CN1675420A - Method of controlling electric opening device - Google Patents

Method of controlling electric opening device Download PDF

Info

Publication number
CN1675420A
CN1675420A CNA03819676XA CN03819676A CN1675420A CN 1675420 A CN1675420 A CN 1675420A CN A03819676X A CNA03819676X A CN A03819676XA CN 03819676 A CN03819676 A CN 03819676A CN 1675420 A CN1675420 A CN 1675420A
Authority
CN
China
Prior art keywords
limit value
torque limit
electric
set
opening
Prior art date
Application number
CNA03819676XA
Other languages
Chinese (zh)
Inventor
平井淳
Original Assignee
津田驹工业株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2002245382 priority Critical
Application filed by 津田驹工业株式会社 filed Critical 津田驹工业株式会社
Publication of CN1675420A publication Critical patent/CN1675420A/en

Links

Classifications

    • DTEXTILES; PAPER
    • D03WEAVING
    • D03CSHEDDING MECHANISMS; PATTERN CARDS OR CHAINS; PUNCHING OF CARDS; DESIGNING PATTERNS
    • D03C13/00Shedding mechanisms not otherwise provided for
    • DTEXTILES; PAPER
    • D03WEAVING
    • D03CSHEDDING MECHANISMS; PATTERN CARDS OR CHAINS; PUNCHING OF CARDS; DESIGNING PATTERNS
    • D03C13/00Shedding mechanisms not otherwise provided for
    • D03C13/02Shedding mechanisms not otherwise provided for with independent drive motors
    • D03C13/025Shedding mechanisms not otherwise provided for with independent drive motors with independent frame drives
    • DTEXTILES; PAPER
    • D03WEAVING
    • D03DWOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D51/00Driving, starting, or stopping arrangements; Automatic stop motions
    • D03D51/007Loom optimisation

Abstract

电动开口装置的控制技术,其特征在于,设定一个以上织造要素的条件,根据所设定的织造条件求出各电动马达的转矩限制值,就每一电动马达设定所求得的转矩限制值。 Electric switch opening control means, wherein the weaving condition setting more than one element, according to the set weaving condition determined torque limit value of the electric motors, the electric motor is set to each of the determined torque limit value. 由此,避免综线框架的驱动零部件、电动马达因损伤和磨损等而降低寿命,提高织造性。 Thus, to avoid driving heddle frame parts, damage due to the electric motor and reduce wear life and improve weavability.

Description

电动开口装置的控制方法 Control method for an electric opening device

技术领域 FIELD

本发明涉及一种每一综线框架具有电动马达的电动开口装置的控制方法。 The present invention relates to a method of controlling each heddle frame having an electric opening device electric motor.

背景技术 Background technique

电动开口装置中已知的有根据开口图案设定电动马达的位置控制环路、速度控制环路或电流控制环路的环路增益,避免由于相对于开口图案的过小环路增益造成综线框架响应延迟而无法织造这种技术(日本特开平11-241250号公报)。 Electric opening means are known in the setting position of the electric motor control loop according to the opening pattern, the speed control loop of the control loop or the current loop gain to avoid relative to the opening pattern is caused by too small loop gain heald frame response delay can not be woven technique (JP Patent Publication 11-241250).

但上述现有技术中,环路增益是根据开口图案改变的,无法对电动马达的最大转矩进行适当控制,因而因环路增益的设定条件有时使综线框架的加速、减速超过容许值,便导致因综线框架的驱动零部件、电动马达的损伤和磨损等而降低寿命。 However, the above prior art, the loop gain is changed according to the opening pattern can not be appropriately controlled electric motor maximum torque, thus setting conditions because the loop gain of the accelerator may heddle frame, the deceleration exceeds the allowable value , because they lead to drive components heddle frame, electric motor damage and wear and reduced life expectancy. 因此,不得不降低织机的转速。 Therefore, we had to reduce the speed of the loom.

发明内容 SUMMARY

本发明目的在于,避免因综线框架的驱动零部件、电动马达损伤和磨损等而降低寿命,提高织造性。 The present invention aims to avoid driving heddle frame parts, wear and damage to the electric motor and reduce the life and improve the weavability.

本发明的控制方法,不论哪一种均适用于对由专用电动马达分别驱动多个综线框架、并按照预定的转矩限制值限制所述电动马达的输出转矩这种形式的电动开口装置的控制。 The control method of the present invention, regardless of which are applied to an electric opening means by a dedicated electric motor drives a plurality of heddle frame, respectively, and which form a predetermined torque limit value restriction of the torque output of the electric motor control.

本发明的第一控制方法包含:根据至少一个织造要素的设定状况求出电动马达的转矩限制值,对电动马达设定所求得的转矩限制值。 A first control method of the present invention comprises: the electric motor torque limit value is determined according to the setting conditions at least one woven element, the electric motor is set as the torque limit value determined.

第一控制方法中,根据所述织造要素的设定状况预先设定多个转矩限制值,并在求出电动马达的转矩限制值时,可设定根据织造要素的设定状况所选定的转矩限制值。 A first control method, based on the setting condition of the plurality of woven element the torque limit set in advance, and when the calculated torque limit value of the electric motor can be set according to the setting condition of the selected weaving elements torque limitation value is set. 而且较为理想的是,按每一织造要素设定用以算出与织造要素的设定状况相对应的转矩限制值的多个系数,在求电动马达的转矩限制值时,可就各织造要素选择与织造要素的设定状况相对应的系数,根据所选定的多个系数通过运算求出转矩限制值并进行设定。 And it is preferable that a plurality of setting coefficients for calculating the torque limit value setting status corresponding to the weaving elements in accordance with each weaving element, when evaluated in the electric motor torque limit value, may each weaving weaving condition setting element selection element corresponding to the coefficients, a plurality of coefficients according to the selected torque limit value is determined by calculation and set.

本发明的第二控制方法包含:根据综线框架的序号设定各电动马达的转矩限制值。 The second control method of the present invention comprises: setting a torque limit value of the electric motor according to the serial number of each heald frame.

本发明的第三控制方法包含:根据至少一个织造要素的设定状况和综线框架的序号求出电动马达的转矩限制值并进行设定。 The third control method of the present invention comprises: the electric motor torque limitation value determined in accordance with the setting conditions at least a number of weaving elements and heddle frame and set. 更为理想的是,可与织造要素的设定状况和综线框架的序号相对应预先使与转矩限制值有关的系数按系数处理,并根据与织造要素的设定状况和综线框架的序号相对应选择的系数通过运算求出电动马达的转矩限制值并进行设定。 More preferably, the elements may be set weaving condition and the heddle frame number corresponding to the advance coefficient relating to the torque limit by a factor of processing, and in accordance with the weaving condition setting element and heddle frame number of coefficients corresponding to the selected torque limit value is obtained by calculation and set the electric motor.

本发明的第四控制方法包含:使织造运转过程中织造要素当中的至少一个设定状况为可切换,并且在织造运转过程中与织造要素的设定状况的切换相对应来求出电动马达的转矩限制值并进行设定。 A fourth control method of the present invention comprises: setting at least one weaving condition during operation of the weaving among the elements to be switched in the weaving operation and switch the setting status during weaving elements corresponding to the electric motor is obtained and sets the torque limit value.

作为上述的替代,第四控制方法中可与织造要素的设定状况的切换相对应设定多个所述转矩限制值,织造运转过程中切换所述设定状况时,选择与所述设定状况的切换相对应的转矩限制值并作为所述转矩限制值进行设定。 Alternatively as described above, the fourth switch the control method can be set weaving condition setting elements corresponding to a plurality of said torque limit value, the switch during operation of the weaving condition setting, select the setting switching status corresponding to a given limit value and the torque as the torque limit value is set.

第四控制方法中,所述织造要素包含从包括数个投梭之前至所述切换时的开口运动的连续性、开口曲线的构成要素、所述切换时起的开口运动方向、作用于综线框架的外力、以及织机转速在内的一组当中选择的至少一个。 A fourth control method, the woven element comprise the continuity of the opening motion when the switching from the picking prior to include a number of constituent elements of the curve opening, the opening movement from the time of switching a direction, acting on the heald at least one external frame and including a set of loom rotational speed among selected.

上述第二、第三和第四控制方法中,不论哪一种均可以是:使织造运转过程中多个织造要素的各设定状况为可切换,并且各织造要素中与各设定状况相对应设定有转矩限制值的多个系数,对各织造要素选择与所述设定状况的切换相对应的转矩限制值,并且在织造运转过程中切换所述设定状况时设定根据所选定的多个系数通过运算求得的转矩限制值。 The second, third and fourth control method, regardless of which may each be: that the weaving operation is set during each of a plurality of weaving conditions is switchable elements, and each element in each weaving condition setting phase when set in accordance with a plurality of coefficients corresponding to the set torque limit value, the respective switching elements selected to the set weaving condition corresponding to the torque limit value, and switches the set weaving condition during operation the selected plurality of coefficients determined torque limit value calculating.

本发明的第五控制方法包含:与主轴旋转角速度加速或减速的第一过程和所述主轴旋转角速度得到维持的第二过程相对应预先设定所述电动马达的输出转矩限制值,驱动开口装置时所述第一和第二过程中根据与两者的过程相对应的输出转矩限制值限制驱动马达的输出转矩来驱动所述电动马达。 A fifth control method of the present invention comprises: a first rotational angular velocity during acceleration or deceleration of the spindle and the spindle angular velocity is maintained to obtain a second process corresponding to a preset limit value of the output torque of the electric motor, drive opening said first and second drive motor restriction process according to the process corresponding to both the output torque limit value to an output torque of said electric motor when the drive means.

上述专用电动马达,与织机的主轴用驱动马达独立,属于开口装置。 The dedicated electric motor, the main shaft of the loom driving motor independent, belonging to the opening device. 这种电动马达可按照预定的开口曲线并随主轴的旋转一起驱动。 Such electric motor may be driven together with the rotation of the spindle, and according to a predetermined opening curve.

上述转矩限制值,由于转矩值与电流相对应,因而也可以为最大转矩值和最大电流值其中任意一个。 The torque limit value, the torque corresponding to the current value, and therefore the maximum torque value may be a maximum current value and any of a. 若为瞬间运转,则可以为瞬时最大转矩或瞬时最大电流。 If the operation is instantaneous, momentary maximum torque that can be instantaneous or maximum current.

作为织造要素可列举开口图案、静止角、织机转速、开口量、织布宽度、经线张力、经线根数等。 As for the weaving elements include an opening pattern, the angle of repose, the loom speed, the amount of the opening, the width of the fabric, the warp tension, the number of warp threads and the like roots.

利用本发明,可根据所设定的织造条件、综线框架的框号、或所设定的转矩限制值将专用电动马达的转矩限制值设定为最佳值,因而避免产生过大转矩造成综线框架的驱动零部件、电动马达损伤和过小转矩造成综线框架响应延迟所引起的织造瑕疵。 With the present invention, according to the set weaving condition, heddle frame number of the frame, or the set torque limit value for electric motor torque limit value is set to an optimum value, thus avoiding excessive torque caused by driving parts of the heddle frame, the electric motor torque is too small and cause damage heddle frame in response to the delay caused by defective weaving. 也就是说,可避免产生综线框架的驱动零部件、电动马达的损伤和过小转矩造成的综线框架的响应延迟,获得最佳的织造性。 That is, the driving part can be avoided heddle frame heddles frames in response to damage to the electric motor and the torque caused by the delay is too small, optimum weavability.

附图说明 BRIEF DESCRIPTION

图1是示出本发明控制装置一实施例的电路框图。 FIG. 1 is a circuit block diagram showing a control apparatus of an embodiment of the present invention.

图2示出的是基于图1中装置的一例开口图案(A)和伺服马达的驱动转矩。 Figure 2 shows a driving torque based on the opening pattern is one example of the device of FIG. 1 (A) and a servo motor.

图3示出的是基于图1中装置的另一例开口图案(A)和伺服马达的驱动转矩。 FIG. 3 shows a further embodiment based on the drive torque of an opening pattern (A) in FIG. 1 device and servo motors.

图4是示出本发明控制装置另一实施例的开口装置的总体构成图。 FIG 4 is a diagram illustrating a control device of the present invention is a configuration diagram of another general embodiment of the opening device.

图5是具体示出图4所示开口控制装置中位置指令部的框图。 FIG 5 is a block diagram illustrating a specific portion of the position command means opening control shown in FIG. 4.

图6示出的是开口曲线的设定例。 FIG 6 shows a setting example of an opening curve.

图7是具体示出图4所示的位置控制部的框图。 FIG 7 is a block diagram specifically illustrating the position of a control unit shown in FIG.

图8示出的是具体示出图7所示电流控制电路的框图。 FIG 8 shows a particularly illustrating current control circuit 7 shown in a block diagram in FIG.

图9示出的是图7所示电流控制电路的时序图。 FIG 9 shows a timing chart of the current control circuit 7 shown in FIG.

图10示出的是图9所示时序图的后续时序图。 FIG 10 shows a timing chart of the subsequent timing chart shown in FIG. 9.

图11示出的是用于说明图5所示开口选择指令电路的动作的流程图。 FIG 11 shows a flowchart for explaining the opening operation of the selection instruction circuit 5 shown in FIG.

图12示出的是图11所示流程图的后续流程图。 FIG 12 shows a flowchart shown in FIG. 11 follow the flowchart.

图13示出的是图12所示流程图的后续流程图。 FIG 13 shows a flowchart subsequent to the flowchart shown in FIG. 12.

图14示出的是图13所示流程图的后续流程图。 FIG 14 shows a flowchart subsequent to the flowchart shown in FIG. 13.

具体实施方式 Detailed ways

[第一实施例]参照图1,电动开口装置的控制装置10包含:织机的主控制装置12;与主控制装置12连接的设定器14;从主控制装置12接收设定器14设定的各种设定条件S1、就每一综线框架16算出转矩限制电平即转矩限制值S2的开口控制装置18;每一综线框架16所配备的伺服放大器20;每一综线框架16所配备的伺服马达22;以及将各伺服马达22的表示旋转角度的旋转角度信号θ1输出给开口控制装置18的编码器24。 [First Embodiment] Referring to FIG 1, the electric control apparatus 10 of opening device comprising: a main loom control device 12; and the main control unit 14 connected to the setter 12; 12 receives from the main control unit 14 is provided setter given various setting conditions S1, in respect of each heald frame 16 that is calculated by the torque limit level torque limit value S2 of the opening of the control device 18; each heddle frame 16 is equipped with a servo amplifier 20; each heald line frame 16 is equipped with a servo motor 22; and each servomotor 22 represents the rotation angle signal output of the rotation angle θ1 to the opening of the control apparatus 18 of the encoder 24.

图1仅给出1个综线框架16、与该综线框架16相对应的伺服放大器20、作为驱动该综线框架16的电动马达的伺服马达22、产生该伺服马达22的旋转角度信号θ1的编码器24。 Figure 1 shows only one heddle frame 16, heddle frame 16 and the corresponding servo amplifier 20, driving the heddle frame as the electric motor 16 of the servo motor 22 generates rotation angle signal θ1 of the servomotor 22 the encoder 24. 但实际上包括多个综线框架16,而且每一综线框架16配备伺服放大器20、伺服马达22以及编码器24。 But actually it includes a plurality of heddle frames 16, and each heald frame 16 with the servo amplifier 20, the servo motor 22 and an encoder 24.

具体来说,1个开口控制装置18连接有与综线框架16的框架个数相对应的多个伺服放大器20。 Specifically, an opening 18 is connected with a control device with a frame number of the heddle frame 16 corresponding to the plurality of servo amplifiers 20. 而且发明中所提及的电动马达、驱动装置、控制电路分别与伺服马达22、伺服放大器20、主控制装置12及开口控制装置18相对应。 Further the invention mentioned in the electric motor drive means, the control circuit 22, respectively, with the servo motor, the servo amplifier 20, the main control unit 12 and the opening 18 corresponds to control means. 而且,伺服马达22的输出轴和综线框架16两者之间装入由钟形曲柄等构成使输出轴的旋转运动变换为往复运动的公知的往复运动变换机构。 Further, the servomotor charged reciprocating motion by a motion converting mechanism for rotating the bell crank and the like of the output shaft is converted into reciprocation of the well-known between the output shaft 22 and the heddle frame 16.

主控制装置12与织机所用的常规主控制装置相同,利用编码器26输出的表示主轴旋转角度的旋转角度信号θ0和各种织造信息,来控制开口装置、投纬装置、纬线测定长度驻留装置、投纬装置、经线张力调整装置、织布卷取装置等织机的各种机械装置。 Conventional master main controller 12 controls the loom used in the same apparatus, using rotation angle signal θ0 Various woven and information indicating the rotation angle of the spindle output from the encoder 26 to control opening means, weft picking means, the weft length measuring residing means weft picking means, the warp tension adjusting means of various mechanical devices of the loom, weaving a winding device or the like.

设定器14中,为了设定开口运动方式,对各综线框架16就每一棉纱投梭设定上开口和下开口中任意一个所确定的开口图案、静止角、经线开口量等经线开口运动的参数,以决定对应于织机主轴的旋转角度预先设定的综线框架16的运动曲线,同时设定织机转速、开口量、织布宽度、经线张力、经线f根数等织造要素的设定数据。 14 is set, in order to set the opening motion, to each heald frame 16 is set on each of the yarn picking opening pattern and a lower opening of any of the determined angle of repose, the opening amount of the warp warp openings motion parameters, corresponding to the heddle frame to determine the rotation angle of the loom main shaft to the predetermined motion profile 16, while the rotational speed of the loom is set, the opening amount woven element, the width of the fabric, the warp tension, the number of warp and other root f setting data. 上述例举的这些织造要素涉及对综线框架进行驱动的伺服马达22的负荷,在主控制装置12中用于就每一综线框架对综线框架16和各种织造要素进行系数化处理的多个系数的读出。 These woven elements exemplified above relates to the heddle frame for driving load of the servomotor 22, the coefficient for performing various processing and weaving elements 16 on the heddle frame heddles on each frame in the main control device 12 reading out the plurality of coefficients. 所读出的系数作为设定条件S1就每一综线框架提供给开口控制装置18。 The coefficient setting condition read as the opening S1 is supplied to the controller 18 for each heddle frame.

这些系数通过试验、计算等进行系数化处理,而且对主控制装置12预先设定,以便例如织造性和综线框架的驱动零部件的耐久性最为均衡。 These tests coefficients, the coefficient calculation process or the like, and the main control unit 12 is set in advance, for example, the most balanced drive components heddle frame and the weaving durability. 主控制装置12根据设定器14设定的多个织造要素的设定功能(设定数据),读出相应的多个系数,将所读出的系数作为设定条件S1输出给开口控制装置18。 The main controller 12 setting setting a plurality of weaving elements 14 set function (setting data), reads out the corresponding plurality of coefficients, the coefficients read out as the output set to the opening condition of the control device S1 18.

设定器14根据上述开口运动的参数、开口装置的交叉时序等参数,就每一综线框架预先制作与主轴旋转角度相对应的开口曲线,经过主控制装置12送入开口控制装置18。 The parameter setting unit 14 of the opening movement, the cross timing of opening device parameters and the like, for each heddle frame curve prepared in advance with an opening corresponding to the angle of rotation of the spindle, the main control unit 12 via the control device 18 into the opening. 送入的开口曲线存储于开口控制装置18。 Into the opening curve stored in the control means 18 opening.

因此,开口控制装置18根据上述相对应的开口曲线,将与所输入的主轴旋转角度信号θ0相对应的未图示的驱动量信号输出给对综线框架进行驱动的各伺服放大器20、20、…。 Therefore, the opening control unit 18 in accordance with the curve corresponding to the opening of the driving signal output and the spindle rotation angle θ0 signal input (not shown) corresponding to the heddle frame for driving the servo amplifiers 20, 20, .... 另一方面,各伺服放大器20、20、…还输入与伺服马达22、22、…相对应的编码器24输出的旋转角度信号θ1。 On the other hand, each of the servo amplifiers 20, 20, ... is also input to the servo motors 22, 22, ... corresponding to the rotation angle θ1 signal 24 outputted from the encoder.

各伺服放大器20、20、…可通过一面按照从开口控制装置18所输入的与主轴的旋转角度对应的驱动量信号,一面相应于与此同样输入的如后面所述的织造要素所对应的系数确定的转矩限制值信号S2,将限制输出转矩(电流)的控制、即将输出电流限制为上述限制值提供给各伺服马达22、22、…,来分别驱动各综线框架16、16、…。 The servo amplifiers 20, 20, ... through the driving side according to the rotation angle amount signal input from the control device 18 and an opening corresponding to the spindle, the rear side corresponding to said coefficient as a woven element corresponding to this same input determining the torque limiting value signal S2, the output torque limit (current) control, i.e. limit the output current supplied to each servo motors 22 and 22 as the limit value, ..., respectively driving each heddle frame 16, 16, ....

而且,织机运转、停止等未图示的织机控制信号由主控制装置12输入开口控制装置18,开口控制装置18还能与输入相对应输出驱动量信号和转矩限制值来驱动各综线框架。 Further, operation of the loom, the loom is stopped (not shown) of a control signal input from the main controller 12 control the opening means 18, the input device 18 can control the opening amount signal corresponding to the output drive torque limit value and drives the heald wire frame.

系数化处理可以如以下表1所示进行。 Coefficient processing may be performed as shown in Table 1 below. 但也可以偏重考虑综线框架的驱动零部件、电动马达因损伤和磨损等造成的寿命降低和织造性两者中的一个方面,因此有时使表1中系数的大小相反。 It may be considered biased driving heddle frame parts, and the life of the electric motor due to damage and wear caused by a decrease in the aspect of both the weaving, it is sometimes that the coefficients in Table 1 and opposite.

这里,所谓综线框架的框架序号,是指对织机上并排设置的多个综线框架所加上的序号,例如,从织机跟前侧向远离方向按升序加上。 Here, the frame number of the heddle frame, refers to a plurality of heddle frame of a loom are arranged side by side together with the serial number, e.g., a lateral direction away from the front of the loom in ascending order plus. 例如,表1中,越是运动量大的、框架序号大的综线框架,系数设定得越小,但也可与此相反,越是运动量大的、框架序号大的综线框架,将系数设定得越大,从而使较大框架序号的综线框架加速、减速时的响应延迟减小,使织造性提高。 For example, Table 1, more large amount of exercise, a large number of the heddle frame frame, the coefficient is set to be smaller, but can also be the contrary, the more a large amount of exercise, a large number of the heddle frame frame, the coefficients It is set to be larger, so that the frame number is larger heddle frame acceleration, deceleration response delay reducing the weaving improved.

间歇性的开口图案(1/2·2/1,1/3·3/1等),加速、减速时容易产生跟随延迟,无法获得足够的开口量。 Intermittent opening pattern (1/2 * 2/1 / 3.3 / 1, etc.), acceleration, deceleration prone to follow delay, a sufficient opening amount can not be obtained. 因此,这种开口图案的场合,通过使系数值加大,来加大加速作用力、减速时的制动力。 Thus, the opening pattern of the case, so that the braking force coefficient values ​​increased to increase the force of acceleration, deceleration through. 停止时间较长的间歇性的开口图案(1/4·4/1,1/5·5/1等),由于综线框架的停止时间较长,因而即便加大系数来加大加速、减速时的电流值也不至烧损。 Intermittent opening pattern (1 / 4.4 / 1,1 / 5.5 / 1, etc.) is stopped for a long time, due to the longer stopping time heddle frames, so even if the coefficient increased to increase the acceleration, deceleration current value not to burn.

平开口的开口图案(1/1),由于综线框架连续运动,因而加速作用力、减速时的制动力也可以减小。 Opening pattern (1/1) level of the opening, due to the continuous movement of the heddle frame, thus accelerating force, the braking force during deceleration can be reduced. 所以,将系数值抑制得较小,可抑制连续运动引起的电力消耗的增大。 Therefore, the coefficient value is kept small, increase in power consumption can be suppressed due to the continuous movement. 换言之,即使减小系数值,使织机转速提高与削减的电力消耗相对应的量,也不至烧损。 In other words, even when the coefficient value is reduced, the rotational speed of the loom to increase the amount corresponding to the reduction in power consumption, nor to burning.

就框架序号而言,框架序号越大的综线框架(经线移动方向的后方即上游一侧的综线框架),将经线开口量设定得越大,因而主轴每一转的运动量增大,所以越是大的框架序号,通过减小系数值来防止驱动零部件损坏。 On the frame number, the greater the number of heddle frame frame (rearward moving direction of the warp heddle frame i.e., upstream side), the amount of the warp opening is set to increase, thus increasing the amount of movement per rotation of the spindle, Therefore, the more large number of the frame, by reducing the coefficient value to prevent damage to the drive components.

就织布宽度而言,其越宽,综线框架越大,加速、减速时的动能越大,因而织布宽度越大,通过使系数值越小来防止驱动零部件损坏。 On weaving width, its wider, the greater the heddle frame, the acceleration, the greater the kinetic energy during deceleration, and thus the greater the width of fabric, by making smaller the coefficient values ​​to prevent damage to the drive components.

就静止角而言,其越大,综线框架的移动时间越短,加速、减速的程度越大,因而静止角越大,通过使系数值越小来防止驱动零部件损坏。 On the angle of repose, its larger, the shorter the travel time of the heddle frame, the acceleration, the greater the degree of deceleration, and therefore the larger the angle of repose, by making smaller the coefficient values ​​to prevent damage to the drive components.

就织机转速而言,织机越是高速,加速、减速便越大,因而转速越大,通过使系数值越小来防止驱动零部件损坏。 On the loom speed, the loom higher speed, the acceleration, the greater the reduction, the greater the speed and thus, by making smaller the coefficient values ​​to prevent damage to the drive components.

表1中汇总示出如上所述的开口图案、框架序号、织布宽度、静止角等开口运动的构成要素、织机转速的系数化处理,表2中示出一例具体系数值。 Table 1 summarizes the components shown opening movement of the opening pattern as described above, the frame number, the width of the fabric, like the angle of repose, the coefficient processing speed loom, Table 2 shows an example of the specific coefficient values.

开口控制装置18在内部存储器中暂时存储主控制装置12提供的设定条件S1和外部装置提供的综线框架16的最终框架序号S3(也就是说与装上的综线框架个数相对应),根据所存储的设定条件S1和最终的框架序号S3,就每一综线框架算出转矩限制值。 Shedding control apparatus in an internal memory 18 temporarily stores main heddle frame condition setting means 12 provided in the external device S1 and the frame number supplied from the control 16, final S3 (that is to say corresponding to the number of heddle frame mounted) the setting conditions stored final frame sequence number S1 and S3, each heald frame to the torque limit value is calculated.

通过就每一综线框架从设定器14的内部取出设定条件S1和最初的框架序号1至最终的框架序号S3的系数值,将这些系数值与每一综线框架所对应的电动马达的瞬时最大转矩(或者瞬时最大电流)相乘,得到每一综线框架的转矩限制值,以此算出转矩限制值。 To a final coefficient value by 1 frame extraction number setting conditions S1 S3 and the frame sequence number from the original 14 set on the inside of each heddle frame, and each of these coefficient values ​​corresponding to the heddle frame electric motor the instantaneous maximum torque (maximum current or instantaneous) multiplied by the torque limit value for each heddle frame, thereby calculating the torque limit value.

表2示出一例将瞬时最大转矩设定为伺服马达22的额定转矩的200%时的系数值。 Table 2 shows an example of the instantaneous maximum torque coefficient value is set to 200% of the rated torque of a servo motor 22. 这时,转矩限制值可由下式得到。 In this case, the torque limit value obtained by the following equation.

转矩限制值=额定转矩×200%×各系数 …(1)所算出的转矩限制值,就每一综线框架作为转矩限制值存储于开口控制装置18的内部存储器。 Torque limit = rated torque of each coefficient × 200% × ... (1) calculated by the torque limit value, for each heddle frame as the torque limit value is stored in the internal memory device 18 controls the opening.

开口控制装置18将所存储的转矩限制值S2提供给对应的伺服放大器20。 Opening control means 18 to the stored torque limit value S2 to the corresponding servo amplifier 20.

各伺服放大器20根据开口控制装置18提供的未图示的驱动量信号和转矩限制值S2,一面对所对应的伺服马达22进行位置控制一面驱动,以使转矩或电流值不超过限制值。 The servo amplifiers 20 and the signal value in accordance with the amount of driving torque limiting means (not shown) of the opening 18 provided in the control S2, the face of a corresponding servomotor 22 drives the position control side, so that the torque does not exceed the limit current value or value. 各伺服放大器20按不超过转矩或电流值所对应的限制值这种方式驱动控制所对应的伺服马达22。 20 will not exceed the torque limit value or current value corresponding to each servo amplifier in this manner the drive control corresponding servomotor 22.

下面示出的图2和图3,以综线框架从上开口位置下降接着上升回到原先位置时在单一方向上连续驱动伺服马达的开口装置为例,分别示出实际综线框架的位置(开口曲线)和此时的驱动转矩值。 Shown below in FIG. 2 and FIG. 3, the heddle frame lowered from an open position opening the continuous driving means and then a servo motor in a single direction rising back to the original position, for example, illustrate the actual position of the heddle frame ( open curves) and a driving torque value at this time.

图2在图2(A)中示出一例平开口(平织)时的框架序号为第12号的综线框架用的开口图案1/1,而在图2(B)中示出此时的伺服马达22的驱动转矩。 FIG opening pattern 2 in FIG. 2 (A) shows an example of frame number when the level of the opening (plain weave) of the first heddle frame No. 12 is 1/1, whereas in FIG. 2 (B) shows the case in the servomotor 22 of the driving torque. 不论图2(A)还是图2(B)中,横轴均表示主轴的旋转角度(时间)。 Whether in FIG. 2 (A) or FIG. 2 (B), the horizontal axis represents both the rotation angle of the spindle (time). 图2(A)的横轴上0°表示打筘的时序,此时的主轴旋转角度为0°。 On FIG. 2 (A) 0 ° horizontal axis represents the timing of playing a reed, in which case the spindle rotation angle is 0 °.

图2(A)中,系数和转矩限制值如下。 In FIG. 2 (A), and the torque limit value as the coefficient.

开口图案(1/1)=0.6框架序号(第12框架)=0.9织布宽度(190cm)=1.0静止角(无)=1.0转速(900rpm)=0.8转矩限制值=额定转矩×200%×0.6×0.9×1×1×0.8=额定转矩×86.4%图2(B)中上侧的各平缓区域为加速时,下侧的各平缓区域为减速时。 Opening pattern (1/1) = 0.6 the frame number (frame 12) width of fabric = 0.9 (190cm) = 1.0 Angle of repose (no) = 1.0 speed (900rpm) = 0.8 = rated torque of the torque limit value × 200% × 0.6 × 0.9 × 1 × 1 × 0.8 = rated torque × 86.4% FIG. 2 (B) each of the flat area on the upper side when accelerating, at each side of the flat area is decelerating.

图3在图3(A)中示出一例框架序号为第1号的综线框架用的开口图案1/3,而在图3(B)中示出此时的伺服马达22的驱动转矩。 FIG opening pattern 3 in FIG. 3 (A) shows one case of the frame number of the heddle frame No. 1 by 1/3, and in FIG. 3 (B) shows the drive torque at this time the servomotor 22 . 不论图3(A)还是图3(B)中,横轴均表示主轴的旋转角度(时间)。 Whether in FIG. 3 (A) or FIG. 3 (B), the horizontal axis represents both the rotation angle of the spindle (time). 图3(A)的横轴上0°表示打筘的时序,此时的主轴旋转角度为0°。 The horizontal axis of FIG. 3 (A) 0 ° and a sequence playing a reed, in which case the spindle rotation angle is 0 °.

图3(A)中,系数和转矩限制值如下。 FIG 3 (A), and the torque limit value as the coefficient.

开口图案(1/3)=0.8框架序号(第1框架)=1.0织布宽度(190cm)=1.0静止角(无)=1.0转速(550rpm)=0.95 Opening pattern (1/3) = 0.8 the frame number (frame 1) = 1.0 weaving width (190cm) = 1.0 Angle of repose (no) = 1.0 speed (550rpm) = 0.95

转矩限制值=额定转矩×200%×0.8×1×1×1×0.95=额定转矩×152%图3(B)中上侧的各平缓区域也为加速时,下侧的各平缓区域为减速时。 = Rated torque of the torque limit value × 200% × 0.8 × 1 × 1 × 1 × 0.95 = rated torque × 152% Figure 3 on each side of the flat area (B) is also accelerated, the lower side of each flat deceleration region.

表3和表4示出的是并非如表2所示根据织造要素的设定状况进行系数化处理来运算转矩限制值,而是预先设定综线框架序号(框架序号)的转矩限制值这种情形的例子。 Tables 3 and 4 are not shown in Table 2. As for the weaving condition is set according to the coefficient processing elements calculates the torque limit value set in advance but heddle frame number (frame number) of the torque limit examples of such situations values. 表3示出的是就每一个综线框架预先设定平开口图案1/1的转矩限制值的情形的例子。 Table 3 shows an example of a heddle frame with respect to each case where a preset torque limit value is 1/1 of the level of the opening pattern. 表4示出的是就每一个开口图案预先设定每一综线框架的转矩限制值的情形的例子。 Table 4 shows a case where an example of each of the opening pattern to a preset torque limit values ​​for each of the heddle frame.

表1 Table 1

表2实施例1转矩限制值=200%×系数×额定转矩 Table 21 Example torque limit = 200% × × rated torque coefficient

表3实施例2 Table 3 Example 2

表4实施例3 Table 4 Example 3

上述实施例中,求转矩限制值时,织造要素为上述记载的全部,利用各系数值的运算(乘法)结果算出转矩限制值,但如果进行简化,也可以与上述记载当中相对影响程度较大的1或1以上的条件相对应来算出。 The above-described embodiment, when the torque demand limit, the weaving elements of all of the above described, by using the calculation coefficient values ​​(multiplication) torque limit calculated from the results, if simplified, can be described with the above-described influence degree among the relatively 1 or larger than 1 corresponding to the calculated conditions. 而且,也可以将如上所述求出转矩限制值的综线框架作为全部综线框架,也可以仅作为一部分综线框架。 Further, as described above may be obtained heddle frame as the torque limit value of all heddle frame, it may be only a part of the heddle frame.

[第二实施例]下面示出的电动开口装置,相对于第一实施例装置是在织机运转过程中可切换转矩限制值的构成例。 [Second Embodiment] The following shows the electric opening means, with respect to a configuration example of the first embodiment of the switchable means is a torque limit value during operation of the loom. 进一步附带说一下,具体示出的是即便对于复杂结构的织物也能够使开口曲线等驱动所涉及的数据的存储容量更为节约的开口控制装置。 Further Incidentally, specifically shown is the opening of the control device even for complex structures can be a fabric of the opening curve data storage capacity more involved drive savings.

参照图4,电动开口装置的控制装置30,通过根据对织机主轴32的旋转角度进行检测的编码器这种角度检测器34所输出的主轴32的旋转角度信号θ0,对与多个综线框架36分别以一对一的形态对应的电动马达38的旋转角度(旋转量)进行控制,来控制与电动马达38相连的曲柄44的旋转角度。 Referring to FIG 4, the electric control device 30 opening device, by the loom main shaft according to the rotation angle of the main shaft 32 of the encoder for detecting such an angle detector 34 output rotation angle signals theta] 0 to 32, and a plurality of heddle frame 36 respectively form corresponding to one electric motor rotation angle (rotation amount) 38 is controlled to control the rotational angle of the crank 38 is connected to the electric motor 44. 本实施例中综线框架36的数目例如为8个。 Examples heddle frame number 36 of the present embodiment, for example, eight.

控制装置30包括:输入主轴32的旋转角度信号θ0、分别指令第一至第八综线框架36、36、…的上下方向的位置的位置指令部40;以及输入位置指令部40所输出的第一至第八位置控制信号Sp1、Sp2、…、Sp8的第一至第八位置控制部42、42、…。 The control device 30 comprises: a position command portion 40 of the spindle rotation angle position of the input signal θ0 32 respectively of the first to eighth instruction heddle frame 36, 36, ... in the vertical direction; and a second input position command output unit 40 a position control signal to the eighth Sp1, Sp2, ..., the first to eighth Sp8 position control section 42 and 42, ....

位置控制部42与作为开口马达的电动马达38一一对应。 A position control unit 42 and the electric motor 38 correspond to the opening motor. 电动马达38与综线框架36一一对应。 The electric motor 38 correspond to the heddle frame 36. 可采用与第一实施例相同的伺服马达作为各电动马达38。 It can be the same as the first embodiment of the servo motor of each electric motor 38.

各电动马达38利用对应的位置控制部42输出的驱动电力控制旋转。 Each electric motor 38 driven by the output power corresponding to the position of the control unit 42 controls the rotation. 电动马达38利用该输出轴的旋转力使开口运动用的曲柄44旋转,通过连杆46来使对应的综线框架36上下运动。 Rotational force of the electric motor 38 using the output shaft of the shedding motion by the crank 44 is rotated to cause the corresponding heddle frame 36 moved up and down by the link 46.

上下运动的综线框架36通过其上装配的多个综线48使多根经线50作开口运动。 Heddle frame 36, 48 causes vertical movement of a plurality of warp for shedding motion 50 through which the mounting of a plurality of heddles. 由于曲柄44、连杆46和综线框架36具有相当的质量,因而使它们从停止状态开始作旋转运动、上下运动时、从这些运动状态开始使运动停止等时候,便有较大的惯性力作用于电动马达38。 Since the crank 44, link 46 and heddle frame 36 having a considerable mass, so that they start from a stop state for a rotational movement, up and down motion, stop motion start time, etc., will have a large inertial force from the moving state acting on the electric motor 38.

参照图5说明位置指令部40。 Referring to FIG 5 illustrates the position command section 40.

位置指令部40,为了在与织机的主轴32的旋转同步的状态下根据后面所述的开口图案对第一至第八电动马达38的旋转逐台进行控制,输出第一至第八位置控制信号Sp1、Sp2、…、Sp8和对电动马达38的转矩逐台进行限制的第一至第八转矩限制值S21、S22、…、S28。 Position command section 40, in order in synchronization with the rotation of the loom main shaft 32 in accordance with a state of the opening pattern on the back of the first to eighth rotation of the electric motor 38 is controlled by stage, the control outputs of the first to eighth position signals Sp1, Sp2, ..., Sp8 torque of the electric motor 38 and the stage-by limiting the first to eighth torque limit value S21, S22, ..., S28.

因此,位置指令部40包括:输出位置控制信号Spn的驱动量输出电路52;输出转矩限制值S2n的转矩限制值生成电路54;输出选择指令信号Sk以指令开口曲线的开口选择指令电路56。 Thus, the position command section 40 includes: a driving output signal Spn output of the position control circuit 52; output torque limitation value of the torque limit value generating circuit 54 S2n; Sk outputs a selection command signal to instruct selection instruction circuit 56 openings curve . 其中n=1、2、…、m,m为所运算的综线框架的个数。 Where n = 1,2, ..., m, m is the computed heddle frame number.

开口选择指令电路56包括:通过根据主轴32的旋转角度信号θ0使主轴32正转或反转并经过规定角度,根据主轴32的旋转方向有选择地输出前进步进信号F和后退步进信号R的步进信号发生器58;存储与各综线框架36相对应的主轴每一转的开口图案的开口指令设定器60;以及用前进步进信号F、后退步进信号R和开口指令设定器60设定的开口图案选择用以使各综线框架36上下运动的开口曲线序号的选择控制器62。 Opening selection instruction circuit 56 comprises: by the spindle rotation angle θ0 signal 32 of the spindle 32 and the forward or reverse through a predetermined angle, the step proceeds selectively outputs signal F R and a reverse step signal depending on the direction of rotation of the spindle 32 a stepping signal generator 58; opening instruction opening pattern storing each heddle frame 36 corresponding to each rotation of the spindle 60 is set; and proceeds with step signal F, reverse R and the opening command signal step provided opening pattern setter 60 sets the number of the selected curve for the opening each heald frame 36 moves up and down selection controller 62.

开口图案为表示综线框架36上升和下降的图案,用于综线框架36的开口运动方向的指示。 Opening pattern is a heddle frame 36 rising and falling patterns, for indicating the opening direction of movement 36 of the heddle frame. 开口曲线是表示上下运动时综线框架36的上下方向位置的曲线,用于综线框架36的开口运动的速度指令。 Opening curve showing the vertical position of the vertical movement curve heddle frame 36, the speed command for the opening movement of the heald frame 36.

步进信号发生器58,当主轴32正转而且主轴32的旋转角度信号θ0为110°时,便发生表示主轴32正转并已经过了110°的脉冲状的前进步进信号F,而当主轴32反转而且主轴32的旋转角度信号θ0为110°时,便发生表示主轴32反转并经过了110°的脉冲状的后退步进信号R。 A stepping signal generator 58, when the spindle 32 and forward spindle rotation angle θ0 signal 32 is 110 ° when it occurs and represents the main shaft 32 forward has been the pulsed signal 110 ° F. Stepping forward, and when reversing spindle 32 and the spindle 32 rotation angle signal θ0 of 110 °, it represents the main shaft 32 is reversed and after a 110 ° pulse-shaped signal will occur retracted stepping R.

前进步进信号F提供给选择控制器62和转矩限制值生成电路54。 Stepping forward signal F to the selector controller 62 and torque limit value generating circuit 54. 后退步进信号R提供给选择控制器62。 Reverse step signal R is supplied to the selection controller 62.

开口指令设定器60中针对多个投梭事先设定存储与各综线框架36对应的1个开口步骤的开口图案。 Opening command setting previously set in the storage unit 60 with the heddle frame 36 opening pattern corresponding to a plurality of openings for picking step.

如表5所示,本实施例中的开口图案用表明各综线框架36应处于上升位置(表5中括号外用“1”示出)的符号和表明应处于下降位置(表5中括号外用“0”示出)的符号来表示。 As shown in Table 5, the opening pattern in the present embodiment indicates that with each heald frame 36 to be in the raised position (Table 5 external bracket "1" shown) and the sign shall indicate in the lowered position (Table 5 external brackets "0" shown) notation.

表5 table 5

选择控制器62具有一算出电路,保持开口步骤值的同时根据输入的前进步进信号F或后退步进信号R对开口步骤值(投梭计数值)进行相加或相减。 Selection controller having a calculating circuit 62, while keeping the step of opening the opening value of the step value (count value of picks) for addition or subtraction in accordance with the stepping forward or backward signal F R input step signal. 因此,选择控制器62每次输入从步进信号发生器58输出的前进步进信号F或后退步进信号R时,对投梭计数值加“1”或减“1”。 Thus, each time the input selection controller 62 during forward or reverse stepping signal F R stepper stepper signal output from the signal generator 58, for picking count value "1" or minus "1."

选择控制器62当投梭计数值达到上限重复值(或为下限重复值的0)时,使投梭计数值回到0(或上限重复值)。 When picking selection controller 62 repeats the count reaches an upper limit value (or the lower limit value of the duplicate 0), the counter returns to 0 so that the picking (or the upper limit value is repeated).

选择控制器62用投梭计数值对每一综线框架36读出设定器60所存储的开口图案,就每一综线框架36将指令与所读出的开口图案相对应的开口曲线的选择指令信号Sk输出至驱动量输出电路52和转矩限制值生成电路54。 Selection controller 62 reads each heddle frame 36 opening pattern setting unit 60 stores the count value by picking, for each heddle frame 36 and the instruction read out of the opening pattern corresponding to the opening of the curve Sk selection instruction signal to the driving circuit 52 and the output torque limit value generating circuit 54.

驱动量输出电路52,除了切换控制器64以外还包括:发生表示1个开口步骤的开始时刻的时序信号St的时序发生器66;以及设定表示与主轴32的旋转角度信号θ0相对应的各综线框架36的上下方向位置的开口曲线的开口曲线设定器68。 Output driver circuit 52, in addition to the switching controller 64 further comprising: a timing signal St occurrence start time of a step of opening a timing generator 66; and setting of the spindle rotation angle signal represents θ0 32 corresponding to the respective opening the opening curve setting the vertical position of the curve heald frame 36 68.

时序发生器66当例如主轴旋转角度θ0为120°时发生脉冲状的时序信号St。 The timing generator 66 when the main shaft rotational angle θ0 e.g. a timing signal generating pulsed when 120 ° St. 时序信号St提供给切换控制器64和转矩限制值生成电路54两者。 The timing signal St is supplied to the switching controller 64 and both the torque limit value generating circuit 54.

时序发生器66,每当所输入的旋转角度信号θ0为120°时,将处于“启动”的脉冲状的时序信号St输出给切换控制器64。 A timing generator 66, each time the rotation angle signal is inputted θ0 120 °, will be in the "start" pulse-shaped timing signal St is output to the switch controller 64.

如图6所示,开口曲线设定器68预先设定并存储有多个开口曲线,用以设定织机旋转1周即主轴旋转角度0°至360°之间的综线框架36的位置。 Shown in Figure 6, the curve opening setter 68 is set in advance and stored in a plurality of openings curve for setting the loom rotational position between the heddle frame 1 week of the spindle rotation angle of 0 ° to 360 ° 36 to . 这些开口曲线分别对应于就应给出主轴32的旋转角度信号θ0所对应的各综线框架36的上下方向位置的综线框架36的每一移动方向所预先确定的综线框架移动图案(1)、(2)和(3),由切换控制器64读出。 These curves correspond to the openings should be given for each movement direction of the heddle frame 32 of the spindle rotation angle signal θ0 corresponding to the heddle frame 36, the vertical position of the 36 predefined movement pattern heddle frame (1 ), (2) and (3), is read out by the switching controller 64.

综线框架移动图案(1)、(2)和(3)分别对应于综线框架36由上往下移动时、综线框架36由下往上移动时、和如实线所示由上往上时(即不移动时)或如虚线所示由下往下时(即不移动时)。 When moving pattern heddle frame (1), (2) and (3) respectively corresponding to the heddle frame 36 is moved downward, is moved upward by the lower heddle frame 36, and by a solid line shown up on (i.e. without movement) or by the time shown in phantom down (i.e., is not moving).

开口曲线设定器68还预先设定并存储有相对于主轴旋转角度给出电动马达38的输出轴乃至曲柄44的旋转角度的目标相位曲线(参照图6)。 Set the opening curve 68 is also set in advance and stored with respect to the target phase curve of the spindle rotation angle is given of the electric motor and the rotational angle of the output shaft 38 of the crank 44 (see FIG. 6).

综线框架36由上往下移动时和由下往上移动时电动马达的旋转方向为同一方向,因而综线框架移动图案(1)和(2)时候的电动马达38其目标相位曲线均呈右上升沿形态。 When the downward movement by the upper and the lower heddle frame 36 is moved upward rotation direction of the electric motor into the same direction, the movement pattern of the electric heddle frame (1) and (2) when the motor 38 which the target phase curve showed the rising edge of the right shape.

图6中横轴给出主轴32的旋转角度信号θ0。 FIG 6 is given, the horizontal axis 32 of the spindle rotation angle signal of θ0. 而开口曲线、目标相位曲线和旋转量脉冲栏中的纵轴分别表示综线框架36的上下位置、电动马达38的旋转角度和脉冲的峰值。 And an opening curve, and a vertical axis rotation amount of target phase curves represent the column pulse peak pulse and the rotational angle position of the heddles 38 of the vertical frame 36, the electric motor.

因而,综线框架移动图案(1)的目标相位曲线形成为,使电动马达38的旋转角度即曲柄44的旋转角度,从主轴32的旋转角度信号θ0=0°时刻起至下一开口步骤的旋转角度信号θ0=0°之前15°(345°)的时刻为止按0°至180°直线增加,而至此后主轴32的旋转角度信号θ0=0°时刻(余下的15°区间)维持为180°的曲线。 Accordingly, the moving pattern heddle frame (1) is formed as a target phase curve, the rotation angle of the electric motor 38, i.e., the rotational angle of the crank 44, the signal from the rotation angle of the spindle 32 until θ0 = 0 ° the next opening time of step rotation angle signal until time 15 ° (345 °) by 0 ° to 180 ° increases linearly θ0 = 0 ° before, but so far the spindle rotation angle signal 32 is θ0 = 0 ° time (remaining 15 ° interval) is maintained at 180 curve °.

综线框架移动图案(2)的目标相位曲线形成为,使曲柄44的旋转角度从主轴32的旋转角度信号θ0=0°时刻至15°维持为180°,而此后至下一开口步骤的主轴32的旋转角度信号θ0=0°时刻为止按180°至360°直线增加的曲线。 Moving pattern heddle frame (2) is formed as a target phase curve, rotation angle of the crank angle signal 44 from the rotation shaft 32 of θ0 = 0 ° to 15 ° is maintained in time is 180 °, after which the spindle to the next step of the opening until the rotation angle signal 32 by the time θ0 = 0 ° to 180 ° 360 ° curve increases linearly.

切换控制器64根据所输入的选择指令信号Skn选择开口曲线,同时将与各电动马达38相对应的脉冲状的位置控制信号Spn输出给位置控制部42,以便相对于主轴32的旋转角度信号θ0的电动马达38的旋转角度为图6所示的目标相位曲线。 Switching controller 64 according to the selection instruction to select the input signal Skn opening curve, while the electric motor 38 corresponding to each of the pulsed position control signal Spn to the position control unit 42 outputs, to the rotational angle of the main shaft 32 with respect to the signal θ0 the rotational angle of the electric motor 38 as a target phase curve shown in Fig.

具体来说,切换控制器64根据主轴32的旋转角度信号θ0和时序信号St以及第一至第八选择指令信号Skn,就每一综线框架读出设定器68所存储的开口曲线,根据所读出的开口曲线与主轴32的旋转角度信号θ0相对应发生与综线框架36分别对应的第一至第八位置控制信号Spn。 Specifically, the switching controller 64 in accordance with the rotation angle of the main shaft 32 and timing signals θ0 signal St and the first to eighth selection instruction signal Skn, in respect of each heald frame is read out to set the opening curve of the storage device 68, in accordance with opening curve of the spindle rotation angle of the readout signal 32 of 36 θ0 corresponds with the first to eighth positions respectively corresponding to the heddle frame control signal Spn.

转矩限制值生成电路54包括:设定并存储有与电动马达38的额定转矩限制值例如120%、70%和30%相对应的转矩限制值的转矩限制要素设定器72;以及将从转矩限制要素设定器72读出的转矩限制值输出给位置控制部42的转矩限制值生成器74。 Torque limit value generating circuit 54 comprises: setting and storing a torque of the electric motor 38 rated torque limit value, for example 120%, 70% and 30% corresponding to the limiting torque limit value setting element 72; and a torque limiting element from the setting unit 72 reads out the torque limit value is output to the position control unit 42 torque limiting value generator 74.

更为具体来说,转矩限制值生成电路54令主轴32旋转1周的期间为1个运动周期时,与开口运动的连续性相对应将转矩限制值切换为等级A、等级B、以及等级C其中任意一个。 More specifically, when the torque limit value generating circuit 54 so that the spindle 32 during one rotation of a movement cycle, the continuity of motion relative to the opening torque limit value should be switched to level A, level B, and level C either one. 转矩限制值的等级A、等级B、以及等级C具有A>B>C这一关系,等级A设定为连续额定值(100%)或其附近的设定值、或者在不超出短时间额定值的范围内但高于连续额定值的数值(例如120%)。 A torque limit value level, rank B, and level C having the A> B> C this relationship, A is set to continuous rating level (100%) or near the set value, or does not exceed the short but above the range of the rated value (e.g. 120%) continuous rating.

等级A,在电动马达38运转开始和停止时设定为电动马达38的额定电流的120%,以便可以使电动马达38可靠地驱动。 Class A, the electric motor 120 is set to 38% of the rated current of the electric motor 38 at the time of operation start and stop, so that the electric motor 38 can be reliably driven.

等级B,在电动马达38连续运动期间,设定为电动马达38的额定电流的70%,以便可抑制电动马达38的发热,利用惯性作用力节能。 Class B, so during the continuous movement of the electric motor 38, the electric motor 70 is set to 38% of the rated current, in order to inhibit heat generation of the electric motor 38, the inertia force energy.

等级C,在电动马达38维持停止状态期间,通过使转矩限制值进一步减小,来设定为电动马达38的额定电流的30%。 Level C, the electric motor 38 is maintained during the stop state, further reduced by the torque limit value is set to 30% of the electric motor 38 rated current.

等级A、等级B、以及等级C的具体数值仅为一例,可按电动马达的标准等实际情形适当确定。 Specific numerical ranking A, rank B, and class C is only one case of the case, the electric motor can be appropriately determined criteria.

转矩限制值生成器74如后面所述,根据前进步进信号F发生时(110°)所更新的开口曲线的选择指令信号Sk和以往数个开口图案前的选择指令信号Sk对开口运动的连续性进行判别,在发生时序信号St时(120°)输出转矩限制值S2。 Torque limit value generator 74, as described later, before the selection instruction signal Sk (110 °) selection instruction signal Sk opening curve and the updated number of conventional shedding motion according to the opening pattern during forward stepping signal F occurs the continuity determination, (120 °) S2 output torque limiting value when the timing signal St occurs.

转矩限制值生成器74进行:(A)在织机开始运转后达到规定的投梭数(本实施例中为3个投梭)之前将转矩限制值设定为电动马达38的额定转矩的120%这种运转开始时动作;以及(B)此后按1个投梭为单位进行指令、根据此前投梭、该此前的前一投梭以及当前的投梭所对应的开口选择指令(开口曲线的选择指令)的输出方式从开口运动的连续性使转矩限制值设定为电动马达38的额定转矩的120%(等级A)、70%(等级B)、以及30%(等级C)组中任意一个这种连续运转时的动作。 Torque limit value generator 74: (A) after the loom start of operation reaches the predetermined number of picks (three picks embodiment of the present embodiment) before the torque limitation value is set to turn the electric motor 38 rated when start the operation of this moment 120%; and (B) hereinafter by a picking units of instruction, according to previous picking opening of the selection instruction after the previous and the current picks picks corresponding ( opening curve selection instruction) is output from the torque limit value is set to the continuity of the opening movement of the rated torque of the electric motor 38 of 120% (grade a), 70% (level B), and 30% (grade one such operation in any continuous operation C) group.

如图7所示,各位置控制部42通过根据位置控制信号Spn和转矩限制值S2n对电动马达38进行反馈控制,控制电动马达38的旋转角度乃至曲柄的旋转角度以及综线框架的上下运动。 7, each of the position control section 42 performs feedback control by the position control and the torque limit signal Spn S2n The electric motor 38 controls the rotation angle of the electric motor and the rotational angle of the crank 38 and the vertical movement of the heald frame . 各电动马达38的旋转角度在编码器76中可作为随电动马达38的旋转所发生的脉冲信号Se检测。 The rotational angle of each electric motor 38 in the encoder 76 as with the electric pulse signal Se 38 detects the rotation of the motor occurring.

各位置控制部42,表示与其对应的电动马达38的旋转角度的脉冲信号Se,由偏差检测电路78接收,并通过速度信号变换电路83由速度控制电路80接收,接着通过旋转角度变换电路85由电流控制电路82接收,由此根据位置控制信号Spn控制电动马达38的旋转角度。 Each position control unit 42, represents the corresponding electric motor pulse signal Se rotation angle 38 is received by the deviation detecting circuit 78, and a control circuit by the speed by the speed signal conversion circuit 8380 receives, and then converting circuit 85 by the rotation angle of the receiving a current control circuit 82, whereby the position control signal Spn 38 controls the rotation angle of the electric motor.

速度信号变换电路83为频率·电压变换电路,将所输入的脉冲信号Se变换为与其频率相对应的电压来发生表示实际速度的速度信号Sv。 Speed ​​signal conversion circuit 83 frequency-voltage converting circuit, the pulse signal inputted thereto Se is converted into voltage corresponding to the frequency occurrence velocity signal Sv represents the actual speed. 旋转角度变换电路85对输入的脉冲信号Se进行计数,发生表示电动马达38的旋转角度的角度信号θt。 The rotation angle of the pulse conversion circuit 85 counts the input signal Se, the occurrence of a signal θt represents the angle of rotation angle of the electric motor 38.

偏差检测电路78接收位置控制信号Sp和脉冲信号Se。 Deviation detecting circuit 78 receives the position control signal Sp and the pulse signal Se. 而用以使两个信号Spn和Se输入内置的正向逆向计数器的正向逆向计数器,对2个脉冲信号的输入个数的偏差进行检测,并将所检测出的偏差作为偏差信号ΔP输出给速度控制电路80。 For causing the two input signals Spn Se and the forward reverse counter built forward reverse counter, the deviation of the input pulse signal number 2 is detected, and the detected deviation is output as a deviation signal ΔP speed control circuit 80.

速度控制电路80根据输入其中的偏差信号ΔP和速度信号Sv算出速度偏差,将所算出的速度偏差作为速度偏差信号ΔV输出给电流控制电路82。 A speed control circuit 80 calculates a speed deviation signal ΔP based on the deviation and the velocity signal Sv input thereto, and the calculated speed deviation ΔV outputted as the speed deviation signal to the current control circuit 82.

电流控制电路82根据速度偏差信号ΔV、由电流传感器81检测出的电流值信号Sif算出与2个偏差相对应的电流指令值。 The current control circuit 82 according to the speed error signal ΔV, signal Sif current value detected by the current sensor 81 and calculates a current command value corresponding to the two deviations. 而且,电流控制电路82通过根据为不超出转矩限制值S2而确定的电流指令值和角度信号θt输出电流给电动马达38来进行转矩限制,对电动马达38进行电流控制。 Further, the current control circuit 82 through the torque limit to the electric motor 38 does not exceed the torque current command limit value determined value S2 and the angle θt output current signal, the electric motor 38 for current control.

由此,位置控制部42对提供给电动马达38的电流加以限制,以避免电动马达38的输出转矩值超过转矩限制值S2。 Accordingly, position control unit 42 a current to be supplied to the electric motor 38 is limited to prevent the output torque of the electric motor 38 exceeds the value of the torque limit value S2. 即,电流控制电路82可根据速度偏差信号ΔV并在输出转矩可控制在转矩限制值S2的范围内的状态下驱动电动马达38。 That is, the current control circuit 82 may drive the electric motor 38 when the output torque can be controlled in the range of the torque limit value S2 in accordance with the state of the speed error signal ΔV and.

更具体地说,如图8所示,电流控制电路82包括:运算与速度偏差信号ΔV相对应的电流指令值I并输出给加法点86的加法端子的电流运算器84;将表示电动马达38中流动的电流的电流值信号Sif与电流环路增益g相乘的值输出给加法点86的减法端子的乘法器88;表示加法点86所算出的结果的偏差电流值ΔI不超过转矩限制值S2的范围内输出电流指令值信号Si的限幅电路90;以及根据电流指令值信号Si发生提供给电动马达38的电流以便电动马达38的电气角度信号θt位于规定角度范围内的电流发生电路92。 More specifically, as shown in FIG. 8, the current control circuit 82 comprises: calculating the speed error signal ΔV that corresponds to the current command value I, and outputs it to the addition point of the current calculation adder terminals 86 84; and an electric motor 38 multiplier current flowing current value signal Sif and the current loop gain g is multiplied value to the adder output terminal 86 of the subtraction point 88; addition point 86 shows the results of the calculated value of the current deviation ΔI not exceed the torque limit output current command value within a range of values ​​S2 of the signal Si of the limiter circuit 90; and according to a current supplied to the electric motor 38 a current command value signal Si occurring to the electric motor 38 is an electrical angle signal θt is located within a predetermined angular range of the current generating circuit 92.

以上的控制装置30如图9和图10所示的时序图那样使综线框架36上下运动。 The above control device 30 in the timing chart shown in FIG. 9 and 10 so that as the heald frame 36 up and down.

图9和图10是按时间序列示出为开口图案(1/3·3/1)时第一综线框架36的上述连续运转时动作流程的时序图。 9 and FIG. 10 is a time sequence diagram illustrating an operation timing chart when a flow of an opening pattern (1 / 3.3 / 1) of the first heddle frame 36 of the continuous operation.

图10示出的时序图为,根据织机运转期间开口运动的切换时序中,前一次开口步骤的开口图案和本次开口步骤的开口图案相对比的结果,对开口运动的连续性进行判别来确定转矩限制值的例子。 10 illustrates a timing diagram in FIG, according to the result during the switching timing of the opening movement of the operation of the loom, the opening pattern having an opening pattern of the previous step and the opening step of opening this relative ratio of continuity is determined by the opening movement examples of the torque limit value is determined. 图9所示的时序图为相对于图10进一步确定织机运转开始时的加速时和此后匀速旋转状态下不同的转矩限制值的例子。 The timing diagram shown in FIG. 9 with respect to various examples of the torque limit value is determined Figure 10 further acceleration of the loom operation is started and thereafter the state of uniform rotation. 这种动作可按后面所述的图11至图14所示的流程图实现。 This later operation may be implemented in the flowchart shown in FIG. 11 to FIG. 14.

图9和图10对于第一综线框架36而言,横轴给出主轴32的旋转角度信号θ0,纵轴(A)给出运转开始信号So,(B)给出前进步进信号F,(C)给出开口步骤序号,(D)给出按开口选择指令电路56所输出的选择指令信号Sk指定的综线框架移动图案的序号,(E)给出时序信号St,(F)给出综线框架36的上下方向的开口量,(G)给出输出给电动马达38的驱动脉冲的状态,以及(H)给出转矩限制值。 FIGS. 9 and 10 for the first heddle frame 36, the horizontal axis a spindle rotation angle signal θ0 32, the longitudinal axis (A) gives the operation start signal So, (B) gives the forward step signal F., ( C) giving access to a step number, number (D) is given by the opening selection instruction circuit 56 outputs the selection command signal Sk heddle frame moves the specified pattern, (E) gives the timing signal St, (F) is given the opening amount of the heald frame 36 in the vertical direction, (G) is given to the state of the output of the electric motor 38 driving pulses, and (H) given by the torque limit value.

而且,转矩限制值生成器74在控制运转中按图11至图14所示的流程图确定转矩限制值。 Further, the torque limit value generator 74 according to the flowchart shown in FIGS. 11 to 14 in the control determination torque limit operation.

参照图11至图14说明连续运转时控制装置30的动作。 Operation of apparatus 30 with reference to FIG. 11 to FIG. 14 illustrates the continuous operation control.

设想停止于开口步骤序号(即投梭计数值)为“1”且主轴角度为300°状态的织机。 Contemplated opening stop step number (i.e., picks count value) is "1" and the state of the spindle angle of 300 ° of the loom. 图9示出对于综线框架36的框架序号为1(即最前列)的第一综线框架36的动作时序图。 9 illustrates a first heddle frame 1 (i.e. the forefront) to the frame number of the heddle frame 36 is a timing chart of an operation 36. 停止于该状态的织机中,选择控制器62如表5所示输出开口步骤序号1中状态“0”的选择指令信号Sk,第一综线框架36处于已经利用由位置指令部40按脉冲状输出的位置指令信号SP1移动至稍稍处于下开口状态的位置、从而相对于织机主轴的旋转角度θ0同步的状态。 Loom is stopped in this state, the selection controller 62 as an output opening in the step numbers "0" state selection instruction signal Sk shown in Table 5, 36 is a first heddle frame has been utilized by the pulse position command section 40 by like the output signal SP1 is moved to the position command in the position slightly lower open state, whereby the state of the rotation angle of the loom main shaft θ0 synchronization.

图9是织机旋转速度达到恒定转速的运转期间,由转矩限制值生成器74对综线框架36的框架序号1的开口运动的连续性进行判别,切换对应的转矩限制值的例子,同时是织机开始运转起至多个投梭(图示例中为3个投梭)的期间由转矩限制值生成器74为了避免惯性作用力造成综线框架驱动延迟而总是代之以切换为高转矩限制值的例子。 FIG 9 is the loom rotation speed reaches the constant speed during operation, discriminated by the frame number 36 of the continuous movement of the opening torque limit value generator 74 pairs of the heddle frame 1, an example of switching of the torque limit value corresponding to, during operation of the loom is started at the same time until picking plurality (three in the illustrated example picks) generated by the torque limit value 74 to avoid the inertial force caused by driving the heddle frame delay instead always switched examples of high value torque limit.

(1)对织机刚开始运转后的投梭的说明织机运转开始前,转矩限制值生成器74的转速改变用标志A设定为“关闭”。 (1) the beginning of the operation of the loom after picking before the loom operation start instructions, the torque limit value generator 74 changes with the rotational speed flag A is set to "off."

上述状态中,如图9所示,当主轴32的旋转角度信号θ0为例如300°时,由操作人员可使运转开始信号So暂时处于“启动”状态。 In the above state, as shown in FIG 9, when the spindle rotation angle signal θ0 32 for example, 300 °, by an operator can temporarily in operation start signal So "start" state.

此时,开口图案为表5所示的开口步骤序号1,因而位置指令部40输出应使第一综线框架36移动至下死点的位置控制信号Sp。 At this time, the opening pattern is shown in Table 5 in the opening step numbers 1, thereby outputting a position command section 40 should be the first heddle frame 36 moves to the lower dead point position control signal Sp.

如下面所述算出此时织机刚开始运转后的投梭(第1号投梭)的转矩限制值。 The torque limit value calculation described below picking loom after the beginning of the operation at this time (the No. 1 picks) a.

运转开始信号So一旦处于“启动”状态,便开始织机的运转。 So once the operation start signal is in the "on" state, began to loom operation. 由此,如图11所示,转矩限制值生成器74判定标志A是“启动”还是“关闭”(步骤101)。 Accordingly, as shown in FIG. 11, the torque limit value generator 74 determines that the flag A is "start" or "closed" (step 101).

图11至图14的流程图这种控制处理,除了在输入运转开始信号So的输入、转速改变信号SA的输入时执行以外,还在织机运转过程中,每当发生前进步进信号F(经过110°)就执行。 14 to FIG. 11 is a flowchart of this control process, in addition to input an operation start signal So is input, the input speed changes to performing signal SA, also during loom operation, occurs each time the stepping forward signal F ( after 110 °) is executed. 而且,后面所述的标志A是由运转开始信号So的输入或转速改变信号SA的输入所设定的标志。 Further, behind the sign of A is the operation start signal So is input or the input speed signal SA change flag set.

转矩限制值生成器74,步骤101中判定的结果一旦为“启动”,便经由B转移至图12所示的开口曲线选择处理流程,标志A一旦为“关闭”,便转移至判定是否输入了“启动”这种运转开始信号So(步骤102)。 Torque limit value generator 74, the determination result of step 101 once the "start", will be transferred via an opening B to curve selection processing flow shown in FIG. 12, once the flag A is "off", for determining whether the input is shifted to the the "start" of this operation start signal So (step 102).

转矩限制值生成器74,步骤102中判定的结果一旦为输入“启动”这种运转开始信号So,便经由B转移至图12所示的开口曲线选择处理流程,否则经由A转移至图13所示的转速改变处理流程。 Torque limit value generator 74, the result of the determination in step 102 is input once the "start" of this operation start signal So, is shifted to B via the process of selecting the opening curve 12 shown, or proceeds to FIG. 13 through the A changing the rotational speed of the processing flow shown in FIG.

图12所示的开口曲线选择处理流程中,转矩限制值生成器74再次判定标志A是“启动”还是“关闭”(步骤201)。 Curve shown in Figure 12 the opening process of selecting, the torque limit value generator 74 again determines that flag A is "start" or "closed" (step 201).

执行该步骤201的时刻,本该如上文所述标志A已经处于“关闭”状态,但也有处于“启动”状态的时候。 The execution time of the step 201, as described above, the present flag A is already in an "off" state, but also in the "on" state time.

因此,步骤201中的判定结果一旦标志A为“关闭”,转矩限制值生成器74使标志A为“启动”,同时使选择控制器62的投梭计数值为“0”(步骤202),接下来将转矩限制值生成器74的转矩限制值IL0设定为电动马达38的额定转矩的120%(即等级A)(步骤203)。 Accordingly, the determination result in step 201 Once flag A is "off", the torque limit value generator 74 that the flag A is "start", while the selection controller 62 picks count is "0" (step 202) , then the torque limit value generator torque limit value 74 set the electric motor 38 IL0 120% of rated torque (i.e., rank a) (step 203).

由此,转矩限制值IL0可设定为等级A的数值。 Accordingly, the torque limit value may be set to a value IL0 level A. 然后转矩限制值生成器74转移至图14所示的步骤401。 Torque limit value generator then proceeds to step 74 shown in FIG. 14401.

如图14所示,步骤401中立即将转矩限制值IL0改变为IL,转矩限制值生成器74将转矩限制值IL作为转矩限制值S2输出给位置控制部42后,结束织机刚开始运转后的投梭(换言之,运转开始后的第一投梭)的转矩限制值的计算。 As shown in FIG, step 40114 IL0 immediately changed to the torque limit value IL, the torque limit value generator 74 as the torque limit value IL torque limit value S2 is output to the position control section 42, the end of the weaving machine just after the start of the picking operation (in other words, after the first picking operation start) calculated torque limit values.

而驱动量输出电路52的切换控制器64将如图9(G)和图6中(1)旋转量脉冲波形所示这种位置控制信号Sp1输出给第一位置控制部42。 Driving circuit 52 outputs a switching controller 64 9 (G) and 6 (1) FIG rotation amount of such a pulse waveform shown in FIG position control signal Sp1 to the first position control portion outputs 42.

上述结果,第一位置控制部42根据位置控制信号Sp1和转矩限制值S21,由设定为等级A即额定转矩120%的转矩限制值S2或以下范围内的电流驱动第一电动马达38。 The above results, the position control 42 and torque limit signal Sp1 S21, i.e., the class A is set to 120% of the rated torque of the torque limit value S2 or first position control portion is within the range of the drive current of the first electric motor 38.

此前停止的第一电动马达38随位置控制信号Sp急速驱动,但存在未旋转运动的曲柄44的较大惯性力作用于电动马达38。 The first electric motor 38 is stopped after the position control signal Sp with the rapid driving, but not rotational movement of the crank presence of large inertia force 44 for an electric motor 38.

但设定为转矩限制值S21为额定转矩的120%这种等级A,因而电动马达38即便暂时处于过负荷状态,但由于电动马达38中流过大于额定电流的电流,因而电动马达38以较强的旋转作用力(转矩)使曲柄44旋转,使综线框架36迅速由上往下移动。 However, the torque limit value S21 is set at 120% of rated torque of this class A, and therefore even if the electric motor 38 is temporarily overloaded state, but since the electric motor 38 flows through the current larger than the rated current, the electric motor 38 to thereby strong rotational force (torque) so that rotation of the crank 44, so that the heald frame 36 is rapidly moved from top to bottom.

(2)对织机刚开始运转后的第2和第3投梭的说明此时,控制装置30当主轴32的旋转角度信号θ0为110°时,从步进信号发生器58输出脉冲状的前进步进信号F(参照图9(B))。 (2) 2 and 3 described after picking loom operation started at this time, the control device 30 when the main shaft rotation angle signal 32 is θ0 of 110 °, the output from the stepping signal generator 58 pulsed stepping forward signal F (see FIG. 9 (B)).

选择控制器62选择表5中开口步骤2和3所对应的设定值,输出表5中(2)的开口曲线的选择指令信号Sk。 Selection instruction signal Sk selection controller 62 selects table 5 in Step 2 and 3, the opening setting value corresponding to the opening curve output table 5 (2).

另一方面,转矩信号发生器74中在步骤101判定标志A为“启动”,而步骤201中的判定结果,一旦标志A处于“启动”状态,控制装置30便如图12所示使投梭计数值增加“1”(步骤204)。 On the other hand, the torque signal generator 74 at step 101 determines that the A flag is "start", and in step 201 the determination result, once the flag A is "on" state, the control device 30 will be shown in FIG. 12 that the administration shuttle count value by "1" (step 204). 因此,计数值为1或2。 Accordingly, the count value of 1 or 2.

接下来,转矩限制值生成器74将此前的投梭的选择指令信号Sk的前一投梭的选择指令信号Sk、此前的选择指令信号Sk和当前的选择指令信号Sk分别作为第3次选择指令、第2次选择指令和第1次选择指令存储(步骤205)。 Next, the torque limit value generator 74 before picking a selection instruction signal Sk previous picks a selection instruction signal Sk, Sk previous selection instruction signal and the current selection instruction signal Sk are selected as the 3rd instruction, 2nd 1st selection instruction and selection instruction stored (step 205).

现在运转开始后,一旦为第2投梭,便没有存储第3次选择指令。 After the start of the operation now, once for the second picking, there is no third choice storage instructions. 第2投梭中的第1次和第2次选择指令保持为表5所示的给出综线框架36的上下方向位置的数值“1”或“0”。 Value of the vertical position of the second picks in the 1st and 2nd selection instruction shown in Table 5 holding the heald frame 36 is given a "1" or "0." 第3投梭中的第1次、第2次和第3次选择指令分别保持为数值“1”、“1”和“0”。 1st third of picks, 2nd and 3rd selection instruction are held as the value "1", "1" and "0."

接下来,转矩限制值生成器74判断投梭计数值是否达到规定值(本实施例为3)(步骤206),然后转移至步骤401。 Next, the torque limit value generator 74 determines whether the count value of picks reaches a predetermined value (3 in this embodiment) (step 206), then proceeds to step 401.

上述结果,第2投梭和第3投梭中,由于转矩限制值IL0设定有第1投梭的数值(等级A的数值),因而在步骤401中使转矩限制值IL的数值仍然为等级A的数值,而转矩限制值生成器74等待时序信号St的输入,以作为转矩限制值S2输出。 Above results, the second and the third picking picking, since the torque limitation value is set IL0 (the value of the class A) first picks, so the value is still manipulation step 401 the torque limit value IL of a numerical grade of the torque limit value generator 74 waits for the input of the timing signal St to output as the torque limit value S2.

(3)对织机刚开始运转后的第4投梭的说明此时,控制装置30在步骤101中判定标志A为“启动”,在步骤201中再次判定标志A为“启动”,然后在步骤204中使转矩限制值生成器74的投梭计数值增加“1”。 (3) Explanation of 4 picks after the beginning of operation of the loom At this time, the control unit 30 determines in step 101 flag A is "start", it is determined again in step 201 flag A is "start", then picking manipulation step 204, the count value of the torque limit value generator 74 is incremented by "1." 因此,转矩限制值生成器74的投梭计数值为3。 Thus, the torque limit value generator 74 picks count value 3.

接下来,转矩限制值生成器74在步骤205中将此前的投梭的选择指令信号Sk的前一个投梭的选择指令信号Sk、此前的选择指令信号Sk和当前的选择指令信号Sk分别作为第3次选择指令、第2次选择指令和第1次选择指令存储。 Next, before picking a selection command torque limit signal Sk selection instruction value generator 74 in the previous step 205 picks the signal Sk, Sk previous selection instruction signal and the current, respectively, as a selection instruction signal Sk third selection instruction, 2nd 1st selection instruction and selection instruction storage.

此时刻的投梭序号为运转开始后的第4投梭,因而第1次至第3次选择指令信号Sk已经存储于转矩限制值生成器74。 Picking number for this time after the start of the operation of picking 4, and thus the 1st to 3rd selection instruction signal Sk already stored in the torque limit value generator 74.

接下来,转矩限制值生成器74在步骤206中判断转矩限制值生成器74的投梭计数值是否达到规定值(本实施例为3)。 Next, the torque limit value generator 74 is determined in step 206 picks the count value torque limit value generator 74 has reached a predetermined value (3 in this embodiment).

其结果,因投梭计数值已达到规定值,故转矩限制值生成器74使标志A为“关闭”,然后转移至图13所示的步骤302。 As a result, the count value has reached by picking a predetermined value, so the torque limit value generator 74 that the flag A is "off", and then proceeds to step 13302 shown in FIG.

如图13所示,转矩限制值生成器74为了设定转矩限制值,在步骤302中判断第1次选择指令和第2次选择指令是否相同。 13, the torque limit value generator 74 for setting the torque limit value, it is judged in step 302 the 1st and 2nd selection instruction selection instruction are the same.

转矩限制值生成器74,若第1次选择指令和第2次选择指令两者不同的话,在步骤303中判断第2次选择指令和第3次选择指令是否相同,若第1次选择指令和第2次选择指令两者相同的话,便在步骤304中判断第2次选择指令和第3次选择指令是否相同。 Torque limit value generator 74, when the 1st and 2nd selection instruction to select the two different instruction words, the selection instruction is determined in step 303 2nd and 3rd selection instruction is the same, if the first selection instruction 1 the second selection instruction and both are the same, then it is determined in step 304, the 2nd and 3rd selection instruction selection instruction are the same.

步骤303中的判定结果,一旦第2次选择指令和第3次选择指令两者不同但第2次选择指令和第3次选择指令两者相同,转矩限制值生成器74便将转矩限制值IL0的数值设定为等级A的数值(步骤305),从而转移至步骤401。 Result of the determination in step 303, once the 2nd and 3rd selection instruction to select the same command but different from both the 2nd and 3rd selection command both the selection instruction, the torque limit value generator torque limit put 74 Numerical values ​​IL0 is set to a value (step 305) level a, thus proceeds to step 401.

步骤302中的判定结果,一旦第2次选择指令和第3次选择指令两者不同,转矩限制值生成器74便将转矩限制值IL0的数值设定为等级B的数值,从而转移至步骤401。 Result of the determination in step 302, once the 2nd and 3rd selection instruction to select the two different instruction, put the value of the torque limit value IL0 torque limit value generator 74 set to a value class B to be transferred to step 401.

第2次选择指令和第3次选择指令两者不同的场合,将转矩限制值IL0的数值设定为等级B的数值(步骤306),从而转移至步骤401。 2nd and 3rd selection instruction selection instruction of two different occasions, the torque limit value is set to a value IL0 level B (step 306), proceeds to step 401 thereby.

步骤304中的判定结果,一旦第2次选择指令和第3次选择指令两者相同,转矩限制值生成器74便将转矩限制值IL0的数值设定为等级C的数值(步骤307),从而转移至步骤401。 The determination result of step 304, once the 2nd and 3rd selection instruction to select the same command both put torque limit value 74 set torque limit value generator is IL0 value (step 307) class C thus proceeds to step 401.

步骤304中的判定结果,一旦第2次选择指令和第3次选择指令两者不同,转矩限制值生成器74便将转矩限制值IL0的数值设定为等级A的数值(步骤308),从而转移至步骤401。 The determination result of step 304, once the 2nd and 3rd selection instruction to select two different command torque limit value generator 74 put a torque limit value is set to a value IL0 (step 308) level A thus proceeds to step 401.

步骤401中将转矩限制值IL的数值设定为转矩限制值IL0的数值,而且转矩限制值生成器74等待时序信号St的输入,以作为转矩限制值S2输出。 Torque limit value IL of the value in step 401 is set to the value of the torque limitation value IL0, and the torque limit value generator 74 waits for the input of the timing signal St to output as the torque limit value S2.

例如对于织机运转过程中静止的综线框架,当通过使开口步骤序号增加1来重新产生综线框架的移动(开口运动)时,经过步骤305可通过选择等级A的转矩限制值,输出综线框架开始移动所需的转矩。 For example, the loom heddle frame stationary during the operation, when the step number increases by moving the opening (opening movement) to reproduce a heddle frame, via step 305 by selecting the level A torque limit value, output heddle frame torque required to start moving.

而当开口步骤序号即便增加1也不产生综线框架移动时,经过步骤307选择等级C的转矩限制值,可限制为用于保持综线框架位置所需大小的输出转矩。 Even when the opening step numbers increase does not occur when a heddle frame moves through step 307 to select the torque limit value class C, which limits the output torque of the desired size for the position of the frame holding the heddles.

而织造运转过程中移动的综线框架通过使开口步骤序号增加1来使综线框架的移动(开口运动)按原样继续时,经过步骤306选择等级B的转矩限制值来限制输出转矩,因而可限制用于正确跟随开口曲线的减速和加速所涉及的无用的动作。 Heddle frame and the weaving operation during movement through the opening number is increased by 1 step to the moving heddle frame (opening movement) when the press is continued, after the step 306 the torque limit value B is selected to limit the output level of torque, thus an opening limit unnecessary operations for deceleration and acceleration curves involved correctly follows. 因此,可有效运用惯性作用力来驱动综线框架。 Accordingly, the effective use of the inertial force to drive the heddle frame.

而成为未产生综线框架移动的静止状态时,经过步骤308选择等级A的转矩限制值,可输出用于使移动的综线框架静止所需的减速转矩。 When not generated becomes heddle frame moves the stationary state, after the selection step 308 the torque limit value level A, the output may be required for the deceleration torque heddle frame stationary movement.

这样,每当开口步骤增加1,对以往的2个投梭和此后的1个投梭的综线框架的运动连续性进行判别,当(还包含综线框架静止在内的)综线框架运动具有连续性时,更为具体来说以往的2个投梭和此后的1个投梭的综线框架继续移动时或继续静止时,便与此对应将此后的1个投梭期间中的转矩限制值设定得较低。 Thus, whenever an increase in the opening step, the continuity of the movement of a conventional two picks and thereafter picking a heald frame is determined, when the heddle frame motion (stationary frame further includes including the heddles) when continuity, more specifically, when the conventional two picks and thereafter picking a heald frame or to continue a still continues to move, then this corresponds to the period of revolution of a subsequent picking torque limit value is set low.

而综线框架的运动不具有连续性时,更为具体来说以往的2个投梭中移动的综线框架在此后的1个投梭中未移动而处于静止时,或者以往的2个投梭中静止的综线框架在此后的1个投梭中移动时,便与此对应将此后的1个投梭期间中的转矩限制值设定得较高。 When the motion of the heald frame does not have continuity, and more specifically, the conventional heddle frame 2 picks not moving in a movement in the next picking rather is stationary, or the conventional two picks heddles in the stationary frame 1 picks the next moves, it corresponds to this torque limit value during a subsequent picking set high.

换言之,通过经由步骤301至步骤401的处理,当综线框架的运动具有连续性时将转矩限制值设定得较低的结果是,可抑制无用的减速、加速,进行有效利用综线框架移动过程中作用力(惯性作用力)的驱动,而且可通过在用于综线框架移动、静止需要转矩的时间内将转矩限制值设定得较高,来输出所需转矩,因而可提高节能效果。 In other words, through the process to step 301 via step 401, when the motion of the heddle frame has a continuous torque limit value is set low This suppresses unnecessary deceleration, acceleration, effective use heddle frame during movement force (inertial force) driving, but also by the torque limit value is set high in the time for the heddle frame moves, the static torque is required, the required output torque, and thus energy saving effect can be improved.

与综线框架运动有无连续性相对应来设定转矩限制值,但也可与例如此后1个投梭的综线框架的运动方式相对应,对根据从静止开始移动时和从移动过程中开始静止时两者设定不同的转矩限制值。 Have the heddle frame motion continuity is set corresponding to the torque limit value, but may correspond, for example, after a picking motion of the heddle frame, the time for starting from rest and move according to the movement both set different torque limit value is started when stationary.

(4)对连续运转时动作的说明这时已经开始织机运转,控制装置30当主轴32的旋转角度信号θ0为110°时,由步进信号发生器58输出脉冲状的前进步进信号F,转矩限制值生成器74再次执行上述流程图的处理。 (4) description of the operation of the continuous operating time loom operation has started, the control device 30 when the rotation angle signal θ0 spindle 32 is 110 °, a stepping signal generator 58 outputs a pulse-shaped stepping forward signal F torque limit value generator 74 performs the above-described processing flowchart again. 而且运转开始信号So如图9(A)所示处于“关闭”状态,此外先前步骤207中标志A已经处于“关闭”状态,因而转矩限制值生成器74在对标志A进行判别的步骤101中判断为“关闭”,转矩限制值生成器74便进入步骤102。 Step and an operation start signal So FIG. 9 (A) is shown in "off" state, in addition to the previous step 207, the flag A is already in an "off" state, and thus the torque limit value generator 74 is determined to be in the flag A 101 the determination is "off", the torque limit value generator 74 proceeds to step 102.

转矩限制值生成器74在步骤102中如上文所述运动开始信号So处于“关闭”状态,而且未输入主轴32的转速改变指令,因而转矩限制值生成器74转移至图13所示的步骤301。 Torque limit value generator 74 as described above in step 102 So the motion start signal is in the "off" state, and the input rotational speed of the spindle 32 does not change instruction, thus transferring torque limit value 74 to the generator 13 shown in FIG. step 301.

如图13所示,转矩限制值生成器74在步骤301中将此前的投梭的选择指令信号Sk的前一投梭的选择指令信号Sk、此前的选择指令信号Sk和当前的选择指令信号Sk分别作为第3次选择指令、第2次选择指令和第1次选择指令存储,从而转移至步骤302。 Before picking a selection instruction signal Sk 74 in the previous step 301 picks the selection instruction signal Sk as shown, the torque limiting value generator 13, after the selection instruction signal Sk and the current selection instruction signal Sk respectively as the third selection instruction, 2nd 1st selection instruction and selection instruction storage so proceeds to step 302.

转矩限制值生成器74在步骤302、303、304中如先前所述,判断第1次、第2次和第3次选择指令是否相同,根据其结果转移至步骤305、306、307或308,将转矩限制值IL0设定为等级A、等级B和等级C中任意一个,然后转移至步骤401。 Torque limit value generator 74 as previously described in step 302, 303, it is determined the 1st, 2nd and 3rd selection instruction are the same, or proceeds to step 308 in accordance with a result 305,306,307 , the torque limit value is set to IL0 Class a, Class B and Class C any one, and then proceeds to step 401.

步骤401中,将转矩限制值IL的数值设定为转矩限制值IL0的数值,而且,转矩限制值生成器74等待时序信号St的输入,作为转矩限制值S2输出。 In step 401, the torque limit value IL is set to a value of the torque limitation value IL0, and the torque limit value generator 74 waits for the timing signal St is input, as the output torque limit value S2. 因而,当全部开口步骤个数为8,表5所示的开口图案设定为相对于第一至第八综线框架的开口图案如表5所示时,转矩限制值生成器74在各开口步骤中就每一综线框架输出与表6所示等级相对应的转矩限制值S2。 Thus, when all the opening step for the number 8, an opening pattern shown in Table 5 is set with respect to the opening pattern shown in the first to eighth heddle frame as shown in Table 5, the torque limit value generator 74 in the FIG opening step on level 6 of each heald frame corresponding table output torque limit value S2.

表6 Table 6

以上的控制装置30(转矩限制值生成器74)也可以如下文所述变形。 The above control device 30 (torque limit value generator 74) may be modified as described below.

作为在运转过程中对开口运动的连续性进行判别的替代,也可以通过在运转前预先判别,对应于投梭个数产生相对于转矩限制值的选择信号,运转过程中也可根据投梭计数值产生选择信号,对转矩限制值进行切换。 As an alternative for determining the continuity of an opening movement during operation, it may be determined in advance before the operation, the number of picks corresponding to the selection signal is generated with respect to the torque limit value during operation can also be based picking generating a selection signal count value of the torque limit switches.

织造运转过程中的切换,就织造要素来说,不限于上述开口运动的连续性,还可以考虑以下要素来确定转矩限制值,还可以进行2个或以上的组合。 Switching during the weaving operation, it is a woven element, the opening movement is not limited to the above-described continuity can also be determined torque limit value, may also be a combination of two or more of the following elements considered.

例如,与前述第一实施例相同,按后面所述的织造要素的设定状况预先确定用于算出转矩限制值的系数,对各织造要素设定时,根据与设定状况相对应选择的系数通过运算求出转矩限制值进行设定。 For example, the same as the foregoing first embodiment, according to the rear of the weaving condition setting elements for a predetermined value of the torque limiting coefficient calculating, for each weaving elements setting, the setting corresponding to the condition according to the selected coefficient setting the torque limit value is obtained by calculation. 这种场合的转矩限制值,理想的是在织造运转之前通过运算预先求出与各设定状况的组合相对应的转矩限制值、在织造运转过程中通过对它们进行选择来设定的方法,但也可以在织造运转过程中每次切换设定状况就进行运算设定。 In this case the value of the torque limit, is preferably determined in advance prior to the weaving operation of the torque limit value set for each composition corresponding to the situation by calculation, during the weaving operation by setting them to the selection method, but may be switched each time the set weaving condition during operation setting operation proceeds.

也可以设法选择例如织造运转过程中的静止角度(维持最大开口状态的角度)、开口运动的交叉时序、开口量等开口曲线的构成要素不同的开口曲线。 Opening the opening curves of the different components may be profile such as still try to select the angle of the weaving operation process (the state maintaining the maximum opening angle), the cross timing of the opening movement, the opening amount. 这时,转矩限制值也根据这些开口曲线设定,可以设法切换,例如,当选择驱动时间缩短的开口曲线时也可将转矩限制值设定得较高。 In this case, the torque limit value is also set according to the openings profile, you can try to handover, for example, when the opening curve selection driving time can also be shortened torque limit value is set higher.

也可以根据综线框架36的运动方向(由上往下或由下往上)来切换转矩限制值。 It may be switched according to the movement direction of the torque limitation value heddle frame 36 (from top to bottom or from bottom to top). 更为具体来说,也可以在综线框架36的自重对电动马达38的旋转具有较大作用的时候,将转矩限制值设定得较低。 More specifically, when the rotation of the weight 38 may be of the electric motor has a large effect, the torque limit value is set lower in the heddle frame 36.

为了提高纬线的投梭性,在织机运转过程中根据投纬投梭来改变经线张力。 In order to improve the picking of the weft, the loom operation changes the warp tension during weaving in accordance with the picking. 也可以与这样的改变相对应切换开口装置的上述转矩限制值。 It may be the torque limit value relative opening device should switch to such a change. 更为具体来说,当经线张力降低时转矩限制值也设定为较低。 More specifically, the warp tension decreases when the torque limit value is also set low.

为了对投纬的难易程度不同的多种纬线进行投梭,在织机运转过程中与投纬投梭相对应改变织机的主轴32的转速时,可与该改变相对应切换转矩限制值。 When the level of complexity for different weft picking is carried out more weft picks in the course of operation of the loom with weft insertion picking loom corresponding to the rotational speed change of the spindle 32, may correspond to the changed torque limit switch value. 更为具体来说,当主轴32的旋转速度较慢时,转矩限制值设定为较低。 More specifically, when the rotational speed of the spindle 32 is slow, the torque limit value is set low. 此时,图11所示的步骤102中,电动开口装置的控制装置30在步骤101中标志A成为“关闭”,而在步骤102中判断主轴32的转速变化,在判断为主轴32的转速变化时,与运转开始信号So成为“启动”的时候相同,经由图12中步骤201转移至步骤202。 In this case, step 102 in FIG. 11, the electric control device 30 opening device A 101 at step flag becomes "OFF", the main shaft 32 and the speed change is determined in step 102, it is determined that the change of spindle speed of 32 when the operation start signal So becomes identical "start" time, proceeds to step 201 via step 202 in FIG. 12.

对于转矩限制值的切换,上述第二实施例中可在织机主轴32每旋转一周时切换,但也可以设法按不满一周或一周或以上的规定角度、进而两周或以上的多周为单位来切换。 For switching the torque limit value, the above-described second embodiment can switch the loom main shaft 32 per one rotation, it may be managed by a predetermined angle less than or week or more, and further more multi-week or two weeks of switching units.

转矩限制值的切换,可以判定开口运动的连续性变化,也可以与织物的组织的切换相对应。 Switching torque limit values ​​may be determined shedding motion continuously changed, may correspond to the switching fabric tissue.

例如,平针组织(即恒定运转过程中综线框架未静止、始终处于运动状态)的场合,相对于与运转开始时相对应的第一过程,也可以在到达匀速旋转速度后的第二过程切换为较低的转矩限制值。 E.g., plain stitch (i.e., constant during the operation of the heald frame is not stationary, always in motion) of the case, with respect to the first process corresponding to the start of the operation, a second process may be reaching the uniform rotation speed switching to a lower torque limit.

随投纬的难易程度而与投纬投梭相对应来改变织机转速的织机,也可以设法与织机转速的改变相对应来切换转矩限制值。 With the ease of picking the weft picking the weft insertion loom is changed corresponding to the rotational speed of the loom, the loom may try to change the rotation speed corresponding to the torque limit switches. 这时,织机转速的切换信号可输入给转矩限制值生成电路。 At this time, the rotational speed of the loom can be input to the switching signal generating circuit torque limit value.

转矩限制值的切换,也可以按主轴32的旋转角度切换,但也可以按距基准角度的经过时间来切换。 Switching torque limit value, the rotation angle of the spindle can press the switch 32, it may be by the elapsed time from the reference angle is switched.

对上述第二实施例,也可以如第一实施例那样考虑综线框架的序号(框架序号)将转矩限制值设定为有所不同。 The above-described second embodiment, may be considered as heddles number (frame number) as in the first embodiment, the torque limit value is set to be different.

开口控制装置的内部构成,可以如图所示对一系列处理进行基于硬件的处理,也可以进行基于微机和软件的处理。 The control device constituting the interior opening, as shown in FIG series of hardware-based processing processes may be performed based on a microcomputer and software processing.

本发明不限于上述实施例,只要不背离其精神,可以做种种改变。 The present invention is not limited to the above embodiments, without departing from the spirit thereof, can make various changes.

Claims (10)

1.一种电动开口装置的控制方法,其特征在于,该电动开口装置为由专用电动马达分别驱动多个综线框架,并按照预定的转矩限制值限制所述电动马达的输出转矩这种形式的电动开口装置,包含根据至少一个织造要素的设定状况求出电动马达的转矩限制值,对电动马达设定所求得的转矩限制值。 1. A method for controlling an electric opening device, characterized in that the opening means of the electric motors are driven by a plurality of specific electric heddle frame, according to which the output torque and a predetermined limit torque limit value of the electric motor forms an electric opening means comprises of at least one weaving condition setting elements determined torque limit value of the electric motor, the electric motor is set as the torque limit value determined.
2.如权利要求1所述的控制方法,其特征在于,包含根据所述织造要素的设定状况预先设定多个转矩限制值,求电动马达的转矩限制值时,设定根据织造要素的设定状况所选定的转矩限制值。 The control method according to claim 1, characterized in that it comprises a plurality of pre-set torque limit based on the setting condition of the woven element, when evaluated in the electric motor torque limit value, is set according to weaving setting status of selected elements of the torque limit.
3.如权利要求1所述的控制方法,其特征在于,包含按每一织造要素设定用以算出与所述织造要素的设定状况相对应的转矩限制值的多个系数,求电动马达的转矩限制值时,就各织造要素选择与织造要素的设定状况相对应的系数,并设定根据所选定的多个系数通过运算求得的转矩限制值。 3. The control method according to claim 1, wherein the set comprises a plurality of coefficients for calculating a torque limit value and the set weaving condition of the element corresponding to each weaving elements by seeking electric when the torque limit value of the motor, it is woven coefficient setting condition of each element is selected corresponding to the weaving elements, and a plurality of coefficients according to the selected set by the torque limit value calculating determined.
4.一种电动开口装置的控制方法,其特征在于,该电动开口装置为由专用电动马达分别驱动多个综线框架,并按照预定的转矩限制值限制所述电动马达的输出转矩这种形式的电动开口装置,包含根据综线框架的序号设定电动马达的转矩限制值。 A method for controlling an electric opening device, characterized in that the opening means of the electric motors are driven by a plurality of specific electric heddle frame, according to which the output torque and a predetermined limit torque limit value of the electric motor forms an electric opening means comprises a torque limit value of the electric motor according to the number of the heddle frame.
5.一种电动开口装置的控制方法,其特征在于,该电动开口装置为由专用电动马达分别驱动多个综线框架,并按照预定的转矩限制值限制所述电动马达的输出转矩这种形式的电动开口装置,包含根据至少一个织造要素的设定状况和综线框架的序号求出电动马达的转矩限制值并进行设定。 A method for controlling an electric opening device, characterized in that the opening means of the electric motors are driven by a plurality of specific electric heddle frame, according to which the output torque and a predetermined limit torque limit value of the electric motor forms an electric opening means comprises an electric motor torque limit value is determined according to the setting conditions at least a number of weaving elements and heddle frame and set.
6.一种电动开口装置的控制方法,其特征在于,该电动开口装置为由专用电动马达分别驱动多个综线框架,并按照所确定的转矩限制值限制所述电动马达的输出转矩这种形式的电动开口装置,包含使织造运转过程中织造要素当中的至少一个设定状况为可切换,并且在织造运转过程中与织造要素的设定状况的切换相对应来求出电动马达的转矩限制值并进行设定。 A control method for an electric opening device, characterized in that the opening means of the electric motors are driven by a plurality of specific electric heddle frame, and in accordance with the determined torque limit value to limit the output torque of the electric motor this form of electric opening means comprises at least one set weaving condition during operation of the weaving among the elements to be switched in the weaving operation and switch the setting status during weaving elements corresponding to the electric motor is obtained and sets the torque limit value.
7.如权利要求6所述的电动开口装置的控制方法,其特征在于,包含与织造要素的设定状况的切换相对应设定有多个所述转矩限制值,织造运转过程中切换所述设定状况时,选择与所述设定状况的切换相对应的转矩限制值并作为所述转矩限制值进行设定。 7. The control method for an electric shedding device according to claim 6, characterized in that the weaving condition includes the setting of the switching elements is set corresponding to a plurality of said torque limit value, the weaving operation during handover when the above setting conditions, conditions selected with the setting of the switch corresponding to the torque limit value as the torque limit value is set.
8.如权利要求7所述的控制方法,其特征在于,所述织造要素包含从包括数个投梭之前至所述切换时的开口运动的连续性、开口曲线的构成要素、切换时起的开口运动方向、作用于综线框架的外力、以及织机转速在内的一组当中选择的至少一个。 The control method according to claim 7, wherein said woven element comprises a continuous opening movement from the time of the switching to include a number of picks before the opening of the components of the curve, when switching from the the at least one opening movement direction, acting on the heald frame of an external force, and the rotational speed of the loom, including a group selected from among.
9.如权利要求6至权利要求8中任一项所述的电动开口装置的控制方法,其特征在于,包含使织造运转过程中多个织造要素的各设定状况为可切换,并且各织造要素中与各设定状况相对应设定有转矩限制值的多个系数,对各织造要素选择与所述设定状况的切换相对应的转矩限制值,并且在织造运转过程中切换所述设定状况时,设定根据所选定的多个系数通过运算求得的转矩限制值。 As claimed in claim 6 to 8. A method of controlling an electric shedding device according to any one of claims, characterized in that it comprises making the weaving condition during operation of each of a plurality of weaving elements are set to be switched, and each weaving elements with each set corresponding to the condition set for a plurality of coefficients of the torque limitation value, the torque limit value corresponding to the respective switching elements selected to the set weaving condition, and the switching operation of the weaving process when the above setting conditions, a plurality of coefficients according to the selected set by the torque limit value calculating determined.
10.一种电动开口装置的控制方法,其特征在于,该电动开口装置为由专用电动马达分别驱动多个综线框架,并按照预定的转矩限制值限制所述电动马达的输出转矩这种形式的电动开口装置,包含与主轴旋转角速度加速或减速的第一过程和所述主轴旋转角速度得到维持的第二过程相对应预先设定所述电动马达的输出转矩限制值,驱动开口装置时所述第一和第二过程中根据与两者的过程相对应的输出转矩限制值限制驱动马达的输出转矩来驱动所述电动马达。 A control method for an electric opening device, characterized in that the opening means of the electric motors are driven by a plurality of specific electric heddle frame, according to which the output torque and a predetermined limit torque limit value of the electric motor process forms a second electric opening means, comprising a first process with the spindle rotation angular velocity and acceleration or deceleration of the spindle angular velocity maintained is set in advance corresponding to the output torque limit of electric motor, drive means opening said first and second process in accordance with the procedure corresponding to both the output torque limit value to limit the output torque of the drive motor to drive the electric motor.
CNA03819676XA 2002-08-26 2003-08-25 Method of controlling electric opening device CN1675420A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2002245382 2002-08-26

Publications (1)

Publication Number Publication Date
CN1675420A true CN1675420A (en) 2005-09-28

Family

ID=31944190

Family Applications (1)

Application Number Title Priority Date Filing Date
CNA03819676XA CN1675420A (en) 2002-08-26 2003-08-25 Method of controlling electric opening device

Country Status (4)

Country Link
EP (1) EP1541728A4 (en)
JP (1) JPWO2004018752A1 (en)
CN (1) CN1675420A (en)
WO (1) WO2004018752A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102162160A (en) * 2010-02-12 2011-08-24 施托布利法韦日公司 Method for controlling electrical actuators of a shedding device
CN101782458B (en) * 2009-12-17 2011-11-09 江苏万工科技集团有限公司 Motion test device of motion law of shedding mechanism
CN103320949A (en) * 2012-03-20 2013-09-25 厦门莱宝机械有限公司 Reverse pick finding method not needing reverse motion of shedding mechanism
CN103459689A (en) * 2011-03-29 2013-12-18 林道尔·多尼尔有限责任公司 Method and weaving machine for shedding
CN108103630A (en) * 2016-11-25 2018-06-01 株式会社丰田自动织机 The hatch method and shedding motion of loom

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4989757B2 (en) * 2010-09-07 2012-08-01 津田駒工業株式会社 Electric opening device of loom

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2614072B2 (en) * 1988-03-04 1997-05-28 津田駒工業株式会社 Running speed control method and apparatus of the loom
JP2810190B2 (en) * 1990-02-19 1998-10-15 津田駒工業株式会社 And how to start the loom, the device
JP3089056B2 (en) * 1991-09-19 2000-09-18 津田駒工業株式会社 Operation speed control device in a multi-color weft insertion loom
JPH0995840A (en) * 1995-09-28 1997-04-08 Toyota Autom Loom Works Ltd Control of operation speed in weaving machine, control device for operation speed and apparatus for determining operation speed
BE1011560A3 (en) * 1997-11-21 1999-10-05 Picanol Nv A weaving machine and method for controlling and / or starting and / or stopping of a drive motor.
JP4051810B2 (en) * 1999-04-12 2008-02-27 株式会社豊田自動織機 Dedicated motor control method and apparatus for loom

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101782458B (en) * 2009-12-17 2011-11-09 江苏万工科技集团有限公司 Motion test device of motion law of shedding mechanism
CN102162160A (en) * 2010-02-12 2011-08-24 施托布利法韦日公司 Method for controlling electrical actuators of a shedding device
CN102162160B (en) * 2010-02-12 2014-10-22 施托布利法韦日公司 Method for controlling electrical actuators of a shedding device
CN103459689A (en) * 2011-03-29 2013-12-18 林道尔·多尼尔有限责任公司 Method and weaving machine for shedding
US9043010B2 (en) 2011-03-29 2015-05-26 Lindauer Dornier Gesellschaft Mbh Method and weaving machine for shedding
CN103459689B (en) * 2011-03-29 2015-11-25 林道尔·多尼尔有限责任公司 For the formation of method and the loom of shed open
CN103320949A (en) * 2012-03-20 2013-09-25 厦门莱宝机械有限公司 Reverse pick finding method not needing reverse motion of shedding mechanism
CN103320949B (en) * 2012-03-20 2016-02-10 厦门莱宝机械有限公司 A kind of do not need shedding mechanism return motion oppositely seek latitude method
CN108103630A (en) * 2016-11-25 2018-06-01 株式会社丰田自动织机 The hatch method and shedding motion of loom
CN108103630B (en) * 2016-11-25 2019-11-26 株式会社丰田自动织机 The hatch method and shedding motion of loom

Also Published As

Publication number Publication date
WO2004018752A1 (en) 2004-03-04
EP1541728A1 (en) 2005-06-15
JPWO2004018752A1 (en) 2005-12-15
EP1541728A4 (en) 2008-04-02

Similar Documents

Publication Publication Date Title
Nash Direct torque control, induction motor vector control without an encoder
US4955344A (en) Apparatus for controlling rotational speed of prime mover of construction machine
CN100523489C (en) Method for the operation of a wind turbine generator system
US6962171B2 (en) Drive arrangement for a weaving loom and shedding machine
US4619294A (en) Method of and apparatus for controlling motor-driven let-off and take-up system for looms
US8041466B2 (en) Method for operating a wind turbine connected to a utility grid during a utility disturbance, wind turbine and wind park
EP0350446B1 (en) Terry fabric making process and loom with pile-forming devices
US6972533B2 (en) Control of a switched reluctance drive
JP2007162697A (en) Method for torque and pitch control as function of rotational speed in wind turbine
KR100484712B1 (en) Method for automatically controlling the filling and supply operations of the transmission element
US8963474B2 (en) Motor control device
JPH05256362A (en) Shifting method and apparatus for transmission
KR100503478B1 (en) Weft yarn deflection brake and method for controlling the weft insertion into a weaving machine
US6834681B2 (en) Method for controlling the shed in a loom with mechanical weft insertion
CN100436682C (en) Method and device for delivering threads
US4605044A (en) Takeup motion control device for looms
JP2004321771A (en) Sewing machine and stepping motor control program
DE10053079C1 (en) Method for operating a weaving and shedding machine
BE1013392A3 (en) METHOD AND DEVICE FOR MAKING A loom.
JPH06205598A (en) Voltage correction method of pulse width modulation servo mechanism and control apparatus thereof
JP2009219345A (en) Power generator and motor device
KR20040054577A (en) Control apparatus for vacuum pump
JP5420218B2 (en) Controlled electric motor device for tensioning mechanism and control method thereof
EP1564320A2 (en) Shedding mechanism for a loom
US6671459B1 (en) DC motor control method and apparatus

Legal Events

Date Code Title Description
C06 Publication
C10 Request of examination as to substance
C02 Deemed withdrawal of patent application after publication (patent law 2001)