.
4. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 3, characterized in that: the permanent magnet stator (1) is composed of a neodymium iron boron permanent magnet and a No. ten steel magnetizer, and the neodymium iron boron permanent magnet and the No. ten steel magnetizer are bonded according to a set size and a set sequence through a high-strength binder.
5. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 3, characterized in that: the coil rotor assembly (2) is composed of a connecting piece and a three-phase coil, the three-phase coil is wound on a resin material according to a set phase sequence, and then the resin material and the connecting piece are bonded.
6. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 5, characterized in that: the coil rotor assembly (2) is provided with thrust along the direction of the permanent magnet stator (1) by introducing variable three-phase alternating current to the coil rotor assembly (2).
7. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 6, characterized in that: the cylindrical linear motor is powered by three-phase current, and the effect of controlling the thrust of the rotor is achieved by controlling the amplitude, the frequency and the phase of the three-phase current.
8. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 7, characterized in that: FOC vector control is adopted for a cylindrical linear motor, two-phase direct current is converted into three-phase alternating current by using an inverter to supply power to the motor, and then the three-phase alternating current is converted into direct-axis current and alternating-axis current by park conversion and clark conversion to be controlled.
9. An electromagnetic drive mechanism for an electronic jacquard machine according to claim 8, characterized in that: the magnitude of direct-axis current and quadrature-axis current is adjusted through double closed-loop control of a position loop and a speed loop based on a PID parameter adjusting mode, so that the magnitude of the direct-axis current and the quadrature-axis current approaches to an ideal value.
10. An electromagnetic drive mechanism for an electronic jacquard machine according to any one of claims 1 to 9, characterized in that: an air gap exists between the permanent magnet stator (1) and the coil rotor assembly (2).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115233355A (en) * | 2022-08-10 | 2022-10-25 | 武汉纺织大学 | Gantry double-drive electromagnetic jacquard machine and control method thereof |
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