CN1794561A - Motor operation control method of electron pattern machine - Google Patents

Abstract

The invention discloses a motor motion control method for an electronic pattern machine, which is used for the coordinated control of the multi-axis motor system of the electronic pattern machine. The method includes the following steps: 1) After each axis returns to the zero point, the main shaft Z servo motor starts to move from the zero position (1) at an initial speed; 2) When the control system monitors that the main shaft Z servo motor moves to the B position (2) , the system automatically adjusts the movement speed of the spindle Z servo motor from B position (2)→zero position (1) according to the maximum step distance moved by the X-axis stepping motor and Y-axis stepping motor, and the step distance ranges from 0.1mm to 12.7mm; 3) When the control system monitors that the spindle Z servo motor reaches the zero position (1), change the speed of the spindle Z servo motor, and the speed switching time does not exceed 1ms; 4) Repeat steps 2 and 3 until the end of sewing one stitch. Since the method of the invention realizes the non-stop speed switching, the average sewing speed is increased from 600-800 stitches/min in the prior art to 2000 stitches/min.

Description

Electronic pattern machine motor motion control method

technical field

The invention relates to a control method for an electronic pattern machine, in particular to a motor motion control method for the electronic pattern machine.

Background technique

The electronic pattern machine is a typical high-speed industrial sewing equipment that adopts three-axis linkage. There are two main methods of three-dimensional motor cooperative motion control, namely, the full mutual exclusive interpolation cooperative motion control method and the semi-mutual exclusive position monitoring cooperative motion control method. .

Full mutual exclusion interpolation cooperative motion control method. The literature "Research on CNC high-speed and high-precision motion control methods, Tang Zhibin, Tang Xiaoqi, Li Bin, "Design and Research" 2003 No. 3" introduced a control method that uses multi-axis interpolation to control the coordinated motion of multi-axis mechanisms. The most obvious advantage of the method is that the sewing stitches are uniform; but the disadvantages are that the main shaft repeatedly starts and stops during the sewing process, which has a large impact on the machine, high noise, and the average sewing speed can only reach 600 stitches/min.

The document "Richpeace Brand Computerized Embroidery Machine Working Principle, Zhao Yanwen, Wu Shilin, Fang Xiaochu, "Journal of Wuhan Institute of Science and Technology" 2000.612 Volume 6" introduces a semi-mutually exclusive position monitoring cooperative motion control method. The control method is that the main shaft Z servo motor moves at a constant speed during the sewing process. The control system monitors the angle of the main shaft Z servo motor at all times to control the movement of the X-axis stepping motor and the Y-axis stepping motor that drive the cloth press frame. The advantage is to avoid The spindle Z servo motor starts and stops repeatedly during the sewing process, which has little mechanical impact and low noise. The disadvantage is that the movement speed of the spindle Z servo motor is limited by the movement of the X-axis and Y-axis stepping motors, and the average sewing speed is also low. It can only reach 800 stitches per minute, and there will be uneven sewing stitches.

Contents of the invention

In order to overcome the deficiency of low sewing speed in the prior art, the invention provides a motor motion control method for an electronic pattern machine. Under the same hardware conditions as the existing technology, the sewing speed is increased by more than 2 times, and the uniform stitches can be guaranteed.

The method adopted by the present invention to solve the problems of the technologies described above mainly comprises the following steps:

1) After each axis returns to the zero point, the spindle Z servo motor starts to move from the zero point position 1 at the initial speed;

2) When the control system detects that the spindle Z servo motor moves to B position 2, the system automatically adjusts the spindle Z servo motor from B position 2→ according to the maximum step distance moved by the X-axis stepping motor and Y-axis stepping motor The movement speed at zero position 1, the step range is 0.1mm～12.7mm;

3) When the control system monitors that the spindle Z servo motor reaches the zero position 1, change the speed of the spindle Z servo motor, and the speed switching time does not exceed 1ms;

4) Repeat steps 2 and 3 until the last stitch is finished.

The beneficial effect of the present invention is: because the method of the present invention realizes the non-stop speed switching, the movement of the spindle Z servo motor is not limited to the movement of the X-axis stepping motor and the Y-axis stepping motor, and the average sewing speed From 600 to 800 stitches/min in the prior art to 2000 stitches/min, the maximum sewing speed can reach 3000 stitches/min when the step distance is less than 0.3mm. In addition, this method also has the adaptive feature of "speed-needle distance", which ensures the uniformity of the stitches of the sewing pattern.

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional motor coordinated motion process of the electronic pattern machine motor motion control method of the present invention

Fig. 2 is a flow chart of the electronic pattern machine motor motion control method of the present invention

Fig. 3 is the motion trajectory of three axes when a curve is sewn by the electronic pattern machine motor motion control method of the present invention

In the figure, 1-zero position; 2-B position; 3-cloth; Dmax represents the maximum step distance moved by the X-axis stepping motor and Y-axis stepping motor in the sewing data of one stitch.

Detailed ways

Referring to Figures 1 to 3, the initial parameters are shown in Table 1. In the design, a movement cycle of the spindle Z servo motor is divided into two stages: the X-axis stepping motor, the Y-axis stepping motor, and the Z-axis servo motor in the first stage. The motors move at the same time, but the speed of the spindle Z servo motor is limited by the X-axis stepping motor and the Y-axis stepping motor; in the other stage, the movement of the spindle Z servo motor is not limited by the X-axis stepping motor and the Y-axis stepping motor. In addition, there is no need to interrupt the movement of the spindle Z servo motor when switching between these two stages, and the switching time does not exceed 1ms, which can greatly increase the sewing speed. The movement of the spindle Z servo motor is divided into: the needle is below the fabric 3, that is, zero position 1→B position 2, and the needle is above the fabric 3, that is, B position 2→zero position 1. The control method is described as follows:

1. After each axis returns to zero at the beginning, the spindle Z servo motor starts to move from zero position 1 at the initial speed.

2. When the control system detects that the spindle Z servo motor moves to B position 2, the system automatically adjusts the spindle Z servo motor from B position 2→ according to the maximum step distance moved by the X-axis stepping motor and Y-axis stepping motor. Zero position 1 movement speed, the step range is 0.1mm～12.7mm. This speed has two characteristics. It must not only ensure that the X-axis stepping motor and Y-axis stepping motor have finished moving when the needle moves to zero position 1, but also make the speed from B position 2 → zero position 1 as fast as possible. . This period of exercise time is recorded as T ₂₁ .

3. When the control system monitors that the spindle Z servo motor reaches zero position 1, it changes the speed of the spindle Z servo motor. The speed from zero position 1→B position 2 is determined according to the sewing speed selected by the user. Assuming that the speed set by the user corresponds to the time T for sewing one stitch, and the distance from zero point position 1→B position 2 is D ₁₂ , then the moving speed from zero point position 1→B position 2 is V ₁₂ =D ₁₂ /(TT ₂₁ ), the speed switching does not exceed 1ms, and the movement of the spindle Z servo motor in this section is not limited to the X-axis stepping motor and the Y-axis moving stepping motor.

4. Repeat steps 2 and 3 until the last stitch is finished.

It can be seen from Figure 3 that the Z servo motor of the main shaft moves at a relatively high speed V ₁₂ from the zero position 1. In the zero position 1 → B position 2 stage, the X-axis stepping motor and the Y-axis stepping motor remain stationary, and the main shaft Z servo motor moves D ₁₂ distance to reach B position 2. At this stage, the movement speed of the spindle Z servo motor is not limited by the movement of the X-axis stepping motor and the Y-axis stepping motor.

At B position 2, the control system calculates the maximum step distance of the X-axis stepping motor and the Y-axis stepping motor, D _max = max{D _X , D _Y }, select the appropriate speed V ₂₁ from Table 2 according to D _max Changing the movement of the spindle Z servo motor, the spindle Z servo motor will not reduce the speed to 0 during the speed change process, and the switching time is less than 1ms, which is negligible compared to the time required for mechanical movement.

When the spindle Z servo motor starts to move with V ₂₁ at B position 2, the X-axis stepper motor and Y-axis stepper motor also start to move. When the spindle Z servo motor moves to zero position 1 with V ₂₁ , the X-axis stepper motor , The Y-axis stepper motor has finished moving, which can ensure uniform stitching.

After returning to the zero point position 1, restore the speed V ₁₂ and repeat the above actions until the end.

Table 1 Initial parameters Initial maximum speed (p/ms) Acceleration and deceleration time (ms) Servo motor Z 100000 1 stepper motorX 10000 40 stepper motor Y 10000 40

V ₂₁ 's binning selection during exercise

Table 2 Adjust V ₂₁ according to the step distance Dmax(0.1mm) 0～1.1 1.1～30 30～40 40～60 60～90 90～127 V ₂₁ (p/s) 313715.0 57869.7 40116.7 40920.1 33411.1 27799.7

This method has the following two characteristics in practical application:

1. Dynamic speed adjustment can ensure the correctness of sewing action

During the sewing process, in order to ensure the correctness of the two-dimensional plane movement of the X-axis stepping motor and the Y-axis stepping motor, the control system can adjust Automatically adjust the speed of the spindle Z servo motor, so as to ensure that the X-axis stepping motor and Y-axis stepping motor can complete the movement of the needle within the movement range of the spindle Z servo motor from B position 2 → zero position 1.

2. Uninterrupted speed switching can increase the sewing speed

As mentioned above, the spindle Z servo motor does not need to turn to a static state when switching between two different stages of a motion cycle, but directly dynamically accelerates or decelerates from the current speed to the target speed, thus shortening the acceleration and deceleration time. Increased speed.

According to different patterns of sewing, the measured time is shown in Table 3.

Table 3 The time used to sew different patterns Step distance(mm) Number of stitches (needle) Set the maximum sewing speed (stitch/min) time(s) Actual sewing speed (needle/min) 0.1 100 3000 2.1 2857 0.1 170 3000 3.8 2684 3 60 2000 2.0 1800 3 170 2000 5.8 1750

Claims (4)

A motor motion control method for an electronic pattern machine, comprising the following steps: 1) After each axis returns to the zero point, the spindle Z servo motor starts to move from the zero point position (1) at the initial speed; 2) When the control system detects that the spindle Z servo motor moves to the B position (2), the system automatically adjusts the spindle Z servo motor from the B position according to the maximum step distance moved by the X-axis stepping motor and Y-axis stepping motor. (2)→Zero position (1) Motion speed, the step distance range is 0.1mm～12.7mm; 3) When the control system monitors that the spindle Z servo motor reaches the zero position (1), change the speed of the spindle Z servo motor, and the speed switching time does not exceed 1ms; 4) Repeat steps 2 and 3 until the last stitch is finished.

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