CN1699665B - Controlling device of sewing machine electromotor and its controlling method - Google Patents
Controlling device of sewing machine electromotor and its controlling method Download PDFInfo
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- CN1699665B CN1699665B CN 200510074643 CN200510074643A CN1699665B CN 1699665 B CN1699665 B CN 1699665B CN 200510074643 CN200510074643 CN 200510074643 CN 200510074643 A CN200510074643 A CN 200510074643A CN 1699665 B CN1699665 B CN 1699665B
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Abstract
The invention provides a controlling device (25) of a sewing machine electromotor for controlling the sewing machine electromotor (40) driven by a sewing machine main shaft (7), which comprises a coding unit for outputting a code pulse when the main shaft (7) rotates with a small defined angle every time, a speed detecting unit for receiving code pulses from the coding unit and detecting the rotary speed of the sewing machine electromotor (40) and a control unit. The control unit receives the output of the coding unit and the speed detecting unit, decelerates the sewing machine electromotor (40) for stopping the main shaft (7) at a defined objective stopping position, reduces the rotary speed of the sewing machine electromotor (40) lower than the specified value. When the main shaft (7) rotates with a defined angle, a control signal of a drive pulse is output to the sewing machine electromotor.
Description
Technical field
The present invention relates to the control device and the control method thereof of sewing machine electromotor, particularly relate to control device and control method thereof that the rotation that makes the sewing machine electromotor after the sewing finishing stops at the target stop position accurately.
Background technology
In the past, in various Sewing machiness such as embroidery machine and sewing machine for covering chain stitch, sewing machine electromotor often constituted with brushless motor, and in making, to make motor speed be that setting speed ground carries out drive controlling while carry out FEEDBACK CONTROL.On the other hand, being formed on operation makes under the situation that shutdown switch stops making and can make needle bar stop at the locational structure of the top when sewing machine electromotor is stopped the rotation controlling.
The Sewing needles position retentive control device of putting down in writing in No. 2653567 communique of Japan Patent for example, have in its electromotor control circuit the digitalized electric machine drive current limits value signal that comes according to motor control unit generate simulating motor drive current limits value signal the D/A converter, carry out the electric current restriction so that the motor current detected value is no more than the motor driver of the power that the current limit circuit of limits value signal and output provides motor.And, in the said apparatus, formation can be under situation about having driven at motor, or under the driving that the makes sewing machine electromotor situation about stopping, whenever from the pulse of encoder input coding, just calculate and ask the limits value signal that uses before next coded pulse input, carry out Current Control, interimly so that the motor current detected value is no more than the structure of this limits value signal.
But, in the Sewing needles position retentive control device of above-mentioned communique record, along with sewing finishing makes under the situation that motor stops to drive, though determined the target stop position that the position on pin is in for example stops sewing machine electromotor, but because driving factors such as the pivoting friction of main shaft and inertia have fluctuation, and the difference of outside air temperature also causes the viscous resistance difference of lubricating oil, and the precision that therefore will improve stop position is unusual difficulty.
Therefore consider finally to make sewing machine electromotor stop excitation, set lower sewing machine electromotor rotating speed, enlarge the structure of the electric current restricted area of the control object that carries out speed feedback.But, whenever from the pulse of encoder input coding, just calculate and ask the limits value signal that uses before next coded pulse input, carry out Current Control interimly, so that the motor current detected value is no more than under the situation of this limits value signal, particularly under the situation of low speed, the pulse spacing of encoder is elongated, and therefore the state of affairs that current value can not change before next coded pulse input has taken place.Therefore substantially exceed the situation of the overshoot of target stop position.
Particularly moment utilizes the line cut-off machine structure to cut off sewing thread and under the situation about stopping after the sewing machine electromotor overshoot before stopping, because the rising of crossbeam moves, cuts off the length weak point of the length of the last thread end line behind the sewing thread than regulation.Therefore exist the problem that the end of a thread is deviate from from the Sewing machines pin hole takes place when sewing beginning next time easily.And the electric current register also is set in order to carry out Current Control, therefore there is problems such as raising the motor drive circuit price.
Summary of the invention
The objective of the invention is to, the target stop position that can make sewing machine electromotor stop at regulation is provided, and can simplifies circuit structure, can realize the control device and the control method thereof of the sewing machine electromotor of low price.
The control device of sewing machine electromotor of the present invention, it is the control device that machine spindle is rotated the sewing machine electromotor of driving, possess: whenever the low-angle of main axis rotation regulation coding unit with regard to the output encoder pulse, from the pulse of coding unit received code, detect the speed detection unit of the rotary speed of sewing machine electromotor, and the output of received code unit and speed detection unit, sewing machine electromotor is slowed down and the rotary speed of sewing machine electromotor is reduced under the state smaller or equal to setting, control module to the control signal of a driving pulse of sewing machine electromotor output just takes place in the angle that the every rotation of main shaft is set.
Preferably under the situation of said structure, make the driving pulse of its generation with described control module, comprise intensity and excitation direction corresponding to the differential seat angle of the current location of described main shaft and target stop position.
Again, the control signal of driving pulse under the differential seat angle of the current location of main shaft and target stop position is state smaller or equal to setting value, takes place not export with regard to described control module in preferably such structure.
And better is near described target stop position, to set the insensitive zone that control signal does not take place described control module.
And form described control module the prescribed limit of the front and back of target stop position is divided into a plurality of zones, the structure of the control signal of the identical driving pulse of output can take place in each zone.
And better be to form such structure, promptly described control module just can be exported the structure of control signal whenever receiving coded pulse.
Also have, preferably such structure, promptly described control module can begin to make the control of described control signal generation along with the end of making action, passes through thereafter after the official hour, ends the structure of described control.
On the other hand, the control method of sewing machine electromotor of the present invention, it is the control method that rotation drives the sewing machine electromotor of machine spindle, set in advance whenever the low-angle of main axis rotation regulation coding unit with regard to the output encoder pulse, and from the pulse of described coding unit received code, detect the speed detection unit of the rotary speed of sewing machine electromotor, and receive the output of described coding unit and speed detection unit, control, to be reduced in the rotary speed that makes sewing machine electromotor deceleration and sewing machine electromotor for the target stop position that makes main shaft stop at regulation under the state smaller or equal to setting, the angle that the every rotation of main shaft is set is just to driving pulse of sewing machine electromotor output.
And, under the situation of said method, form and to make when described driving pulse takes place, make it comprise intensity and excitation direction corresponding to the differential seat angle of the current location of main shaft and target stop position.
Description of drawings
Fig. 1 is the stereogram of the embroidery machine of one embodiment of the invention.
The block diagram of the control system of Fig. 2 embroidery machine.
Fig. 3 is the chart of the data of expression magnetic field intensity excitation direction table.
Fig. 4 is the key diagram that makes the coded pulse position of rotation zone corresponding with the phase angle.
Fig. 5 is the control flow chart of sewing machine electromotor.
Fig. 6 is the flow chart that stops processing controls of sewing machine electromotor.
Fig. 7 is the flow chart of direction of rotation determination processing control.
Fig. 8 is the flow chart of direction of rotation determination processing control.
Fig. 9 is the key diagram with the output state of the synchronous driving pulse of coded pulse.
Figure 10 makes the stop position of machine spindle lingeringly stop at the key diagram that stops to control of target stop position.
Figure 11 makes the stop position of machine spindle stop at the key diagram that stops to control of target stop position ahead of time.
Concrete example
Followingly just be used in an embodiment of embroidery machine with reference to accompanying drawing the present invention will be described.At first, according to Fig. 1 the embroidery machine M that sews that can embroider is carried out simple explanation.This embroidery machine M is and the identical Sewing machines of Sewing machines of common domestic electronic control, have base portion 1, erect the socle portion 2 that is provided with in the right part of base portion 1 and extend left from socle portion 2 upper ends the arm 3 relative with Sewing machines base portion 1.
Feeding tooth up-down mechanism (not shown) that the feeding tooth is moved up and down is set on the base portion 1, makes feeding tooth that the feeding tooth moves thereafter motion (not shown) and hold under thread bobbin (bobbin) thereafter, with the wire loop catcher (for example horizontal shuttle) of Sewing needles 6 co-operatings, thread cutting mechanism etc.The ROM card 9 that forms pattern data (stitch data and the pattern displaying data) usefulness will write down a plurality of patterns that selectivity appends on the side of socle portion 2 is connected in the card slotted eye 2a of card connector 13 (with reference to Fig. 2) usefulness of inside.
The machine spindle 7 in the left and right directions extension that is rotated driving with sewing machine electromotor 40 is set on arm 3, by the operator this machine spindle 7 is carried out the manual pulley 8 that manual operation can make its rotation, the needle bar driving mechanism that needle bar 5 that Sewing needles 6 is installed in the lower end is moved up and down, the needle bar head motion (diagram is omitted) that needle bar 5 is shaken on the direction perpendicular to the cloth feeding direction, and make the crossbeam driving mechanism that moving up and down of crossbeam and needle bar 5 move up and down synchronously (diagram is omitted) etc.
Also have, feeding tooth up-down mechanism and the utilization of needle bar up-down mechanism are driven by the main shaft 7 that sewing machine electromotor 40 is rotated driving, and the needle bar head motion shakes with stepping motor 41 (with reference to Fig. 2) drive with needle bar, simultaneously, the feeding tooth seesaws mechanism with driving before and after the feeding tooth with stepping motor 42 (with reference to Fig. 2) drive.
The startup shutdown switch 12 of the startup and the halt instruction of making operation is set on the head 4 of arm 3.Large colour LCD (being designated hereinafter simply as " color monitor ") 10 is set on the front surface of arm 3, on this color monitor 10, shows various pattern of stitches and various function titles such as practical pattern and embroidery pattern to also have pattern and various information etc.On the front surface of this color monitor, make the display position difference correspondence of the function title of a plurality of embroidery patterns, pattern name and presentation function, the membrane keyboard 11 that transparency electrode is constituted is set to rectangular.
Under the situation of this structure, provide the selection of the desirable embroidery pattern of making and function indication just can realize corresponding to the membrane keyboard 11 of these embroidery patterns and function title by pressing operation.Left end side at base portion 1 partly sets the free base portion 1a that is generally called free arm, installs on this free base portion 1a and removably stings tabouret driving mechanism 15.
Forming in above-mentioned thorn tabouret driving mechanism 15 can be independent of respectively stinging the structure that tabouret 16 drives on directions X (left and right directions) and Y direction (fore-and-aft direction).Be contained in just on thorn tabouret driving mechanism 15, being provided with the Y direction driving mechanism that drives thorn tabouret 16 on the Y direction Y direction drive division 17, directions X (left and right directions) to its directions X driving mechanism that drives, drive the Y that X that directions X drives mechanism sends motor 18 (with reference to Fig. 2) to and drive Y direction driving mechanism and send motor 19 (with reference to Fig. 2) to.
In case thorn tabouret driving mechanism 15 is installed on the free base portion 1a, as shown in Figure 2, X sends motor 18 and Y to and sends motor 19 to and be electrically connected by the output interface of connector 14 with the control device 25 of embroidery machine M.By means of this, formation X and Y send motor 18,19 to and can utilize control device 25 independently to control the structure of driving.
Again, as shown in Figure 1, fixing position of rotation check-out console 20 on machine spindle 7 is provided with the position of rotation detecting sensor 21 (with reference to Fig. 2) that the position of rotation test section to this position of rotation check-out console 20 detects.On the position of rotation test section of position of rotation check-out console 20 every the regulation the radial formation in interval for example 720 slits as resolution ratio.Also have, the brushless motor (threephase motor) of 2 utmost points, 3 coils constitutes sewing machine electromotor 40 by for example using, and the Magnetic Sensor of the position of rotation of three detection rotors is set.This sewing machine electromotor 40 utilizes the converter circuit beyond the diagram to carry out the current switching (change of current driving) of stator side coil, is rotated driving with this.
Above-mentioned position of rotation detecting sensor 21 forms whenever machine spindle rotates the structure of low-angle 0.5 degree of regulation with regard to the output encoder pulse.And sewing machine electromotor 40 forms a plurality of coded pulses according to above-mentioned position of rotation detecting sensor 21 outputs, utilizes the Motor Drive control program to carry out the structure of drive controlling.Utilize position of rotation check-out console 20 and position of rotation detecting sensor 21 etc. to constitute coding unit here.
Therefore, be formed under the situation of machine spindle 7 rotation, whenever 0.5 ° of rotation just to counting from the coded pulse of position of rotation detecting sensor 21 outputs, whenever machine spindle 7 rotations once, just with the structure of count value " 720 " zero clearing counted.Here, if the rotatable phase angle of the machine spindle 7 when being in uppermost position in fig-ure with needle bar 5 is 0 °, the target stop position that sewing machine electromotor 40 is stopped is about 50 °, and needle bar 5 moves down from uppermost position in fig-ure, and crossbeam is in the rising moving process.
Control system to embroidery machine M describes below, as shown in Figure 2, control device 25 have input interface 26, comprise CPU27, the computer of ROM28, RAM29 and the non-volatile flash memory device 30 that can rewrite with electric means, output interface 31, with buses such as their interconnective data/address bus 32 and drive circuit 33～36 etc.
Connecting on the input interface 26 and starting shutdown switch 12, membrane keyboard 11, the position of rotation (position of rotation of machine spindle 7) that detects sewing machine electromotor 40 and the position of rotation detecting sensor 21 of rotary speed etc.
The X that is connecting the display controller (LCDC) 43 of drive circuit 33～35, color monitor (LCD) 10 usefulness of motor 40～42 usefulness and thorn tabouret driving mechanism 15 on the output interface 31 sends the drive circuit 36 that motor 18 and Y send motor 19 usefulness to.Again, the ROM9a of ROM card 9 is directly connected in bus 32 by connector 13.
Store to comprise in advance among the ROM28 various driving mechanisms are driven, the pattern that practical pattern and embroidery pattern are selected is selected the control program of making that control and various demonstration control simultaneously, also have, the speed that the control program of the distinctive sewing machine electromotor control of the application, the rotary speed of sewing machine electromotor 40 detect usefulness detects control program (this is equivalent to speed detection unit) etc.
In ROM28, and for example shown in Figure 3, storage tape intensity excitation direction table in advance.In this magnetic field intensity excitation direction table, storage direction of rotation last time and again last time direction of rotation and corresponding near a plurality of position of rotation zone the target stop position, drive the kind of the control signal that the driving pulse of the sewing machine electromotor 40 that brushless motor constitutes uses.
Here a plurality of position of rotation zone is described.As shown in Figure 4, comprise target stop position " 50 ° " ± " target area " is set in 1 ° of scope, 2 ° scope is provided with " 1 zone " and "+1 zone " respectively before and after it, 7 ° scope is provided with " 2 zone " and "+2 zone " respectively before and after it, is " object is outer " beyond this.
Below the kind of control signal is carried out simple declaration.As excitation direction, indicate along direction (F) as excitation direction with current value I 2 by thick arrow " → " to the right with the suitable direction (F) of current value I 1 indication for thin arrow " → " to the right.On the other hand, as excitation direction, thick arrow " ← " left indicates opposite direction (R) as excitation direction with current value I 2 to thin arrow " ← " left with current value I 1 indication opposite direction (R).But, the position that in the part in " target area ", " 1 zone " and "+1 zone ", is printed on " OFF ", being provided with will be to the insensitive zone that the control signal of sewing machine electromotor 40 output driving pulses is exported.
Here, so-called suitable direction (F) is meant the normal direction of rotation of sewing machine electromotor 40, and so-called contrary direction (R) is meant the direction of rotation opposite with the normal direction of rotation of sewing machine electromotor 40.Again, its size of current value I 1 be for can bringing the size that receives the revolving force till the next coded pulse, even current value I 2 is the size of the revolving force that receives next coded pulse and yet bring.Therefore, the relation that has current value I 1＜current value I 2.Also have,, storage is set as required carries out the various memories of the operation result of calculation process, pointer, counter etc. with CPU47 at RAM49.
According to the flow chart of Fig. 5, the content to the sewing machine electromotor of carrying out with control device 25 is controlled comprises that the control method of sewing machine electromotor 40 describes below.But, the symbol Si (i=11,12,13 among the figure ...) represent each number of steps.
In case connect power supply by the power switch operation, just begin to carry out this control, at first, being set by the user provides the pattern of making, in case carry out conducting operation (S11:Yes) to starting shutdown switch 12, sewing machine electromotor 40 just is driven (S12).At this moment, this sewing machine electromotor 40 is driven, and makes work of treatment.Make in the processing at this,, make control, make it reach predefined sewing speed according to per 0.5 ° coded pulse of position of rotation detecting sensor 21 outputs.
But, if stop (OFF) operation (S13:Yes) to starting shutdown switch 12 in order to stop making work of treatment, just carrying out slows down handles (S14, S15:No), drops to (for example 50rpm) below the fixing speed up to the rotary speed of sewing machine electromotor 40.Here, be formed in the process of carrying out this decelerations processing, decelerate to moment of about 200rpm, the structure that can utilize this thread cutting mechanism (not shown) simultaneously top and bottom lines to be cut off in the rotary speed of sewing machine electromotor 40.
And in case the rotating speed of sewing machine electromotor 40 reduces to about 50rpm (S15:Yes), slowing down to handle just stops (S16), and (S17) carried out in the processing (with reference to Fig. 6) that stops of sewing machine electromotor 40.Once you begin carry out this and stop processing controls, at first software timer is set official hour (for example about 1 second) (S21).Then, according to a plurality of coded pulses that position of rotation detecting sensor 21 provides, carry out computing and obtain current position of rotation (P0) (S22).In this case, needle bar 5 reaches uppermost position in fig-ure (0 °), and the calculated value of coded pulse just resets whenever reaching " 720 ", and therefore, current position of rotation (P0) can utilize the count value of coded pulse to try to achieve.
Then, current position of rotation (P0) is stored in position of rotation memory last time (S23), this current position of rotation (P0) also is stored in position of rotation memory last time (S24) again.
Then,, the situation (S25:No) that equates of next coded pulse be not provided, and is being (S31:No) under the situation that time is up, carrying out S25～S31 repeatedly current position of rotation (P0) and position of rotation last time (P1) contrast.On the other hand, the situation that obtains providing in the later coded pulse of the next one, and be under current position of rotation (P0) situation different with position of rotation last time (P1) (S25:Yes), carry out determination processing (with reference to Fig. 7) that the direction of rotation of sewing machine electromotor 40 is judged (S26).
The control of this determination processing Once you begin, at first, current position of rotation (P0) than the big situation of last position of rotation (P1) under, just along under the situation of direction rotation (S41:Yes), and be last position of rotation (p1) the ratio big situation of position of rotation last time (P2) again, just along under the situation of direction rotation (S42:Yes), direction of rotation be " F " in last time again, and judgement be last time " F " (S43).
In contrast, position of rotation last time (P1) than the situation that position of rotation last time (P2) is little again under, just under the situation that opposite direction returned (S42:No), the direction of rotation that is judged to be again last time is " R ", and, last time be " F " (S44).
On the other hand, under the situation of current position of rotation (P0) less than position of rotation last time (P1), just, under the situation that opposite direction is returned (S41:No), and be under position of rotation last time (P1) the ratio situation that position of rotation last time (P2) is big again, just under the situation of rotating along direction (S45:Yes), the direction of rotation that is judged to be again last time is " F ", and, last time be " R " (S46).Again, under the situation of position of rotation last time (P1) less than position of rotation last time (P2) again, just under the situation that opposite direction is returned (S45:No) is judged to be the last time direction of rotation again and is " R ", and last time be " R " (S47).
Then, stopping in the control (with reference to Fig. 6) of sewing machine electromotor 40, the position of rotation determination processing (with reference to Fig. 8) which position of rotation zone position of rotation that carry out to judge machine spindle 7 belongs to (S27).Once you begin carry out the control of this position of rotation determination processing, at first, at current position of rotation (P0) be " position of rotation C in the way≤(P0) ", and under the situation of " (P0)＜figure in position of rotation Z " position of rotation in addition (S51～S55:No), the position of rotation zone is set at " object is outer " and (S61), finishes this control.
On the other hand, current position of rotation (P0) greater than about 40 ° way in position of rotation C, and less than under the situation of position of rotation B in about 47 ° way (S51:Yes), the position of rotation zone is set at " 2 zone " (S56), and this control is finished.Again, current position of rotation (P0) more than or equal to figure in position of rotation " B ", and than (S52:Yes) under the situation that position of rotation A is little in about 49 ° way, the position of rotation zone is set at " 1 zone " (S57), and this control is finished.
Again, current position of rotation (P0) more than or equal to figure in position of rotation " A ", and than (S53:Yes) under the situation that position of rotation X is little in about 51 ° way, the position of rotation zone is set at " target area " (S58), and this control is finished.Again, current position of rotation (P0) more than or equal to figure in position of rotation " X ", and than (S54:Yes) under the situation that position of rotation Y is little in about 53 ° way, the position of rotation zone is set at "+1 zone " (S59), and this control is finished.Again, current position of rotation (P0) more than or equal to figure in position of rotation " Y ", and than (S55:Yes) under the situation that position of rotation Z is little in about 60 ° way, the position of rotation zone is set at "+2 zone " (S60), and this control is finished.
Then, stopping in the control (with reference to Fig. 6) of sewing machine electromotor 40, the position of rotation that direction of rotation of trying to achieve according to S26 and S27 try to achieve, the size (intensity in magnetic field) and the excitation direction of decision current value I output to drive circuit 33 with the size of this current value I of indication and the control signal of excitation direction.Consequently just carry out (S28) to sewing machine electromotor 40 outputs with the pulse of control signal corresponding driving in the extremely short time from drive circuit 33.
Then, position of rotation last time (P1) is stored in position of rotation memory last time (S29) as position of rotation last time (P2) more again, and current position of rotation (P0) is stored in position of rotation memory last time (S30) as position of rotation last time (P1).At this moment, under the situation about not arriving in the time (S31:No), carry out S25～S31 repeatedly, still, under the situation about arriving in the time (S31:Yes), make this control finish to return the S11 of sewing machine electromotor control.
For example, making the processing position of rotation that the current position of rotation (P0) when decelerating to fixing speed is corresponding when finishing regional is " 2 zone ", and the direction of rotation of last time is along square F, and also be along under the situation of direction F in the direction of rotation of last time, as shown in Figure 9, according to the field drives excitation direction table of Fig. 3, when receiving coded pulse, serves as the driving pulse KP of suitable direction F to sewing machine electromotor 40 with current value I 1 output excitation direction, and output time is for example 1/1000 second.
Therefore, utilize these driving pulses KP1, KP2, KP3, KP4 ... synchronously repeatedly drive sewing machine electromotor 40 with coded pulse with the utmost point short time, so the rotary driving force of sewing machine electromotor 40 is also little (though the size that stops that preventing in this zone is promptly arranged under the non-stop state of rotation, but do not have greatly to the degree that rotary speed is increased), therefore, the rotation of sewing machine electromotor 40 slowly stops.
Thereafter, switch under the situation in " 1 zone " in the position of rotation zone corresponding with current position of rotation P0, magnetic field intensity excitation direction table according to Fig. 3, be the insensitive zone of " OFF " indication, so be not output to drive circuit 33 to the control signal of sewing machine electromotor 40 output driving pulses.And even under the situation that switches to " target area ", owing to be the insensitive zone of " OFF " indication, control signal from driving pulses to sewing machine electromotor 40 that export is not output to drive circuit 33 yet.
Consequently, as shown in figure 10, even stop under (shown in two-dot chain line) such situation, also can intermittently prevent the decline of rotary speed, and sharply descend in " 1 zone " and " target area " rotating speed in " 2 zone " in the time more Zao than target stop position.By means of this, can prevent reliably that current position of rotation (P0) to "+1 zone " and "+2 zone " overshoot, can make machine spindle 7 stop on about 50 ° target stop position reliably.
On the other hand, making the processing position of rotation that the current position of rotation (P0) when decelerating to fixing speed is corresponding when finishing regional is "+1 zone ", and the direction of rotation of last time is along direction F, the direction of rotation of last time also is along under the situation of direction F again, magnetic field intensity excitation direction table according to Fig. 3, when receiving coded pulse, serve as the driving pulse KP of opposite direction R to sewing machine electromotor 40 with current value I 2 output excitation direction, output time only is for example 1/1000 second.
Therefore, as shown in figure 11, utilize these driving pulses KP1, KP2, KP3, KP4 ... synchronously repeatedly drive sewing machine electromotor 40 with coded pulse with the utmost point short time, so but the rotary driving force of sewing machine electromotor 40 can make rotation stop not quite (though promptly be the power that rotation is stopped rapidly rapidly, but do not have greatly to making the reverse degree of rotation), therefore big overshoot can not take place, the rotation of sewing machine electromotor 40 can roughly (also can be+1 zone) to stop near the target stop position just.Also have, under the situation of above-mentioned control, sometimes the rotary speed of sewing machine electromotor 40 is negative velocity (being reverse rotation), still, when such reverse rotation, also big overshoot can not take place.
Like this, the sewing machine electromotor 40 that constitutes at the brushless motor that the machine spindle 7 that makes embroidery machine 1 is rotated driving carries out under the situation of drive controlling, the prescribed limit of the front and back of target stop position (50 °) is divided into (1 zone, a plurality of position of rotation zone,-2 zones, the target area, + 1 zone, + 2 zones), along with the termination of making processing, for machine spindle 7 is stopped on the target stop position of regulation, form such structure, the rotating speed of sewing machine electromotor 40 is slowed down, under the state that reaches below the setting (50rpm), about 0.5 ° of machine spindle 7 every rotations, just according to the current location of machine spindle 7 and the differential seat angle between the target stop position, to sewing machine electromotor 40 outputs corresponding to the zone of the position of rotation under the current position of rotation with reached the magnetic field intensity of the direction of rotation of last time (current value I 1 again last time, I2) and the driving pulse of excitation direction (along direction F or contrary direction R).It is still little again to make the rotary driving force of sewing machine electromotor 40 be able to make rotation to be in non-stop state with this, therefore, the rotation of sewing machine electromotor 40 slowly stops, can do one's utmost to prevent that the position deviation with the target stop position is too big, machine spindle 7 is stopped on the target stop position accurately.That is to say that the driving of sewing machine electromotor 40 utilizes the pulse type excitation to carry out, therefore, sewing machine electromotor 40 rotate to be low velocity, even the interval of coded pulse is long, also can prevent the generation of overshoot reliably.
And, sewing machine electromotor 40 is opened ground, loop to be controlled, can avoid position deviation with the target stop position of sewing machine electromotor 40, therefore, even moment utilizes thread cutting mechanism to carry out under the situation of trimming before sewing machine electromotor 40 stops, also can fully guarantee the line amount of the last thread end behind the trimming, so line is deviate from from pin hole can prevent to sew beginning reliably the time next time.And, carry out drive controlling owing to open ground, loop, there is no need to be provided with the current detector that Current Control is used, can form motor drive circuit with simple structure, and can reduce cost.
Again, after the control that control signal is taken place along with the end of making action begins, the time to after stop this control, therefore under the state that sewing machine electromotor 40 stops, through official hour, can carry out the rotary manipulation of machine spindle 7 at an easy rate and not have any problem at this moment user's manual operation manual pulley 8.
Variation to the foregoing description describes below.
Position of rotation check-out console 20 can be arranged on the inside of sewing machine electromotor 40, can adopt the structure with various resolution ratio of the slit of the number that forms more than 720 or the number below 720 again.
Again, near target stop position (about 50 °), 5 position of rotation zones are set, still, also can adopt the structure that the zone more than 6 or 6 is set, can form the structure that each regional scope is also used arbitrarily angled formation again.
Also have, in magnetic field intensity excitation direction table shown in Figure 3, not two kinds of current value I 1, the I2 that magnetic field takes place to produce, can to make current value be certain value but can form, and the size of the pulse width of the driving pulse current value when it is changed prolonged with being directly proportional the structure of (making its change).
And, in magnetic field intensity excitation direction table shown in Figure 3, set the current value I that magnetic field is used takes place more than three kinds or three kinds, and can be according to last time and the direction of rotation of last time again, it is strong more to be set at about wide stop position, weak more the closer to the target stop position.
On the other hand, also can adopt the insensitive zone that magnetic field will not take place only to be defined in the structure that " target area " set.
Again, stopping in the processing controls of sewing machine electromotor, the S21 that also can adopt at Fig. 6 is set in the structure that the time value of software timer can be set arbitrarily according to the thickness and the kind of the line of the size of the rotary load that acts on machine spindle 7, use by the user.
And, the present invention can be used in embroidery machine various Sewing machiness such as sewing machine for covering chain stitch in addition.
The those of ordinary skill of the industry the invention is not restricted to the embodiment of above explanation, so long as just can the present invention includes these variation in the scope that does not break away from purport of the present invention to the additional various distortion of the foregoing description.
Claims (14)
1. the control device of a sewing machine electromotor is the control device that machine spindle is rotated the sewing machine electromotor of driving, it is characterized in that possessing
Whenever the low-angle of described main axis rotation regulation with regard to the coding unit of output encoder pulse,
From the pulse of described coding unit received code, detect sewing machine electromotor rotary speed speed detection unit and
Receive the output of described coding unit and speed detection unit, sewing machine electromotor is slowed down and the rotary speed of sewing machine electromotor is reduced under the state smaller or equal to setting, receive described coded pulse whenever the low-angle of the described regulation of main axis rotation, the control module of the control signal of a driving pulse being made of current value to sewing machine electromotor output with the small time just takes place.
2. the control device of sewing machine electromotor according to claim 1 is characterized in that,
The driving pulse that utilizes described control module to take place, the direction of rotation of obtaining last time according to the current location and the previous position of described main shaft, obtain the direction of rotation of last time according to previous position and previous position again, described driving pulse comprises based on the direction of rotation of last time and the described current value and the excitation direction of the direction of rotation of last time more again.
3. the control device of sewing machine electromotor according to claim 1 is characterized in that,
The control signal of driving pulse takes place not export in described control module under the differential seat angle of the current location of main shaft and target stop position is state smaller or equal to setting value.
4. the control device of sewing machine electromotor according to claim 2 is characterized in that,
The control signal of driving pulse takes place not export in described control module under the differential seat angle of the current location of main shaft and target stop position is state smaller or equal to setting value.
5. the control device of sewing machine electromotor according to claim 3 is characterized in that,
Near described target stop position, set the insensitive zone that described control signal does not take place described control module.
6. the control device of sewing machine electromotor according to claim 4 is characterized in that,
Near described target stop position, set the insensitive zone that described control signal does not take place described control module.
7. the control device of sewing machine electromotor according to claim 2 is characterized in that,
Described control module is divided into a plurality of zones with the prescribed limit of the front and back of described target stop position, and the control signal of the identical driving pulse of output takes place in each zone.
8. the control device of sewing machine electromotor according to claim 3 is characterized in that,
Described control module is divided into a plurality of zones with the prescribed limit of the front and back of described target stop position, and the control signal of the identical driving pulse of output takes place in each zone.
9. the control device of sewing machine electromotor according to claim 4 is characterized in that,
Described control module is divided into a plurality of zones with the prescribed limit of the front and back of described target stop position, and the control signal of the identical driving pulse of output takes place in each zone.
10. the control device of sewing machine electromotor according to claim 5 is characterized in that,
Described control module is divided into a plurality of zones with the prescribed limit of the front and back of described target stop position, and the control signal of the identical driving pulse of output takes place in each zone.
11. the control device of sewing machine electromotor according to claim 6 is characterized in that,
Described control module is divided into a plurality of zones with the prescribed limit of the front and back of described target stop position, and the control signal of the identical driving pulse of output takes place in each zone.
12. the control device according to each described sewing machine electromotor of claim 1 to 11 is characterized in that,
The control that described control signal takes place along with the end of making action begins to make of described control module is passed through thereafter after the official hour, ends described control.
13. a control method of rotating the sewing machine electromotor that drives machine spindle is characterized in that,
Set in advance low-angle whenever described main axis rotation regulation with regard to the coding unit of output encoder pulse and from the pulse of described coding unit received code, detect the speed detection unit of the rotary speed of sewing machine electromotor,
Receive the output of described coding unit and speed detection unit,
Control, to be reduced in the rotary speed that makes sewing machine electromotor deceleration and sewing machine electromotor for the target stop position that makes main shaft stop at regulation under the state smaller or equal to setting, receive described coded pulse whenever the low-angle of the described regulation of described main axis rotation, just a driving pulse that constitutes by current value to sewing machine electromotor output with the small time.
14. the control method of sewing machine electromotor according to claim 13 is characterized in that,
Control, make when described driving pulse takes place, the direction of rotation of obtaining last time according to the current location and the previous position of described main shaft, obtain again the direction of rotation of last time according to previous position and previous position again, described driving pulse is comprised based on the direction of rotation of last time and the described current value and the excitation direction of the direction of rotation of last time again.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004149101A JP2005328972A (en) | 2004-05-19 | 2004-05-19 | Device and method for controlling sewing machine motor |
| JP2004-149101 | 2004-05-19 | ||
| JP2004149101 | 2004-05-19 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1699665A CN1699665A (en) | 2005-11-23 |
| CN1699665B true CN1699665B (en) | 2011-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510074643 Expired - Fee Related CN1699665B (en) | 2004-05-19 | 2005-05-19 | Controlling device of sewing machine electromotor and its controlling method |
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| JP (1) | JP2005328972A (en) |
| CN (1) | CN1699665B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8571394B2 (en) | 2008-09-16 | 2013-10-29 | Kelsey-Hayes Company | Method and apparatus for controlling the position of an electric motor |
| JP5408950B2 (en) * | 2008-10-10 | 2014-02-05 | Ｊｕｋｉ株式会社 | Sewing machine motor control device |
| JP2018186894A (en) * | 2017-04-28 | 2018-11-29 | Juki株式会社 | sewing machine |
| CN108866833B (en) * | 2018-08-09 | 2020-12-15 | 杰克缝纫机股份有限公司 | Automatic sewing device and automatic sewing equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1283892A (en) * | 1999-08-10 | 2001-02-14 | 重机公司 | Controller of sewing machine motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1283892A (en) * | 1999-08-10 | 2001-02-14 | 重机公司 | Controller of sewing machine motor |
Non-Patent Citations (6)
| Title |
|---|
| JP平4-14U 1992.01.06 |
| JP特开2000-70582A 2000.03.07 |
| JP特开平6-205888A 1994.07.26 |
| JP特开平8-150278A 1996.06.11 |
| JP特开平9-140976A 1997.06.03 |
| JP特开平9-28966A 1997.02.04 |
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| CN1699665A (en) | 2005-11-23 |
| JP2005328972A (en) | 2005-12-02 |
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