CN113852306A - Cloth feeding motor control method and system for sewing machine, sewing machine and storage medium - Google Patents

Cloth feeding motor control method and system for sewing machine, sewing machine and storage medium Download PDF

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CN113852306A
CN113852306A CN202111161610.6A CN202111161610A CN113852306A CN 113852306 A CN113852306 A CN 113852306A CN 202111161610 A CN202111161610 A CN 202111161610A CN 113852306 A CN113852306 A CN 113852306A
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cloth feeding
feeding motor
acceleration
sections
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CN113852306B (en
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王立强
韩安太
曾树杰
王群
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Zhejiang Zobow Mechanical and Electrical Tech Co Ltd
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Zhejiang Zobow Mechanical and Electrical Tech Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/14—Arrangements for controlling speed or speed and torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/32—Reducing overshoot or oscillation, e.g. damping

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  • Power Engineering (AREA)
  • Sewing Machines And Sewing (AREA)

Abstract

The invention discloses a method and a system for controlling a cloth feeding motor of a sewing machine, the sewing machine and a storage medium, wherein the method for controlling the cloth feeding motor of the sewing machine comprises the following steps: acquiring a given needle pitch, an allowable operation time and a maximum speed limit value of a cloth feeding motor; calculating according to a formula to obtain the maximum reference speed of the cloth feeding motor; when the maximum reference speed is less than or equal to the maximum speed limit value, dividing the motion period of the cloth feeding motor into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections; when the maximum reference speed is greater than the maximum speed limit value, dividing the motion period of the cloth feeding motor into four sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four sections of acceleration curves.

Description

Cloth feeding motor control method and system for sewing machine, sewing machine and storage medium
Technical Field
The invention relates to the technical field of sewing equipment, in particular to a cloth feeding motor control method and system of a sewing machine, the sewing machine and a storage medium.
Background
As is well known, in a sewing machine such as a computer pattern sewing machine, when the sewing machine works, a main shaft is required to move at a constant speed, and stepping motors of an X axis and a Y axis respond quickly and follow the main shaft to complete a feeding motion within a specified time. Along with the increase of the requirement of the rotating speed of the main shaft, the stepping motor is required to be started and stopped quickly and frequently in a very short time, and the phenomena of locked rotor and step loss cannot occur.
Because the cloth feeding frame of the pattern sewing machine is transmitted by the stepping motor through the synchronous belt, the stability, the flexibility and the positioning precision of the feeding motion can be ensured only by requiring reasonable speed and acceleration planning under the condition of the change of the feeding distance, the speed of the main shaft and the load.
The currently common acceleration and deceleration algorithms include a linear acceleration and deceleration algorithm, an exponential acceleration and deceleration algorithm and an S-shaped acceleration and deceleration algorithm. Although the impact caused in the starting and stopping process is reduced to a certain extent by the linear acceleration and deceleration algorithm, the speed mutation exists at the end point of the acceleration stage and the starting point of the deceleration stage, the smoothness of the speed change process of the motor is poor, the motor is out of step or locked, the positioning is not accurate, and even the problems of overshoot and the like which damage the mechanical body are caused. Exponential acceleration and deceleration algorithm the exponential acceleration and deceleration is a method for changing the sudden change of speed during starting or stopping into a smooth curve ascending or descending according to an exponential law, the exponential acceleration and deceleration algorithm solves the problem of poor smoothness during the starting period of the stepping motor, shortens the acceleration and deceleration time and improves the sensitivity, but the sudden change of speed still exists during the starting of the deceleration stage. The S-type acceleration and deceleration algorithm has the advantages of continuous change of acceleration, good stability and high motion precision, however, the speed change process has too many divided stages, more related parameters, various changes according to the length of a path section, large calculation amount of the algorithm and complex and tedious actual implementation.
Disclosure of Invention
The invention aims to provide a cloth feeding motor control method and system of a sewing machine, the sewing machine and a storage medium, which ensure the smoothness of acceleration and speed, have small calculated amount and are easy to realize.
In order to achieve the above object, the present invention provides a cloth feeding motor control method of a sewing machine, comprising:
obtaining a given needle pitch theta of a cloth feeding motorstepAllowable operating time T of cloth feeding motorstepAnd maximum speed limit value omega of cloth feeding motormax_limit；
According to the formula omegamax_1＝θstep/(Tstep/2) calculating to obtain the maximum reference speed omega of the cloth feeding motormax_1；
Judging the maximum reference speed omega of the cloth feeding motormax_1And maximum speed limit value omega of cloth feeding motormax_limitThe size of (d);
when the maximum reference speed omega of the cloth feeding motormax_1Less than or equal to the maximum speed limit value omega of the cloth feeding motormax_limitThe motion period of the cloth feeding motor is divided into five sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections;
when the maximum reference speed omega of the cloth feeding motormax_1Greater than the maximum speed limit ω of the cloth-feed motormax_limitThe motion period of the cloth feeding motor is divided into four sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four acceleration curves.
Optionally, the allowable operating time T of the feed motorstepThe obtaining method comprises the following steps:
acquiring a sewing speed n of a sewing machine;
according to the formula TstepCalculating the allowable operation time T of the cloth feeding motor at 40/nstep。
Optionally, a maximum speed limit ω of the feed motormax_limitThe obtaining method comprises the following steps:
obtaining the highest feeding speed v of the cloth feeding frame of the sewing machinemax；
According to the formula omegamax_limit＝kd2θ×vmaxCalculating to obtain the maximum speed limit value omega of the cloth feeding motormax_limit(ii) a Wherein k isd2θFor a conversion factor, k, of the feed motor rotation angle theta corresponding to a certain pitch dd2θ＝θ/d。
Alternatively, when the movement cycle of the cloth feeding motor is divided into four segments, the time length of each segment is Tstep/4。
Alternatively, when the movement cycle of the feed motor is divided into five segments, the constant-speed segment has an operating time Tc＝2×θstep/ωmax-TstepWherein, ω ismaxThe highest speed of the feed motor.
Optionally, the maximum speed ω of the feed motormaxThe obtaining method comprises the following steps:
obtaining the lowest limit value of the maximum speed of the cloth feeding motor as omegamax_LGiven stitch length theta of cloth feeding motorstepAngle theta of cloth feeding motor corresponding to minimum needle pitch of sewing machinestep_minThe angle of rotation theta of the feed motor corresponding to the critical stitch length of the sewing machinestep_thAnd the maximum speed limit of the cloth feeding motor is omegamax_limit；
When theta isstep_min≤θstep≤θstep_thAccording to the formula
ωmax＝ωmax_L+kθ2w×(θstep-θstep_min) Calculating to obtain the highest speed omega of the cloth feeding motormax；
When theta isstep≥θstep_thAt the highest speed omega of the cloth-feeding motormax＝ωmax_limit；
Wherein k isθ2w＝(ωmax_limit-ωmax_L)/(θstep_th-θstep_min)。
Alternatively, when the movement cycle of the cloth feed motor is divided into five segments:
the duration of the first segment is T/6,
the acceleration of the first segment as a function of time t is:
Figure BDA0003290097710000031
the speed of the first segment as a function of time t is:
Figure BDA0003290097710000032
the displacement of the first segment as a function of the time t is:
Figure BDA0003290097710000033
the second segment has a duration of T/6,
the acceleration over time t curve function for the second segment is:
Figure BDA0003290097710000034
the second segment has a velocity as a function of time t:
Figure BDA0003290097710000041
the second segment has a function of the displacement over time t:
Figure BDA0003290097710000042
the acceleration of the third section is 0;
the speed of the third stage is ωmax；
The displacement of the third section is ωmax×Tc，TcIs the duration of the third segment; the duration of the fourth segment is T/6,
the acceleration of the fourth segment as a function of time t is:
Figure BDA0003290097710000043
the velocity of the fourth segment as a function of time t is:
Figure BDA0003290097710000044
the displacement of the fourth segment as a function of time t is:
Figure BDA0003290097710000045
the duration of the fifth segment is T/6,
the acceleration of the fifth segment as a function of time t is:
Figure BDA0003290097710000046
the velocity of the fifth segment as a function of time t is:
Figure BDA0003290097710000047
the displacement of the fifth segment as a function of time t is:
Figure BDA0003290097710000048
the present invention also provides a cloth feeding motor control system of a sewing machine, comprising:
an acquisition unit: for obtaining feed motor feedSet needle pitch thetastepAllowable operating time T of cloth feeding motorstepAnd maximum speed limit value omega of cloth feeding motormax_limit；
A calculation unit: for use according to the formula ωmax_1＝θstep/(Tstep/2) calculating to obtain the maximum reference speed omega of the cloth feeding motormax_1；
A judging unit: maximum reference speed omega for judging cloth feeding motormax_1And maximum speed limit value omega of cloth feeding motormax_limitThe size of (d);
a control unit: a maximum reference speed omega for the cloth feeding motor when the judging unit judgesmax_1Less than or equal to the maximum speed limit value omega of the cloth feeding motormax_limitThe motion period of the cloth feeding motor is divided into five sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections;
a maximum reference speed omega for the cloth feeding motor when the judging unit judgesmax_1Greater than the maximum speed limit ω of the cloth-feed motormax_limitThe motion period of the cloth feeding motor is divided into four sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four acceleration curves.
The invention also provides a sewing machine, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor calls the computer program in the memory to realize the steps of the cloth feeding motor control method of the sewing machine.
The invention also provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are loaded by the processor and executed to realize the steps of the cloth feeding motor control method of the sewing machine.
Compared with the prior art, the invention provides the control method of the cloth feeding motor of the sewing machine, which is realized by judgingMaximum reference speed omega of cloth feeding motormax_1And maximum speed limit value omega of cloth feeding motormax_limitDetermining to adopt four or five sections to control the operation of the cloth feeding motor; meanwhile, no matter the four-section interval or the five-section interval is adopted, the smooth acceleration and speed can be ensured, the calculated amount is reduced, and the method is easy to realize; that is, according to the time window of the operation of the cloth feeding motor, the maximum speed of the cloth feeding motor can be adjusted in a self-adaptive mode, so that the average acceleration and deceleration can be reduced, and the jitter of the cloth feeding frame after the cloth feeding frame stops can be reduced.
Furthermore, the cloth feeding motor control method of the sewing machine introduces the trigonometric function, the acceleration and the jerk curve are continuous due to the characteristic of the sine function, compared with a linear and exponential acceleration and deceleration control algorithm, the impact on the system is reduced, compared with an S-shaped acceleration and deceleration algorithm, the method has the advantages that the acceleration and the speed are smoother before entering the constant speed and before stopping, the front section of starting acceleration and starting deceleration is faster, the average value of the acceleration is larger, only five sections are provided, the calculation amount is small, and the method is easy to realize.
The cloth feeding motor control system of the sewing machine, the sewing machine and the storage medium have the beneficial effects that the cloth feeding motor control system of the sewing machine, the sewing machine and the storage medium are not unfolded.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a cloth feeding motor control method of a sewing machine according to an embodiment of the present invention;
FIG. 2 is a block diagram of a cloth feeding motor control system of a sewing machine according to an embodiment of the present invention;
FIG. 3 is a graph showing acceleration and velocity in five stages according to the cloth feeding motor control method of the sewing machine according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The present application describes a method for controlling a cloth feeding motor of a sewing machine, as shown in the attached figure 1 of the specification, comprising:
s1, obtaining the given needle pitch theta of the cloth feeding motorstepAllowable operating time T of cloth feeding motorstepAnd maximum speed limit value omega of cloth feeding motormax_limit；
S2 according to formula omegamax_1＝θstep/(Tstep/2) calculating to obtain the maximum reference speed omega of the cloth feeding motormax_1；
S3, judging the maximum reference speed omega of the cloth feeding motormax_1Whether or not the maximum speed limit value omega of the cloth feeding motor is less than or equal tomax_limitThe size of (d); if so, go to step S4, if so, go to step S5;
s4 maximum reference speed omega of cloth feeding motormax_1Less than or equal to the maximum speed limit value omega of the cloth feeding motormax_limitThe motion period of the cloth feeding motor is divided into five sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections;
s5 maximum reference speed omega of cloth feeding motormax_1Greater than the maximum speed limit ω of the cloth-feed motormax_limitThe motion period of the cloth feeding motor is divided into four sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four acceleration curves.
In the cloth feeding motor control method for the sewing machine described herein, the sewing machine may be a pattern machine or the like, the cloth feeding motor generally refers to a stepping motor for driving a cloth feeding frame of the pattern machine to move, as described in the background art, the cloth feeding frame of the pattern machine is conveyed by the stepping motor through a synchronous belt, and in order to optimize the movement of the cloth feeding motor (i.e., the stepping motor), the stability, flexibility and positioning accuracy of the feeding movement can be ensured only by requiring reasonable speed and acceleration planning under the conditions of the feeding distance, the spindle speed and the load change.
The cloth feeding motor control method of the sewing machine described in the document relates to the command planning (displacement and speed planning) of motor control, is an algorithm that a stepping driver analyzes according to the command (needle pitch and spindle rotating speed) sent by a spindle in order to obtain better dynamic performance, so as to 'translate' the command into an optimal command which can be identified by the stepping driver, is a very critical step in the motor control process, and then is a driving and controlling algorithm of the motor (the patent is not related).
Because the dynamic torque of the cloth feeding motor (namely the stepping motor) is reduced along with the increase of the running rotating speed of the stepping motor, and the cloth feeding motor does not have constant torque output capacity below the rated rotating speed like a servo motor, the reasonable acceleration and deceleration movement track planning can improve the dynamic performance of the stepping motor and improve and promote the stitches of the pattern sewing machine during high-speed sewing.
In the above step S1, the given needle pitch θ of the cloth feeding motor may be transmitted by the upper computerstepAllowable operating time T of cloth feeding motorstepAnd maximum speed limit value omega of cloth feeding motormax_limitSo as to acquire the three parameters.
In the above step S2, according to the formula ωmax_1＝θstep/(Tstep/2) calculating to obtain the maximum reference speed omega of the cloth feeding motormax_1；θstepI.e. given pitch, T, of the cloth-feed motorstepI.e. the allowed run time of the feed motor.
In the above step S3, the maximum reference speed ω of the cloth feeding motor is determinedmax_1And maximum speed limit value omega of cloth feeding motormax_limitThe size of (d);
in the above step S4, when the maximum reference speed ω of the cloth feeding motor is setmax_1Less than or equal to the maximum speed limit value omega of the cloth feeding motormax_limitThe motion period of the cloth feeding motor is divided into five sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections;
in the above step S5, when the maximum reference speed ω of the cloth feeding motor is setmax_1Greater than the maximum speed limit ω of the cloth-feed motormax_limitThe motion period of the cloth feeding motor is divided into four sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four acceleration curves.
It can be seen that, for the acceleration section of the first two sections and the deceleration section of the second two sections, two tangent sinusoidal acceleration curves are respectively set, which never appears in the existing acceleration and deceleration planning method of the stepping motor.
The cloth feeding motor control method of the sewing machine is arranged, for example, under the needle pitch of 3.0mm, when the speed of the main shaft is low (such as medium-low speed sewing), the peak value of a sine acceleration curve can be reduced in a self-adaptive mode according to the needle pitch instruction and in combination with the speed of the main shaft, when the sewing speed is low, the available time window is fully utilized, cloth feeding is completed, and as a result, vibration and noise of a pattern sewing machine are reduced, and better sewing stitches are achieved.
Provided that the maximum reference speed omega of the feed motor is not taken into accountmax_1And maximum speed limit value omega of cloth feeding motormax_limitDirectly dividing the movement period of the cloth feeding motor into five sectionsIn the control, the cloth feeding motor (namely, the stepping motor) always has the maximum peak acceleration (namely, the amplitude peak value of the sinusoidal acceleration curve is the same, so that the vibration and the noise of the pattern machine are possibly high at low speed.
In one embodiment, the permissible operating time T of the feed motorstepThe obtaining method comprises the following steps:
acquiring a sewing speed n of a sewing machine;
according to the formula TstepCalculating the allowable operation time T of the cloth feeding motor at 40/nstep。
Wherein, the sewing speed n of the sewing machine is the main shaft rotating speed of the sewing machine and passes through the formula TstepThe permissible operating time T of the cloth feeding motor can be obtained at 40/nstep。
In one embodiment, the maximum speed limit of the feed motor is ωmax_limitThe acquisition mode is as follows:
obtaining the highest feeding speed v of the cloth feeding frame of the sewing machinemax；
According to the formula omegamax_limit＝kd2θ×vmaxCalculating to obtain the maximum speed limit value omega of the cloth feeding motormax_limit。
Wherein k isd2θFor a conversion factor, k, of the feed motor rotation angle theta corresponding to a certain pitch dd2θ＝θ/d。
For the case of dividing the movement period of the cloth feed motor into four segments, the period T of the sinusoidal signal,
Figure BDA0003290097710000091
time T of constant speed sectionc＝t 30, the time length of each segment of the sine curve is
Figure BDA0003290097710000092
Constant speed segment time Tc＝t3＝0。
Aiming at the situation that the motion period of the cloth feeding motor is divided into five sections, namely under the situation that a constant speed section exists, the maximum limit value of the acceleration is the acceleration limitValue, at this time ωmax＝ωmax_limConstant speed section time of use
Figure BDA0003290097710000093
And then to
Figure BDA0003290097710000094
The period T of the sinusoidal signal is:
Figure BDA0003290097710000095
wherein, ω ismaxThe highest speed of the feed motor.
In one embodiment, the maximum speed ω of the feed motormaxThe obtaining method comprises the following steps:
obtaining the lowest limit value of the maximum speed of the cloth feeding motor as omegamax_LGiven stitch length theta of cloth feeding motorstepAngle theta of cloth feeding motor corresponding to minimum needle pitch of sewing machinestep_minThe angle of rotation theta of the feed motor corresponding to the critical stitch length of the sewing machinestep_thAnd the maximum speed limit of the cloth feeding motor is omegamax_limit；
When theta isstep_min≤θstep≤θstep_thAccording to the formula
ωmax＝ωmax_L+kθ2w×(θstep-θstep_min) Calculating to obtain the highest speed omega of the cloth feeding motormax；
When theta isstep≥θstep_thAt the highest speed omega of the cloth-feeding motormax＝ωmax_limit；
Wherein k isθ2w＝(ωmax_limit-ωmax_L)/(θstep_th-θstep_min)。
That is, the maximum speed ω of the cloth feeding motor is calculated according to the following equationmaxWherein k isθ2wIs a coefficient, θstepA step angle command, theta, corresponding to the feed distance commandstep_thIs the critical gauge (generally slightly larger than the standard gauge d0) The corresponding corner of the cloth feeding motor,which corresponds to omegamax_limit；θstep_minThe angle of rotation of the feed motor corresponding to the minimum pitch, which corresponds to ωmax_L。
Figure BDA0003290097710000101
Wherein k isθ2wCalculated from the following formula:
Figure BDA0003290097710000102
in one embodiment, the maximum acceleration limit of the feed motor is εmaxThe obtaining method comprises the following steps:
obtaining the needle pitch d of a sewing machine0Maximum rotational speed n of main shaft speed of sewing machinemax_d0Conversion coefficient k of cloth feeding motor rotation angle theta corresponding to certain distance dd2θ，kd2θ＝θ/d；
According to the formula ∈max＝kd2θ×d0×n2 max_d0The maximum acceleration limit value of the cloth feeding motor is epsilon obtained by calculation of 200max。
Suppose that: at a typical gauge d0(e.g., 3.0mm), the maximum rotational speed (maximum sewing speed) n of the main shaft speed of the pattern sewing machinemax_d0(e.g., 2800rpm), kd2θConversion coefficient of angle theta (theta k) for stepping motor corresponding to needle pitch dd2θX d) then emaxCalculated as follows:
Figure BDA0003290097710000111
for the case of constant speed segments, i.e. the movement cycle of the feed motor is divided into five segments, the curve of each segment is as follows:
assuming that t is the time of entry into each curve segment (the time of the entry is 0), the function of the curves of the sections I to V is as follows, wherein all references are referred to above;
a first stage:
Figure BDA0003290097710000112
Figure BDA0003290097710000113
Figure BDA0003290097710000114
the end of the first segment is then:
Figure BDA0003290097710000115
Figure BDA0003290097710000116
Figure BDA0003290097710000117
Figure BDA0003290097710000118
and a second stage:
Figure BDA0003290097710000119
Figure BDA0003290097710000121
Figure BDA0003290097710000122
the end time of the second segment is then:
Figure BDA0003290097710000123
ε2＝ε2(t2)＝0
Figure BDA0003290097710000124
Figure BDA0003290097710000125
a third stage:
ε3(t)＝0
Figure BDA0003290097710000126
Figure BDA0003290097710000127
the end of the third segment is then:
ε3＝ε3(t3)＝0
Figure BDA0003290097710000128
Figure BDA0003290097710000129
a fourth stage:
Figure BDA00032900977100001210
Figure BDA0003290097710000131
Figure BDA0003290097710000132
the end time of the fourth segment is then:
Figure BDA0003290097710000133
Figure BDA0003290097710000134
Figure BDA0003290097710000135
a fifth stage:
Figure BDA0003290097710000136
Figure BDA0003290097710000137
Figure BDA0003290097710000138
the end time of the fifth segment is then:
ε5＝ε5(t5)＝0
Figure BDA0003290097710000139
Figure BDA00032900977100001310
Figure BDA00032900977100001311
referring to fig. 3 of the specification, the curve a at the top is an acceleration curve, the curve b at the bottom is a speed curve, both the acceleration curve and the speed curve are divided into sections i, ii, iii, iv and v starting from 0, respectively corresponding to the first to fifth sections above, and the acceleration curve and the speed curve of each section conform to the above formula.
Wherein the time interval of 0 to 1 is t1And a time interval of 1 to 2 is t2And a time interval of 2 to 3 is t3And a time interval of 3 to 4 is t4And a time interval of 4 to 5 is t5The accelerations of the two sections I and II are two sections of tangent sine curves, and the accelerations of the two sections IV and V are two sections of tangent sine curves. The periods and amplitudes of the four acceleration sinusoidal curves are the same. And T is the period of the acceleration sinusoidal signal. Maximum acceleration limit epsilon of cloth feeding motormaxIs the amplitude of the acceleration sinusoidal signal. The acceleration, velocity and displacement at the time k (1, 2, 3, 4, 5) are respectively εk、ωkAnd thetak. The acceleration function, the velocity function and the displacement function of the kth section are respectively epsilonk(t)、ωk(t) and θk(t)。
By adopting the cloth feeding motor control method of the sewing machine, two sections of tangential sinusoidal acceleration curves, namely four sections of sinusoidal curves, are respectively introduced into the acceleration section (the front two sections) and the deceleration section (the rear two sections), and a constant speed section is inserted between the acceleration section and the deceleration section, so that five sections are formed. The duration, period and amplitude of the four sections of sinusoidal curves are all equal.
Of course, for the case that the constant speed section is not provided, the acceleration, the speed and the time consumption of the third section may be set to 0, and the parameters of the fourth section and the fifth section are changed accordingly.
The cloth feeding motor control system of the sewing machine provided by the embodiment of the application can be applied to the cloth feeding motor control method of the sewing machine described above, and the working principle and the operation process of the cloth feeding motor control system of the sewing machine can refer to the cloth feeding motor control method of the sewing machine described above, and the structural block diagram of the cloth feeding motor control system of the sewing machine is shown in fig. 2, and the cloth feeding motor control system of the sewing machine comprises:
the acquisition unit 101: for obtaining a given stitch length theta of a feed motorstepAllowable operating time T of cloth feeding motorstepAnd maximum speed limit value omega of cloth feeding motormax_limit；
The calculation unit 102: for use according to the formula ωmax_1＝θstep/(Tstep/2) calculating to obtain the maximum reference speed omega of the cloth feeding motormax_1；
The judgment unit 103: maximum reference speed omega for judging cloth feeding motormax_1And maximum speed limit value omega of cloth feeding motormax_limitThe size of (d);
the control unit 104: a maximum reference speed omega for the cloth feeding motor when the judging unit judgesmax_1Less than or equal to the maximum speed limit value omega of the cloth feeding motormax_limitThe motion period of the cloth feeding motor is divided into five sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections;
a maximum reference speed omega for the cloth feeding motor when the judging unit judgesmax_1Greater than the maximum speed limit ω of the cloth-feed motormax_limitThe motion period of the cloth feeding motor is divided into four sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four acceleration curves.
The application also describes a sewing machine, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor calls the computer program in the memory to realize the steps of the cloth feeding motor control method of the sewing machine. Other parts of the sewing machine can be referred to the prior art and are not unfolded here.
The present application also describes a storage medium having stored therein computer-executable instructions that, when loaded and executed by a processor, implement the steps of the cloth feed motor control method of the sewing machine as described above.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The present invention provides a method and a system for controlling a cloth feeding motor of a sewing machine, a sewing machine and a storage medium. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. A cloth feeding motor control method of a sewing machine is characterized by comprising the following steps:
obtaining a given needle pitch theta of the cloth feeding motorstepAllowable operating time T of the cloth feeding motorstepAnd a maximum speed limit ω of the feed motormax_limit；
According to the formula omegamax_1＝θstep/(Tstep/2) calculating to obtain the maximum reference speed omega of the cloth feeding motormax_1；
Judging the maximum reference speed omega of the cloth feeding motormax_1And a maximum speed limit ω of the feed motormax_limitThe size of (d);
when the maximum reference speed omega of the cloth feeding motormax_1Less than or equal to the maximum speed of the cloth feeding motorDegree limit value omegamax_limitDividing the motion period of the cloth feeding motor into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections;
when the maximum reference speed omega of the cloth feeding motormax_1Is greater than the maximum speed limit value omega of the cloth feeding motormax_limitDividing the motion period of the cloth feeding motor into four sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four acceleration curves.
2. The cloth feed motor control method of a sewing machine according to claim 1, characterized in that the allowable operation time T of the cloth feed motorstepThe obtaining method comprises the following steps:
acquiring a sewing speed n of the sewing machine;
according to the formula TstepCalculating the allowable operation time T of the cloth feeding motor at 40/nstep。
3. The cloth feed motor control method of a sewing machine according to claim 2, characterized in that the maximum speed limit ω of the cloth feed motormax_limitThe obtaining method comprises the following steps:
obtaining the highest feeding speed v of the cloth feeding frame of the sewing machinemax；
According to the formula omegamax_limit＝kd2θ×vmaxCalculating to obtain the maximum speed limit value omega of the cloth feeding motormax_limit(ii) a Wherein k isd2θA conversion coefficient, k, of the feed motor rotation angle theta corresponding to a certain pitch dd2θ＝θ/d。
4. Feed motor control for sewing machine according to any of claims 1-3The manufacturing method is characterized in that when the motion period of the cloth feeding motor is divided into four sections, the time length of each section is Tstep/4。
5. The cloth feed motor control method of a sewing machine according to claim 4, characterized in that, when the movement cycle of the cloth feed motor is divided into five segments, the constant-speed segment has an operation time Tc＝2×θstep/ωmax-TstepWherein, ω ismaxIs the highest speed of the feed motor.
6. The cloth feed motor control method of a sewing machine according to claim 5, characterized in that the maximum speed ω of the cloth feed motormaxThe obtaining method comprises the following steps:
obtaining the lowest limit value of the maximum speed of the cloth feeding motor as omegamax_LGiven needle pitch theta of the cloth feeding motorstepThe rotation angle theta of the cloth feeding motor corresponding to the minimum needle pitch of the sewing machinestep_minThe rotation angle theta of the cloth feeding motor corresponding to the critical stitch length of the sewing machinestep_thAnd the maximum speed limit of the cloth feeding motor is omegamax_limit；
When theta isstep_min≤θstep≤θstep_thAccording to the formula
ωmax＝ωmax_L+kθ2w×(θstep-θstep_min) Calculating to obtain the highest speed omega of the cloth feeding motormax；
When theta isstep≥θstep_thAt the highest speed omega of the cloth-feeding motormax＝ωmax_limit；
Wherein k isθ2w＝(ωmax_limit-ωmax_L)/(θstep_th-θstep_min)。
7. The cloth feed motor control method of a sewing machine according to claim 6, characterized in that when the movement cycle of the cloth feed motor is divided into five segments:
the first segment has a duration of T/6,
the curve function of the acceleration of the first segment with the time t is as follows:
Figure FDA0003290097700000021
the speed of the first segment as a function of time t is:
Figure FDA0003290097700000022
the curve function of the displacement of the first segment over time t is:
Figure FDA0003290097700000031
the second segment has a duration of T/6,
the curve function of the acceleration of the second segment along with the time t is as follows:
Figure FDA0003290097700000032
the curve function of the speed of the second segment with time t is:
Figure FDA0003290097700000033
the curve function of the displacement of the second segment over time t is:
Figure FDA0003290097700000034
the acceleration of the third section is 0;
of the third sectionSpeed of omegamax；
The displacement of the third section is omegamax×Tc，TcIs the duration of the third segment;
the duration of the fourth segment is T/6,
the curve function of the acceleration of the fourth segment along with the time t is as follows:
Figure FDA0003290097700000035
the curve function of the speed of the fourth segment with time t is:
Figure FDA0003290097700000036
the curve function of the displacement of the fourth segment with time t is:
Figure FDA0003290097700000037
the duration of the fifth segment is T/6,
the curve function of the acceleration of the fifth section along with the time t is as follows:
Figure FDA0003290097700000041
the curve function of the speed of the fifth segment with time t is:
Figure FDA0003290097700000042
the curve function of the displacement of the fifth segment with time t is:
Figure FDA0003290097700000043
8. a cloth feeding motor control system of a sewing machine is characterized by comprising:
an acquisition unit: for obtaining a given stitch length theta of the feed motorstepAllowable operating time T of the cloth feeding motorstepAnd a maximum speed limit ω of the feed motormax_limit；
A calculation unit: for use according to the formula ωmax_1＝θstep/(Tstep/2) calculating to obtain the maximum reference speed omega of the cloth feeding motormax_1；
A judging unit: for determining the maximum reference speed omega of the cloth feed motormax_1And a maximum speed limit ω of the feed motormax_limitThe size of (d);
a control unit: when the judging unit judges the maximum reference speed omega of the cloth feeding motormax_1Less than or equal to the maximum speed limit value omega of the cloth feeding motormax_limitDividing the motion period of the cloth feeding motor into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections;
when the judging unit judges the maximum reference speed omega of the cloth feeding motormax_1Is greater than the maximum speed limit value omega of the cloth feeding motormax_limitDividing the motion period of the cloth feeding motor into four sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; and controlling the operation of the cloth feeding motor according to the four acceleration curves.
9. A sewing machine characterized by comprising a memory in which a computer program is stored and a processor which, when calling the computer program in the memory, implements the steps of the cloth feed motor control method of a sewing machine according to any one of claims 1 to 7.
10. A storage medium having stored thereon computer-executable instructions which, when loaded and executed by a processor, carry out the steps of a method of controlling a feed motor of a sewing machine according to any one of claims 1 to 7.
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JPH05228276A (en) * 1992-02-25 1993-09-07 Brother Ind Ltd Cloth feed control device for sewing machine
JP2006211749A (en) * 2005-01-25 2006-08-10 Brother Ind Ltd Speed controller for stepping motor and its speed control method
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