CN114657688B - Control method, device, equipment and medium of transverse loom - Google Patents

Control method, device, equipment and medium of transverse loom Download PDF

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Publication number
CN114657688B
CN114657688B CN202210186659.5A CN202210186659A CN114657688B CN 114657688 B CN114657688 B CN 114657688B CN 202210186659 A CN202210186659 A CN 202210186659A CN 114657688 B CN114657688 B CN 114657688B
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China
Prior art keywords
speed
main shaft
turning point
current row
distance
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CN114657688A (en
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丁海大
茹水强
仝超
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Suzhou Characteristic Electronic Technology Co ltd
Zhejiang Dahao Technology Co ltd
Beijing Dahao Technology Co Ltd
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Suzhou Characteristic Electronic Technology Co ltd
Zhejiang Dahao Technology Co ltd
Beijing Dahao Technology Co Ltd
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Priority to CN202210186659.5A priority Critical patent/CN114657688B/en
Publication of CN114657688A publication Critical patent/CN114657688A/en
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    • 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
    • D04B15/66—Devices for determining or controlling patterns ; Programme-control arrangements
    • D04B15/68—Devices for determining or controlling patterns ; Programme-control arrangements characterised by the knitting instruments used
    • D04B15/70—Devices for determining or controlling patterns ; Programme-control arrangements characterised by the knitting instruments used in flat-bed knitting machines

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Knitting Machines (AREA)

Abstract

The application provides a control method, a device, equipment and a medium of a horizontal loom, wherein in the method, a shaking table action speed curve is planned through shaking table action instructions issued by a main controller, then the speed curves of a main shaft in a speed reducing section and a speed increasing section are planned according to current main shaft action instructions issued by the main controller and next main shaft action instructions, and further the speed curve of the main shaft in a constant speed section is planned through the calculated distance between an ideal turning point and the end position of the current main shaft in a weaving area. The control shaking table operates according to a shaking table action speed curve, and the control main shaft operates according to speed curves of the main shaft in a speed reducing section, a constant speed section and a speed increasing section. According to the scheme, the main shaft operates according to the speed curve, so that when the next row of knitting is performed, the operation speed of the main shaft starts to operate at a speed greater than 0, and the knitting efficiency of the horizontal loom is effectively improved.

Description

Control method, device, equipment and medium of transverse loom
Technical Field
The application relates to the technical field of transverse weaving machines, in particular to a control method, a device, equipment and a medium of a transverse weaving machine.
Background
With rapid development of technology, people have increasingly high requirements on quality and quantity of textile articles such as clothes and the like, and the technical development of the horizontal loom is driven. The horizontal loom can realize the normal operation of the horizontal loom only by the cooperation of the main shaft and the cradle, and the horizontal loom requires the main shaft to act in the weaving area and the cradle cannot act; when the cradle acts, the machine head controlled by the main shaft cannot be arranged in the knitting area, otherwise, the needle leakage or the knitting pattern error can be caused. The main shaft of the horizontal loom controls the left and right reciprocating motion of the machine head to enable the knitting needles to move up and down, and then the knitting needles are matched with the needle bed to move so as to realize different fabric tissues. The rocking bed of the horizontal loom controls the mutual movement between the front and rear needle beds, and weaves a wave structure formed by inclined loops and having a wave appearance effect.
In the prior art, when a main shaft and a shaking table of a horizontal loom are controlled, a main shaft motor and a shaking table motor are relatively independent, and the main control controls the two motors to act through pulse or serial communication. After the main shaft runs out of the knitting area, the cradle can start to act. After the shaking table is finished and stopped and the running speed of the main shaft is 0, the main shaft is started to rotate again, and the running speed starts from 0 and enters the knitting area to carry out next line of knitting.
In summary, in the conventional control method of the weft knitting machine, the operation speed of the main shaft starts from 0 when knitting in the next row, resulting in a low efficiency of the weft knitting machine.
Disclosure of Invention
The embodiment of the application provides a control method, a device, equipment and a medium of a horizontal loom, which are used for solving the problem that the efficiency of the horizontal loom is lower because the running speed of a main shaft starts from 0 when the next row of knitting is carried out in the conventional control method of the horizontal loom.
In a first aspect, an embodiment of the present application provides a control method for a flat knitting machine, applied to a CPU for controlling a spindle motor and a shaker motor, the method including:
receiving a current main shaft action instruction, a shaking table action instruction and a next main shaft action instruction which are issued by a main controller;
According to the shaking table action instruction, a shaking table action speed curve is planned, and shaking table action time is calculated;
according to the current main shaft action instruction, the next main shaft action instruction and the preset lifting speed time, planning a speed curve of the main shaft in a speed reducing section and a speed increasing section, and calculating the speed reducing displacement of the main shaft in the current row and the speed increasing displacement of the main shaft in the next row;
calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculation parameters, wherein the ideal turning point calculation parameters comprise: the method comprises the steps of setting a current line at the end position of a knitting area, setting a next line at the beginning position of the knitting area, setting the action time of a shaking table, setting the speed-down displacement of a main shaft at the current line, setting the speed-up displacement of the main shaft at the next line, setting the speed-up time, setting the running speed of the main shaft at the current line corresponding to the rotating speed of a main shaft motor at the current line and the running speed of the main shaft at the next line corresponding to the rotating speed of the main shaft motor at the next line, wherein an ideal turning point is a position corresponding to the speed of the main shaft in a speed-down curve of a speed-down section when the speed is 0;
if the distance between the ideal turning point and the ending position of the current row in the knitting area is larger than the distance between the current row main shaft target position and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the ideal turning point and the ending position of the current row in the knitting area;
And controlling the main shaft to run according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the speed reducing section and the speed increasing section, and controlling the shaking table to run according to the shaking table action speed curve.
In one embodiment, the method further comprises:
and if the distance between the ideal turning point and the ending position of the current row in the knitting area is smaller than or equal to the distance between the current row main shaft target position and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the current row main shaft target position and the ending position of the current row in the knitting area.
In one specific embodiment, the calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculating parameter includes:
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the knitting area is calculated according to the formulaCalculated, wherein->c＝S d -S D1 (t Y -t D )v 1 ；
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the knitting area is calculated according to the formulaCalculated, wherein->c 1 ＝S d -S D2 (t Y -t D )v 2 ；
Wherein S is d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the idealThe distance between the turning point and the end position of the current row in the knitting area.
In a second aspect, an embodiment of the present application provides a control device for a flat knitting machine, including:
the receiving module is far away from receiving the current main shaft action instruction, the shaking table action instruction and the next main shaft action instruction issued by the main controller;
the processing module is used for planning a shaking table action speed curve according to the shaking table action instruction and calculating shaking table action time;
the processing module is further used for planning a speed curve of the main shaft in a speed reducing section and a speed increasing section according to the main shaft action instruction of the current row, the main shaft action instruction of the next row and the preset speed increasing and decreasing time, and calculating the speed decreasing displacement of the main shaft in the current row and the speed increasing displacement of the main shaft in the next row;
the processing module is further configured to calculate a distance between an ideal turning point and an end position of the current row in the knitting area according to an ideal turning point calculation parameter, where the ideal turning point calculation parameter includes: the method comprises the steps of setting a current line at the end position of a knitting area, setting a next line at the beginning position of the knitting area, setting the action time of a shaking table, setting the speed-down displacement of a main shaft at the current line, setting the speed-up displacement of the main shaft at the next line, setting the speed-up time, setting the running speed of the main shaft at the current line corresponding to the rotating speed of a main shaft motor at the current line and the running speed of the main shaft at the next line corresponding to the rotating speed of the main shaft motor at the next line, wherein an ideal turning point is a position corresponding to the speed of the main shaft in a speed-down curve of a speed-down section when the speed is 0;
The processing module is further configured to plan a speed curve of the spindle at a constant speed section according to a distance between the ideal turning point and an end position of the current row in the knitting region if the distance between the ideal turning point and the end position of the current row in the knitting region is greater than a distance between the current row spindle target position and the end position of the current row in the knitting region;
the processing module is also used for controlling the main shaft to run according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the speed reducing section and the speed increasing section, and controlling the shaking table to run according to the shaking table action speed curve.
In a specific embodiment, the processing module is further configured to:
and if the distance between the ideal turning point and the ending position of the current row in the knitting area is smaller than or equal to the distance between the current row main shaft target position and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the current row main shaft target position and the ending position of the current row in the knitting area.
In a specific embodiment, the processing module is specifically configured to:
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the reason isThe distance between the desired turning point and the end position of the current row in the knitting area is calculated according to the formulaCalculated, wherein->c＝S d -S D1 (t Y -t D )v 1 ；
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the knitting area is calculated according to the formulaCalculated to obtainWherein- >c 1 ＝S d -S D2 (t Y -t D )v 2 ；
Wherein S is d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
In a third aspect, an embodiment of the present application provides a processing apparatus, including:
the processor, the memory, the interactive interface;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to execute the control method of the weft knitting machine according to any one of the first aspect via execution of the executable instructions.
In a fourth aspect, an embodiment of the present application provides a flat knitting machine, including:
the device comprises a main controller, a spindle motor, a shaking table motor and a central processing unit CPU;
the CPU is used for controlling the spindle motor and the shaking table motor;
The CPU is configured to execute the control method of the flat knitting machine according to any one of the first aspect.
In a fifth aspect, an embodiment of the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for controlling a flat knitting machine according to any one of the first aspects.
In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which is executed by a processor, for implementing a control method of a flat knitting machine according to any one of the first aspects.
According to the control method, the device, the equipment and the medium for the horizontal loom, the shaking table action speed curve is planned through the shaking table action command issued by the main controller, then the speed curve of the main shaft in the speed reducing section and the speed increasing section is planned according to the current main shaft action command issued by the main controller and the next main shaft action command, and further the speed curve of the main shaft in the constant speed section is planned through the calculated distance between the ideal turning point and the ending position of the current line in the weaving area. The control shaking table operates according to a shaking table action speed curve, and the control main shaft operates according to speed curves of the main shaft in a speed reducing section, a constant speed section and a speed increasing section. According to the scheme, the main shaft operates according to the speed curve, so that when the next row of knitting is performed, the operation speed of the main shaft starts to operate at a speed greater than 0, and the knitting efficiency of the horizontal loom is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic view of a horizontal loom according to the present application;
fig. 2a is a schematic flow chart of a first embodiment of a control method of a flat knitting machine according to the present application;
FIG. 2b is a diagram illustrating a first example of a velocity profile of a shaker according to an embodiment of the present application;
FIG. 2c is a second diagram illustrating a velocity profile of a shaker according to an embodiment of the present application;
FIG. 2d is a schematic diagram of a speed curve of a spindle in a deceleration section and an acceleration section according to an embodiment of the present application;
FIG. 3 is a schematic diagram showing a speed profile of the spindle based on FIG. 2d according to an embodiment of the present application;
FIG. 4 is a second schematic diagram of a velocity profile of the spindle based on FIG. 2d according to an embodiment of the present application;
FIG. 5 is a third schematic diagram of a velocity profile of the spindle based on FIG. 2d according to an embodiment of the present application;
FIG. 6 is a schematic diagram showing a velocity profile of the spindle based on FIG. 2d according to an embodiment of the present application;
FIG. 7 is a schematic diagram showing a velocity profile of the spindle based on FIG. 2d according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a spindle speed profile according to an embodiment of the present application based on FIG. 2 d;
fig. 9 is a schematic structural view of a first embodiment of a control device of a flat knitting machine according to the present application;
fig. 10 is a schematic structural diagram of a processing apparatus according to the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which are made by a person skilled in the art based on the embodiments of the application in light of the present disclosure, are intended to be within the scope of the application.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Along with rapid development of technology and improvement of living standard of people, quality and quantity requirements of people on textile articles such as clothes are higher and higher, so that technical development of the horizontal loom is driven. The horizontal loom can realize the normal operation of the horizontal loom only by the cooperation of the main shaft and the cradle, and the horizontal loom requires the main shaft to act in the weaving area and the cradle cannot act; when the cradle acts, the machine head controlled by the main shaft cannot be arranged in the knitting area, otherwise, the needle leakage or the knitting pattern error can be caused.
In the prior art, when a shaking table and a main shaft are controlled, the main shaft is controlled to run to the end position of the weaving area when the current line moves out of the weaving area, so that the shaking table starts to work, and the running speed of the main shaft is controlled to be reduced to 0. And after the swinging bed is finished and stopped, the main shaft is restarted to rotate after the running speed of the main shaft is 0, and the running speed starts from 0, and enters a knitting area to carry out next-line knitting, so that the problem of lower efficiency of the horizontal loom is caused.
Aiming at the problems in the prior art, the inventor finds that the efficiency of the horizontal loom can be improved only by the operation speed of the main shaft entering the weaving area is larger than 0 in the next row in the process of researching the control method of the horizontal loom. Based on the conception, the inventor considers that the shaking table motor and the spindle motor are controlled by a central processing unit (Central Processing Unit, CPU for short), the main controller sends instructions to the CPU, the CPU plans a shaking table action speed curve according to the instructions, the speed curves of the spindle in the speed reducing section, the speed stabilizing section and the speed increasing section are planned, and then the spindle and the shaking table are controlled to run according to the speed curves. The CPU controls the main shaft and the shaking table to run according to the speed curve, so that the main shaft can be ensured to run to the starting position of the next row in the weaving area when the shaking table starts to work when the current row is at the ending position of the weaving area, and the main shaft runs to the starting position of the next row in the weaving area at a speed greater than 0 when the shaking table finishes working. Based on the above inventive concept, a control scheme of the horizontal loom is designed.
Fig. 1 is a schematic structural view of a flat knitting machine according to the present application, and as shown in fig. 1, the flat knitting machine 10 includes: a main controller 11, a spindle motor 12, a table motor 13 and a CPU 14; the CPU is used for controlling the spindle motor and the shaking table motor; the CPU is used for executing the control method of the horizontal loom provided by the embodiment of the application.
For example, referring to fig. 1, the application scenario of the control method of the flat knitting machine according to the present application will be described, and as shown in fig. 1, when the user uses the flat knitting machine, the user inputs the pattern to be knitted into the flat knitting machine, and the main controller 11 generates the current main axis motion command, the table motion command, and the next main axis motion command according to the pattern, and then issues these commands to the CPU 14.
After receiving the instruction issued by the main controller 11, the CPU 14 plans the shaking table motion speed curve according to the shaking table motion instruction, and plans the speed curves of the main shaft in the deceleration section and the acceleration section according to the current main shaft motion instruction and the next main shaft motion instruction. And then the distance between the ideal turning point and the end position of the current line in the knitting area can be calculated, and then the speed curve of the main shaft in the constant speed section is planned according to the larger one of the distance between the ideal turning point and the end position of the current line in the knitting area and the distance between the target position of the main shaft of the current line and the end position of the current line in the knitting area.
The CPU 14 controls the spindle motor 12 to run according to the speed curves of the spindle in the speed reducing section, the speed increasing section and the constant speed section, and the CPU 14 controls the shaking table motor 13 to run according to the shaking table action speed curves.
It should be noted that the number of the CPUs in the horizontal loom may be two, one controlling the spindle motor and the other controlling the table motor, and the main controller issues the table motion command to the CPU controlling the table motor, so as to plan the table motion speed curve and calculate the table motion time. The main controller transmits the current spindle motion instruction and the next spindle motion instruction to a CPU (Central processing Unit) for controlling the spindle motor, and the CPU for controlling the cradle motor transmits the cradle motion time to the CPU for controlling the spindle motor, so that the CPU for controlling the spindle motor plans the speed curves of the spindle in the speed reducing section and the speed increasing section and the speed curves of the spindle in the constant speed section. CPU of the cradle motor operates according to the cradle action speed curve, and the CPU of the control main shaft motor controls the main shaft motor to operate according to the speed curves of the main shaft in the speed reducing section, the speed increasing section and the constant speed section.
It should be noted that fig. 1 is only a schematic structural diagram of a weft knitting machine provided by an embodiment of the present application, and the embodiment of the present application does not limit the actual forms of various devices included in fig. 1, nor limit the interaction modes between the devices in fig. 1, and in a specific application of the scheme, the embodiment may be set according to actual requirements.
The horizontal loom has main shaft and cradle, and the main shaft controls the head to reciprocate to make the knitting needle move up and down and the needle bed to move to realize different fabric structure.
The cradle controls the mutual movement between the front needle bed and the back needle bed, and weaves the corrugated tissue with the corrugated appearance effect formed by the inclined coil; the cradle can also achieve accurate positioning between the transfer needle and the tucking needle by moving the needle bed.
According to the horizontal loom provided by the embodiment of the application, the main shaft motor and the table motor are controlled by one CPU, and by planning the speed curves of the main shaft and the table, the table starts to work when the main shaft runs to the ending position of the current row in the knitting area, and the main shaft runs to the starting position of the next row in the knitting area at a speed greater than 0 when the table works.
The technical scheme of the application is described in detail through specific embodiments. It should be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2a is a schematic flow chart of a first embodiment of a control method of a flat knitting machine according to the present application, as shown in fig. 2a, the control method of a flat knitting machine specifically includes the following steps:
S201: and receiving a current main shaft action instruction, a shaking table action instruction and a next main shaft action instruction which are issued by the main controller.
When a user uses a flat knitting machine, a knitting pattern is required to be input into the flat knitting machine, and the flat knitting machine is operated to knit according to rows, and knit from left to right in the current row, knit from right to left in the next row, and knit from left to right in the next row.
In this step, after the main controller issues the instructions to the CPU, the CPU may receive the current spindle motion instruction, the shaker motion instruction, and the next spindle motion instruction issued by the main controller, so as to plan the speed curves of the spindle and the shaker according to these instructions.
The current spindle motion command includes: the method comprises the steps of rotating speed of a spindle motor at the current row, target position of the spindle at the current row, ending position of the current row in a knitting area and starting position of the next row in the knitting area. The shaking table action instruction comprises: and (3) the target position of the shaking table and the rotating speed of the shaking table motor. The next line of spindle motion instructions include: the rotation speed of the spindle motor of the next row, the target position of the spindle of the next row, the ending position of the next row in the knitting area and the starting position of the next two rows in the knitting area.
S202: and planning a shaking table action speed curve according to the shaking table action instructions, and calculating shaking table action time.
In this step, after the CPU receives the instruction issued by the main controller, a line is planned from a speed of 0 up to an operation speed corresponding to the rotation speed of the table motor according to the table target position and the rotation speed of the table motor in the table motion instruction, and according to this speed, the operation speed is kept at a constant speed, and then the operation speed is reduced to a table motion speed curve with a speed of 0. The abscissa of the coordinate system in which the velocity curve is located is time, and the ordinate is the velocity value. According to the curve, the action time of the shaking table can be calculated.
Fig. 2b is a schematic diagram of a shaking table motion speed provided by an embodiment of the present application, fig. 2c is a schematic diagram of a shaking table motion speed provided by an embodiment of the present application, as shown in fig. 2b and 2c, t represents time, v represents speed, v1 represents a running speed corresponding to a rotation speed of a shaking table motor, when the shaking table runs according to the two speed curves, the shaking table starts to run at time t1 and rises to speed v1 according to the speed curves, runs to time t3 according to the speed, starts to slow down, and falls to speed 0 at time t 4. the time obtained by subtracting t1 from t4 is the action time of the shaking table.
It should be noted that, the above examples only illustrate the movement speed curve of the cradle, and the speed-up section curve and the speed-down section curve in the speed curve may be straight lines or curves.
S203: and planning speed curves of the main shaft in a speed reducing section and a speed increasing section according to the main shaft action instruction of the current row, the main shaft action instruction of the next row and the preset speed increasing and decreasing time, and calculating the speed decreasing displacement of the main shaft in the current row and the speed increasing displacement of the main shaft in the next row.
In this step, after receiving the instruction issued by the main controller, the CPU plans a deceleration section curve according to the current spindle motor rotation speed and the preset lifting speed time in the current spindle motion instruction, where the shape of the deceleration section curve conforms to a sinusoidal curve, the highest point of the sinusoidal curve is the current spindle operation speed corresponding to the current spindle motor rotation speed, and the abscissa distance from the highest point to the point where the ordinate of the sinusoidal curve is 0 is the preset lifting speed time. And planning a speed-increasing section curve according to the rotating speed of the next spindle motor in the next spindle action instruction and the preset lifting speed time, wherein the shape of the speed-increasing section curve accords with a sine curve, the highest point of the sine curve is the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, and the abscissa distance from the highest point to the point of the sine curve with the ordinate of 0 is the preset lifting speed time.
It should be noted that the preset lifting speed time includes a lifting speed time and a falling speed time, and the lifting speed time and the falling speed time are the same, and are set in the horizontal loom by a worker, and are used for planning a speed curve of the main shaft in the falling speed section and the lifting speed section and calculating a distance between an ideal turning point and a current position of the main shaft in the end of the knitting area.
Fig. 2d is a schematic diagram of a speed curve of a spindle in a deceleration section and an acceleration section according to an embodiment of the present application, where, as shown in fig. 2d, t represents time, v represents speed, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, t D The preset lifting speed time is shown, and the dotted line under the speed-reducing curve shows the lifting speed curve at time t 2 The dashed line of the position is the axis, the curve being turned horizontally. When the spindle operates according to the speed curve, at time t 1 To t 2 The running direction is from left to right, at time t 1 Start to slow down according to the speed curve at time t 2 The speed is reduced to 0, then the speed is increased, the running direction is from right to left, and at time t 3 Rising to a speed v 2 . Deceleration curve and axis of abscissa and t 1 The area enclosed by the dashed line of the position is the deceleration displacement of the spindle in the current row. Acceleration curve and axis of abscissa and t 3 The area surrounded by the dotted line of the position is the rising speed displacement of the main shaft in the next row.
It should be noted that, the above examples merely illustrate the speed curves of the spindle in the deceleration section and the acceleration section, and the embodiments of the present application do not limit the parameters in the speed curves, and may be determined according to actual situations.
S204: and calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculation parameter.
In this step, the CPU obtains the motion time of the cradle, the deceleration displacement of the main shaft in the current line and the acceleration displacement of the main shaft in the next line, and then calculates the distance between the ideal turning point and the ending position of the current line in the knitting area according to the calculation parameters of the ideal turning point. The ideal turning point calculation parameters comprise: the ideal turning point is the position corresponding to the speed of the spindle in the deceleration curve of the deceleration section when the speed is 0.
Specifically, before and after the main shaft is decelerated, the main shaft is uniformly operated according to the speed before the deceleration or the speed after the deceleration, so that in a curve planned by the CPU, the current line can be positioned at a uniform speed section or a deceleration section at the ending position of the knitting area, and the next line can be positioned at a deceleration section or a uniform speed section at the starting position of the knitting area. Therefore, the position of the current line in the knitting area and the position of the next line in the knitting area in the speed curve are judged according to the ideal turning point calculation parameters, and then the distance between the current line and the knitting area in the knitting area can be calculated according to the corresponding formula.
S205: if the distance between the ideal turning point and the ending position of the current row in the knitting area is larger than the distance between the target position of the main shaft of the current row and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the ideal turning point and the ending position of the current row in the knitting area.
In this step, after the CPU calculates the distance between the ideal turning point and the ending position of the current row in the knitting area, it determines the magnitude relation between the distance between the ideal turning point and the ending position of the current row in the knitting area and the distance between the current row main shaft target position and the ending position of the current row in the knitting area. If the distance between the ideal turning point and the ending position of the current row in the knitting area is greater than the distance between the target position of the main shaft of the current row and the ending position of the current row in the knitting area, the situations that if the main shaft of the control rotates at the target position of the main shaft of the current row, that is, the main shaft of the control is reduced to the speed of 0 at the position and then the direction is switched to accelerate the operation, the operation can be caused to be performed to the starting position of the knitting area, and the shaking table is not completed and stopped when the operation is performed. Therefore, the speed curve of the spindle in the constant speed section, namely the running time of the constant speed section, needs to be planned according to the distance between the ideal turning point and the current position of the weaving zone.
S206: the main shaft is controlled to run according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the speed reducing section and the speed increasing section, and the shaking table is controlled to run according to the action speed curve of the shaking table.
In the step, after obtaining the speed curves of the shaking table and the main shaft, the CPU controls the main shaft to run according to the speed curve of the main shaft in the constant speed section and the speed curve of the main shaft in the speed reducing section and the speed increasing section, and controls the shaking table to run according to the action speed curve of the shaking table, so that the main shaft can run to the starting position of the next row in the weaving area when the main shaft runs to the ending position of the current row in the weaving area, and the shaking table starts to work, and the main shaft runs to the starting position of the next row in the weaving area at a speed greater than 0 when the shaking table works.
It should be noted that, the execution sequence of the step S203 and the step S204 may be that the step S203 is executed first and then the step S204 is executed, or that the step S204 is executed first and then the step S203 is executed simultaneously, or that the execution sequence of the step S203 and the step S204 is not limited in the embodiment of the present application, and may be set according to the actual situation.
According to the control method of the horizontal loom, the shaking table action time and the speed curves of the main shaft in the speed reducing section and the speed increasing section are planned through the action command of the main shaft in the current row, the action command of the shaking table and the action command of the main shaft in the next row issued by the main controller, and the speed curves of the main shaft in the constant speed section are further determined. Compared with the prior art, when knitting of the next row is carried out, namely, the next row is at the starting position of the knitting area, the running speed of the main shaft is started from 0, and the scheme controls the cradle and the main shaft to run according to the speed curve, so that when the main shaft runs to the ending position of the current row at the knitting area, the cradle starts to work, and when the cradle works, the main shaft runs to the starting position of the next row at the knitting area at a speed greater than 0, and the efficiency of the horizontal loom is effectively improved.
The following describes a case where the distance between the ideal turning point and the end position of the current row in the knitting region provided by the embodiment of the present application is less than or equal to the distance between the current row main shaft target position and the end position of the current row in the knitting region.
After the CPU calculates the distance between the ideal turning point and the ending position of the current line in the knitting area, the CPU judges the size relation between the distance between the ideal turning point and the ending position of the current line in the knitting area and the distance between the main shaft target position of the current line and the ending position of the current line in the knitting area.
If the distance between the ideal turning point and the end position of the current row in the knitting area is smaller than or equal to the distance between the target position of the main shaft of the current row and the end position of the current row in the knitting area, it is explained that if the main shaft is controlled to turn at the ideal turning point, although the main shaft can be made to run at a speed greater than 0 to the start position of the next row in the knitting area, other parts of the flat knitting machine may be caused to have problems, so that the speed curve of the main shaft in the constant speed section, that is, the running time of the constant speed section, needs to be planned according to the distance between the target position of the main shaft of the current row and the end position of the current row in the knitting area.
According to the control method of the horizontal loom, under the condition that the distance between the ideal turning point and the ending position of the current row in the weaving area is smaller than or equal to the distance between the target position of the main shaft of the current row and the ending position of the current row in the weaving area, the speed curve of the main shaft in the uniform speed section is planned according to the distance between the target position of the main shaft of the current row and the ending position of the current row in the weaving area, so that the main shaft can run at a speed greater than 0 to the starting position of the next row in the weaving area, and the normal and safe running of the horizontal loom can be ensured.
The following describes the calculation of the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculation parameter provided by the embodiment of the application.
Before and after the main shaft is decelerated, the main shaft is uniformly operated according to the speed before the deceleration or the speed after the deceleration, so that in a speed curve planned by a CPU, the current line can be positioned at a uniform speed section or a deceleration section at the ending position of a knitting area, and the next line can be positioned at a deceleration section or a uniform speed section at the starting position of the knitting area.
When both the end position of the current line in the knitting region and the start position of the next line in the knitting region are located in the constant speed section, the time between the time corresponding to the end position of the current line in the knitting region and the time corresponding to the ideal turning point is different in size from the time corresponding to the start position of the next line in the knitting region and the time corresponding to the ideal turning point.
When the current line is positioned at the end position of the knitting area in the constant speed section and the next line is positioned at the start position of the knitting area in the speed increasing section, the time between the time corresponding to the end position of the knitting area and the time corresponding to the ideal turning point is different from the time between the time corresponding to the start position of the knitting area and the time corresponding to the ideal turning point of the next line in size.
Therefore, the position of the current line in the knitting area and the position of the next line in the knitting area in the speed curve are judged according to the ideal turning point calculation parameters, the time between the time corresponding to the ending position of the previous line in the knitting area and the time corresponding to the ideal turning point is also judged, the time-size relationship between the time corresponding to the starting position of the next line in the knitting area and the time corresponding to the ideal turning point is also judged, and the distance between the ending positions of the current line in the knitting area can be calculated according to the corresponding formula.
Specifically, if the ideal rotation point calculation parameter satisfies the formula:indicating that the current line is positioned at the constant speed section at the end position of the knitting area, the next line is positioned at the constant speed section at the start position of the knitting area, and the time between the time corresponding to the end position of the current line at the knitting area and the time corresponding to the ideal turning point is greater than or equal to the time between the time corresponding to the start position of the next line at the knitting area and the time corresponding to the ideal turning point, the distance between the ideal turning point and the current line at the end position of the knitting area is according to the formula- >Calculated to obtainTo (d). Wherein S is d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
FIG. 3 is a schematic diagram showing a velocity profile of the spindle based on FIG. 2d according to an embodiment of the present application, as shown in FIG. 3, P 1 Indicating the end position of the current row in the knitted zone, P 2 Representing the start position of the next row in the knitting area, t 4 Indicating the time t corresponding to the end position of the current row in the knitting area 5 Representing the time, t, corresponding to the start position of the next row in the knitting region P1 Representing the time, t, between the time corresponding to the end position of the current row in the knitted zone and the time corresponding to the ideal turning point P2 The time between the time corresponding to the start position of the knitted zone and the time corresponding to the ideal turning point for the next row is represented. P (P) 1 Is positioned at a constant speed section, P 2 Is positioned at the constant speed section t P1 Greater than t P2 . If the ideal pivot point calculation parameters satisfy the formula:illustrating that the speed profile of the spindle corresponds to the situation in fig. 3, the formula +.>Calculating the distance between the ideal turning point and the current row's ending position in the braiding area, also from P in FIG. 3 1 To t 2 Velocity profile and axis of abscissa between and t 4 The area surrounded by the dotted line of the position is the ideal turning point and the end of the current line in the knitting areaDistance between locations.
If the ideal rotation point calculation parameter satisfies the formula:indicating that the current line is located at the end position of the knitting area in the deceleration section, the next line is located at the start position of the knitting area in the acceleration section, and the time between the time corresponding to the end position of the current line in the knitting area and the time corresponding to the ideal turning point is greater than or equal to the time between the time corresponding to the start position of the next line in the knitting area and the time corresponding to the ideal turning point, the distance between the ideal turning point and the current line in the end position of the knitting area is calculated according to the formula S 1 ＝S D1 [1-cos(θ+arccos(b))]And (5) calculating to obtain the product. Wherein, the liquid crystal display device comprises a liquid crystal display device,S d representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
Exemplary, FIG. 4 is a schematic diagram of a spindle speed profile based on FIG. 2d according to an embodiment of the present application, as shown in FIG. 4, P 1 Indicating the end position of the current row in the knitted zone, P 2 Representing the start position of the next row in the knitting area, t 4 Indicating the time t corresponding to the end position of the current row in the knitting area 5 Representing the time, t, corresponding to the start position of the next row in the knitting region P1 Representing the time, t, between the time corresponding to the end position of the current row in the knitted zone and the time corresponding to the ideal turning point P2 The time between the time corresponding to the start position of the knitted zone and the time corresponding to the ideal turning point for the next row is represented. P (P) 1 Is positioned at the speed reducing section P 2 Is positioned at the speed-up section t P1 Greater than t P2 . If the ideal pivot point calculation parameters satisfy the formula:description of the spindle speed Curve to the case in FIG. 4, equation S can be used 1 ＝S D1 [1-cos(θ+arccos(b))]Calculating the distance between the ideal turning point and the current row's ending position in the braiding area, also from P in FIG. 4 1 To t 2 Velocity profile and axis of abscissa between and t 4 The area enclosed by the dashed line of positions is the distance between the ideal turning point and the current row at the end position of the knitted zone.
If the ideal rotation point calculation parameter satisfies the formula:indicating that the ending position of the current line in the knitting area is positioned in a constant speed section and the starting position of the next line in the knitting area is positioned in a rising speed section, the distance between the ideal turning point and the ending position of the current line in the knitting area is according to the formula +.>And (5) calculating to obtain the product. Wherein (1)>c＝S d -S D1 (t Y -t D )v 1 ，S d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the next row of spindles The running speed of the next row of main shafts corresponding to the rotating speed of the motor S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
Exemplary, FIG. 5 is a third schematic diagram of a spindle speed profile based on FIG. 2d according to an embodiment of the present application, as shown in FIG. 5, P 1 Indicating the end position of the current row in the knitted zone, P 2 Representing the start position of the next row in the knitting area, t 4 Indicating the time t corresponding to the end position of the current row in the knitting area 5 Representing the time, t, corresponding to the start position of the next row in the knitting region P1 Representing the time, t, between the time corresponding to the end position of the current row in the knitted zone and the time corresponding to the ideal turning point P2 The time between the time corresponding to the start position of the knitted zone and the time corresponding to the ideal turning point for the next row is represented. P (P) 1 Is positioned at a constant speed section, P 2 Is positioned at the speed-up section t P1 Greater than t P2 . If the ideal pivot point calculation parameters satisfy the formula:illustrating that the speed profile of the spindle corresponds to the situation in fig. 5, the formula +.>Calculating the distance between the ideal turning point and the current row's ending position in the braiding area, also from P in FIG. 5 1 To t 2 Velocity profile and axis of abscissa between and t 4 The area enclosed by the dashed line of positions is the distance between the ideal turning point and the current row at the end position of the knitted zone.
If the ideal rotation point calculation parameter satisfies the formula:indicating that the current line is positioned at the end position of the knitting area and is positioned at the constant speed section, the next line is positioned at the start position of the knitting area and the time between the time corresponding to the end position of the current line and the time corresponding to the ideal turning point is smaller than or equal to the next lineThe distance between the ideal turning point and the current row at the end position of the braiding area is calculated according to the formula +.>And (5) calculating to obtain the product. Wherein S is d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
FIG. 6 is a schematic diagram showing a velocity profile of the spindle based on FIG. 2d according to an embodiment of the present application, as shown in FIG. 6, P 1 Indicating the end position of the current row in the knitted zone, P 2 Representing the start position of the next row in the knitting area, t 4 Indicating the time t corresponding to the end position of the current row in the knitting area 5 Representing the time, t, corresponding to the start position of the next row in the knitting region P1 Representing the time, t, between the time corresponding to the end position of the current row in the knitted zone and the time corresponding to the ideal turning point P2 The time between the time corresponding to the start position of the knitted zone and the time corresponding to the ideal turning point for the next row is represented. P (P) 1 Is positioned at a constant speed section, P 2 Is positioned at the constant speed section t P1 Less than t P2 . If the ideal pivot point calculation parameters satisfy the formula:illustrating the speed profile of the spindle as it would be in the case of FIG. 6, or t in FIG. 6 P1 Equal to t P2 In the case of time, the formula can be usedCalculating the distance between the ideal turning point and the current row's ending position in the braiding area, also from P in FIG. 6 1 To t 2 Velocity profile and axis of abscissa between and t 4 The area enclosed by the dashed line of positions is the distance between the ideal turning point and the current row at the end position of the knitted zone.
If the ideal rotation point calculation parameter satisfies the formula:indicating that the current line is at the deceleration section at the ending position of the knitted zone, the next line is at the acceleration section at the starting position of the knitted zone, and the time between the time corresponding to the ending position of the current line at the knitted zone and the time corresponding to the ideal turning point is less than or equal to the time between the time corresponding to the starting position of the next line at the knitted zone and the time corresponding to the ideal turning point, the distance between the ideal turning point and the current line at the ending position of the knitted zone is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]And (5) calculating to obtain the product. Wherein, the liquid crystal display device comprises a liquid crystal display device,S d representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
Fig. 7 is a schematic diagram showing a speed profile of the spindle based on fig. 2d according to an embodiment of the present application, as shown in fig. 7, P 1 Indicating the end position of the current row in the knitted zone, P 2 Representing the start position of the next row in the knitting area, t 4 Indicating the time t corresponding to the end position of the current row in the knitting area 5 Representing the time, t, corresponding to the start position of the next row in the knitting region P1 Representing the time, t, between the time corresponding to the end position of the current row in the knitted zone and the time corresponding to the ideal turning point P2 The time between the time corresponding to the start position of the knitted zone and the time corresponding to the ideal turning point for the next row is represented. P (P) 1 Is positioned at the speed reducing section P 2 Is positioned at the speed-up section t P1 Less than t P2 . If the ideal pivot point calculation parameters satisfy the formula:illustrating the case where the velocity profile of the spindle corresponds to that in fig. 7, or t in fig. 7 P1 Equal to t P2 In the case of time, formula S can be used 1 ＝S D1 [1-cos(θ+arccos(b))]Calculating the distance between the ideal turning point and the current row's ending position in the braiding area, also from P in FIG. 7 1 To t 2 Velocity profile and axis of abscissa between and t 4 The area enclosed by the dashed line of positions is the distance between the ideal turning point and the current row at the end position of the knitted zone.
If the ideal rotation point calculation parameter satisfies the formula:indicating that the ending position of the current line in the knitting area is positioned in the deceleration section and the starting position of the next line in the knitting area is positioned in the constant speed section, the distance between the ideal turning point and the ending position of the current line in the knitting area is according to the formula +.>And (5) calculating to obtain the product. Wherein (1)>c 1 ＝S d -S D2 (t Y -t D )v 2 ，S d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
FIG. 8 is a schematic diagram showing a velocity profile of the spindle based on FIG. 2d according to an embodiment of the present application, as shown in FIG. 8, P 1 Indicating the end position of the current row in the knitted zone, P 2 Representing the start position of the next row in the knitting area, t 4 Indicating the time t corresponding to the end position of the current row in the knitting area 5 Representing the time, t, corresponding to the start position of the next row in the knitting region P1 Representing the time, t, between the time corresponding to the end position of the current row in the knitted zone and the time corresponding to the ideal turning point P2 The time between the time corresponding to the start position of the knitted zone and the time corresponding to the ideal turning point for the next row is represented. P (P) 1 Is positioned at a constant speed section, P 2 Is positioned at the speed-up section t P1 Less than t P2 . If the ideal pivot point calculation parameters satisfy the formula:description of the spindle speed Curve to the case in FIG. 8, the equation can be usedCalculating the distance between the ideal turning point and the current row's ending position in the braiding area, also from P in FIG. 8 1 To t 2 Velocity profile and axis of abscissa between and t 4 The area surrounded by the dotted line of the position is the ideal turning point and the ending position of the current row in the knitting areaDistance between the two.
According to the control method of the horizontal loom, according to the magnitude relation between the current position of the current line in the knitting area, the position of the starting position of the next line in the knitting area in the speed curve, the time corresponding to the current position of the current line in the knitting area, the time corresponding to the starting position of the next line in the knitting area and the time corresponding to the ideal turning point, the distance between the ideal turning point and the current position of the current line in the knitting area is calculated, the speed curve of the main shaft in the constant speed section is planned by using the distance, and then the main shaft is controlled to run according to the speed curve, so that the time of the main shaft outside the knitting area is equal to the action time of the shaking table, and the main shaft runs to the starting position of the next line in the knitting area at a speed greater than 0, and the efficiency of the horizontal loom is effectively improved.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Fig. 9 is a schematic structural view of a first embodiment of a control device of a flat knitting machine according to the present application; as shown in fig. 9, the control device 90 of the flat knitting machine includes:
the receiving module 91 is far away from receiving the current main shaft action instruction, the shaking table action instruction and the next main shaft action instruction issued by the main controller;
the processing module 92 is configured to plan a table motion speed curve according to the table motion instruction, and calculate a table motion time;
the processing module 92 is further configured to plan a speed curve of the spindle in the speed-down section and the speed-up section according to the current spindle motion instruction, the next spindle motion instruction, and the preset speed-up time, and calculate a speed-down displacement of the spindle in the current row and a speed-up displacement of the spindle in the next row;
the processing module 92 is further configured to calculate a distance between an ideal turning point and an end position of the current row in the knitting area according to an ideal turning point calculation parameter, where the ideal turning point calculation parameter includes: the method comprises the steps of setting a current line at the end position of a knitting area, setting a next line at the beginning position of the knitting area, setting the action time of a shaking table, setting the speed-down displacement of a main shaft at the current line, setting the speed-up displacement of the main shaft at the next line, setting the speed-up time, setting the running speed of the main shaft at the current line corresponding to the rotating speed of a main shaft motor at the current line and the running speed of the main shaft at the next line corresponding to the rotating speed of the main shaft motor at the next line, wherein an ideal turning point is a position corresponding to the speed of the main shaft in a speed-down curve of a speed-down section when the speed is 0;
The processing module 92 is further configured to plan a speed curve of the spindle at a constant speed section according to a distance between the ideal turning point and the current row at the end position of the knitting area if the distance between the ideal turning point and the current row at the end position of the knitting area is greater than a distance between the current row spindle target position and the current row at the end position of the knitting area;
the processing module 92 is further configured to control the spindle to operate according to a speed curve of the spindle in a constant speed section and a speed curve of the spindle in a deceleration section and an acceleration section, and control the cradle to operate according to the cradle motion speed curve.
Further, the processing module 92 is further configured to:
and if the distance between the ideal turning point and the ending position of the current row in the knitting area is smaller than or equal to the distance between the current row main shaft target position and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the current row main shaft target position and the ending position of the current row in the knitting area.
Further, the processing module 92 is specifically configured to:
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the reason isThe distance between the desired turning point and the end position of the current row in the knitting area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the knitting area is calculated according to the formulaCalculated, wherein- >c 1 ＝S d -S D2 (t Y -t D )v 2 ；
Wherein S is d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
The control device of the flat knitting machine provided in this embodiment is configured to execute the technical scheme in any one of the foregoing method embodiments, and its implementation principle and technical effect are similar, and are not described herein again.
Fig. 10 is a schematic structural diagram of a processing apparatus according to the present application. As shown in fig. 10, the processing apparatus 100 includes:
a processor 101, a memory 102, and an interaction interface 103;
the memory 102 is configured to store executable instructions of the processor 101;
wherein the processor 101 is configured to execute the technical solution of the CPU in any of the foregoing method embodiments via execution of the executable instructions.
Alternatively, the memory 102 may be separate or integrated with the processor 101.
Optionally, when the memory 102 is a device separate from the processor 101, the processing apparatus 100 may further include:
and a bus for connecting the devices.
The processing device is used for executing the technical scheme of the CPU in any of the foregoing method embodiments, and its implementation principle and technical effects are similar, and are not described herein again.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the technical solution provided by any of the foregoing method embodiments.
The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program is used for realizing the technical scheme provided by any one of the method embodiments when being executed by a processor.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features can be replaced equivalently; such modifications and substitutions do not depart from the spirit of the application.

Claims (7)

1. A control method of a flat knitting machine, characterized by being applied to a central processing unit CPU that controls a spindle motor and a table motor, the method comprising:
receiving a current main shaft action instruction, a shaking table action instruction and a next main shaft action instruction which are issued by a main controller;
according to the shaking table action instruction, a shaking table action speed curve is planned, and shaking table action time is calculated;
according to the current main shaft action instruction, the next main shaft action instruction and the preset lifting speed time, planning a speed curve of the main shaft in a speed reducing section and a speed increasing section, and calculating the speed reducing displacement of the main shaft in the current row and the speed increasing displacement of the main shaft in the next row;
Calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculation parameters, wherein the ideal turning point calculation parameters comprise: the method comprises the steps of setting a current line at the end position of a knitting area, setting a next line at the beginning position of the knitting area, setting the action time of a shaking table, setting the speed-down displacement of a main shaft at the current line, setting the speed-up displacement of the main shaft at the next line, setting the speed-up time, setting the running speed of the main shaft at the current line corresponding to the rotating speed of a main shaft motor at the current line and the running speed of the main shaft at the next line corresponding to the rotating speed of the main shaft motor at the next line, wherein an ideal turning point is a position corresponding to the speed of the main shaft in a speed-down curve of a speed-down section when the speed is 0;
if the distance between the ideal turning point and the ending position of the current row in the knitting area is larger than the distance between the current row main shaft target position and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the ideal turning point and the ending position of the current row in the knitting area;
controlling the main shaft to run according to a speed curve of the main shaft in a constant speed section and a speed curve of the main shaft in a speed reducing section and a speed increasing section, and controlling the shaking table to run according to a shaking table action speed curve;
The calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculating parameter comprises the following steps:
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculated, wherein->c＝S d -S D1 (t Y -t D )v 1 ；
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula: The distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculated, wherein->c 1 ＝S d -S D2 (t Y -t D )v 2 ；
Wherein S is d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
2. The method according to claim 1, wherein the method further comprises:
and if the distance between the ideal turning point and the ending position of the current row in the knitting area is smaller than or equal to the distance between the current row main shaft target position and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the current row main shaft target position and the ending position of the current row in the knitting area.
3. A control device for a weft knitting machine, comprising:
the receiving module is far away from receiving the current main shaft action instruction, the shaking table action instruction and the next main shaft action instruction issued by the main controller;
the processing module is used for planning a shaking table action speed curve according to the shaking table action instruction and calculating shaking table action time;
the processing module is further used for planning a speed curve of the main shaft in a speed reducing section and a speed increasing section according to the main shaft action instruction of the current row, the main shaft action instruction of the next row and the preset speed increasing and decreasing time, and calculating the speed decreasing displacement of the main shaft in the current row and the speed increasing displacement of the main shaft in the next row;
the processing module is further configured to calculate a distance between an ideal turning point and an end position of the current row in the knitting area according to an ideal turning point calculation parameter, where the ideal turning point calculation parameter includes: the method comprises the steps of setting a current line at the end position of a knitting area, setting a next line at the beginning position of the knitting area, setting the action time of a shaking table, setting the speed-down displacement of a main shaft at the current line, setting the speed-up displacement of the main shaft at the next line, setting the speed-up time, setting the running speed of the main shaft at the current line corresponding to the rotating speed of a main shaft motor at the current line and the running speed of the main shaft at the next line corresponding to the rotating speed of the main shaft motor at the next line, wherein an ideal turning point is a position corresponding to the speed of the main shaft in a speed-down curve of a speed-down section when the speed is 0;
The processing module is further configured to plan a speed curve of the spindle at a constant speed section according to a distance between the ideal turning point and an end position of the current row in the knitting region if the distance between the ideal turning point and the end position of the current row in the knitting region is greater than a distance between the current row spindle target position and the end position of the current row in the knitting region;
the processing module is also used for controlling the main shaft to run according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the speed reducing section and the speed increasing section and controlling the shaking table to run according to the shaking table action speed curve;
the processing module is specifically configured to:
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the knitting area is calculated according to the formula Calculated, wherein->c＝S d -S D1 (t Y -t D )v 1 ；
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal pivot point and the end position of the current row in the braiding area is according to the formula +.>Calculating to obtain;
if the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the braiding area is according to formula S 1 ＝S D1 [1-cos(θ+arccos(b))]Calculated, wherein->
If the ideal turning point calculation parameter satisfies the formula:the distance between the ideal turning point and the end position of the current row in the knitting area is calculated according to the formulaCalculated, wherein->c 1 ＝S d -S D2 (t Y -t D )v 2 ；
Wherein S is d Representing the distance between the end position of the current row in the knitted zone and the start position of the next row in the knitted zone, S D1 Representing the deceleration displacement of the main shaft in the current row, S D2 Representing the rising speed displacement of the main shaft in the next row, t D Indicating the lifting speed time, t Y Representing the movement time of the shaking table, v 1 Representing the running speed of the current spindle corresponding to the rotating speed of the current spindle motor, v 2 Representing the running speed of the next spindle corresponding to the rotating speed of the next spindle motor, S 1 Representing the distance between the ideal pivot point and the end position of the current row in the knitted zone.
4. The apparatus of claim 3, wherein the processing module is further configured to:
and if the distance between the ideal turning point and the ending position of the current row in the knitting area is smaller than or equal to the distance between the current row main shaft target position and the ending position of the current row in the knitting area, planning a speed curve of the main shaft in a constant speed section according to the distance between the current row main shaft target position and the ending position of the current row in the knitting area.
5. A processing apparatus, comprising:
the processor, the memory, the interactive interface;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to execute the control method of the weft knitting machine according to claim 1 or 2 via execution of the executable instructions.
6. A flat knitting machine, characterized by comprising:
the device comprises a main controller, a spindle motor, a shaking table motor and a central processing unit CPU;
the CPU is used for controlling the spindle motor and the shaking table motor;
the CPU is configured to execute the control method of the weft knitting machine according to claim 1 or 2.
7. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the control method of a flat knitting machine according to claim 1 or 2.
CN202210186659.5A 2022-02-28 2022-02-28 Control method, device, equipment and medium of transverse loom Active CN114657688B (en)

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