CN1794561A - Motor operation control method of electron pattern machine - Google Patents
Motor operation control method of electron pattern machine Download PDFInfo
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- CN1794561A CN1794561A CNA2005100963842A CN200510096384A CN1794561A CN 1794561 A CN1794561 A CN 1794561A CN A2005100963842 A CNA2005100963842 A CN A2005100963842A CN 200510096384 A CN200510096384 A CN 200510096384A CN 1794561 A CN1794561 A CN 1794561A
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Abstract
This invention discloses a control method for motor movements of electronic design machines used in cooperative control of a multi-shaft motor system of an electronic design machine including the following steps: 1, a primary shaft servo motor begins movement from the zero position with the initial speed after the shafts go back to the zero point, 2, when a control system monitors that the primary shaft servo motor moves to the position B, the system automatically adjusts the moving speed of the motor from position B to position zero according to the maximum step distance moved by this time X shaft and Y shaft step motors, the distance sphere is 0.1mm-12.7mm, 3, when the control system monitors the servo motor arrives at the zero position, it alters the speed of the motor with less than 1ms switch time, 4, repeating steps 2 and 3 till the last sewing.
Description
Technical field
The present invention relates to a kind of motor movement control method of electro-pattern-sewing machine control method, particularly electro-pattern-sewing machine.
Background technology
Electro-pattern-sewing machine is typically to adopt the high-speed industrial of three-shaft linkage mode to make equipment, and its three-dimensional motor cooperative motion control method mainly contains two kinds, promptly full mutual exclusion interpolation cooperative motion control method and half mutual exclusion position monitoring cooperative motion control method.
Full mutual exclusion interpolation cooperative motion control method.Document " High-speed Computer number control high-precision motion control method research; Tang Zhibin, Tang Xiaoqi, Li Bin; " design and research " 2003 the 3rd phases " has been introduced a kind of control method that adopts multi-axis interpolation to control multiaxis mechanism cooperative motion, and the most tangible advantage of this method is that to make needle tracking even; But the shortcoming that exists is that main shaft repeats start and stop in the process of making, and is big to mechanical impact force, noise is big, make average speed can only reach 600 pins/minute.
Document " richpeace's board computerized emboridering machine operation principle, Zhao Yanwen, Wu Shilin, Fang Xiaochu, " Wuhan University Of Science and Engineering's journal " 2000.612 the 6th phases of volume " has been introduced a kind of half mutual exclusion position monitoring cooperative motion control method.This control method is main shaft Z servomotor uniform motion in the process of making, control system monitors that constantly the angle of main shaft Z servomotor controls X-axis stepping motor and the y-axis stepper motor motion that drives the compress frame, its advantage is to have avoided main shaft Z servomotor to repeat start and stop in the process of making, little to mechanical impact force, noise is little, shortcoming is that the movement velocity of main shaft Z servomotor is subject to X-axis, y-axis stepper motor motion, make average speed also can only arrive 800 pins/minute, and the needle tracking non-uniform phenomenon can appear making.
Summary of the invention
In order to overcome the low deficiency of prior art sewing speed, the invention provides a kind of motor operation control method of electron pattern machine.With the equal hardware condition of prior art under, sewing speed has improved more than 2 times, and can guarantee that needle tracking is even.
The present invention solves the problems of the technologies described above the method that is adopted and mainly comprises the steps:
1) behind each clear point, main shaft Z servomotor with initial velocity from dead-center position 1 setting in motion;
2) monitor main shaft Z servomotor when moving to B position 2 when control system, the maximum step pitch that system is moved according to this X-axis stepping motor, y-axis stepper motor is regulated the movement velocity of main shaft Z servomotor from B position 2 → dead-center position 1 automatically, and the step pitch scope is 0.1mm～12.7mm;
3) when control system monitoring main shaft Z servomotor arrives dead-center position 1, change the speed of main shaft Z servomotor, be no more than 1ms the switching time of speed;
4) repeating step 2, step 3 are moved up to having stitched last pin.
The invention has the beneficial effects as follows: switch because the inventive method has realized not having the speed that stops, make the motion of main shaft Z servomotor not be subject to the motion of X-axis stepping motor, y-axis stepper motor, with the average speed made from 600～800 pins of prior art/minute be increased to, 2000 pins/minute, the maximum sewing speed of step pitch during less than 0.3mm can reach 3000 pins/minute.In addition, this method also has the adaptivity characteristics of " speed-needle gage ", has guaranteed to make the even of style needle tracking.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is the three-dimensional motor cooperative motion of a motor operation control method of electron pattern machine of the present invention process schematic diagram
Fig. 2 is a motor operation control method of electron pattern machine flow chart of the present invention
Fig. 3 is the movement locus of motor operation control method of electron pattern machine of the present invention three axles when making a curve
Among the figure, the 1-dead-center position; The 2-B position; The 3-cloth; Dmax represents the maximum step pitch that X-axis stepping motor, y-axis stepper motor are moved in the pin stitch data.
Embodiment
With reference to Fig. 1～3, initial parameter is as shown in table 1, a period of motion with main shaft Z servomotor in the design is divided into two stages: X-axis stepping motor, y-axis stepper motor, Z axle servomotor move simultaneously in the phase I, but main shaft Z servomotor speed is limited by X-axis stepping motor, y-axis stepper motor; The motion of main shaft Z servomotor is not limited by X-axis stepping motor, y-axis stepper motor in another stage.In addition, these two stages need not be interrupted the motion of main shaft Z servomotor when switching, and are no more than 1ms switching time, can improve sewing speed greatly.The motion of main shaft Z servomotor is divided into: pin under cloth 3, promptly dead-center position 1 → B position 2 and pin on cloth 3, i.e. B position 2 → dead-center position 1.Control method is described below:
When 1, initial behind each clear point, main shaft Z servomotor with initial velocity from dead-center position 1 setting in motion.
2, monitor main shaft Z servomotor when moving to B position 2 when control system, the maximum step pitch that system is moved according to this X-axis stepping motor, y-axis stepper motor is regulated main shaft Z servomotor automatically from B position 2 → dead-center position, 1 movement velocity, and the step pitch scope is 0.1mm～12.7mm.This speed has two characteristics, and the end of having moved of X-axis stepping motor, y-axis stepper motor also will make from B position 2 → dead-center position, 1 speed fast as far as possible simultaneously when it should guarantee that syringe needle moves to dead-center position 1.This section run duration is designated as T
21
3, when control system monitoring main shaft Z servomotor arrives dead-center position 1, change the speed of main shaft Z servomotor, be to decide from dead-center position 1 → B position 2 this section speed according to the sewing speed that the user selects.Supposing that user's setting speed correspondence pin time of making is T, is D from the distance of dead-center position 1 → B position 2
12, so, from the movement velocity V of dead-center position 1 → B position 2
12=D
12/ (T-T
21), the switching of speed is no more than 1ms, and the motion of this section main shaft Z servomotor is not subject to the motion stepping motor of X-axis stepping motor, Y-axis.
4, repeating step 2, step 3 are moved up to having stitched last pin.
As can be seen from Figure 3, main shaft Z servomotor from dead-center position 1 with higher speed V
12Motion, in 2 stages of dead-center position 1 → B position, X-axis stepping motor, y-axis stepper motor keep motionless, main shaft Z servomotor motion D
12The distance back arrives B position 2.The movement velocity of this stage main shaft Z servomotor is not subjected to X-axis stepping motor, y-axis stepper motor limit movement.
The maximum step pitch that 2 places control system calculating X-axis stepping motor, y-axis stepper motor move in the B position, D
Max=max{D
X, D
Y, according to D
MaxFrom table 2, select suitable speed V
21Change the motion of main shaft Z servomotor, main shaft Z servomotor can not reduce to 0 with speed in the rapid change process, and switching time less than 1ms, the mechanical movement required time can be ignored relatively.
Main shaft Z servomotor is sentenced V in B position 2
21Also setting in motion of X-axis stepping motor, y-axis stepper motor in the time of setting in motion, when main shaft Z servomotor with V
21When moving to dead-center position 1, the end of having moved of X-axis stepping motor, y-axis stepper motor can guarantee that needle tracking is even.
Get back to dead-center position 1 back resume speed V
12Repeat above action up to end.
Table 1 initial parameter
| Initial maximal rate (p/ms) | The acceleration and deceleration time (ms) | |
| Servomotor Z | 100000 | 1 |
| Stepping motor X | 10000 | 40 |
| Stepping motor Y | 10000 | 40 |
V in the motion process
21Stepping select
Table 2 is adjusted V according to step pitch
21
| 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 following two characteristics in actual applications:
1, the dynamic speed adjustment can guarantee to make the correctness of action
Make in the process, in order to guarantee the correctness of X-axis stepping motor, the motion of y-axis stepper motor two dimensional surface, control system can automatically be regulated main shaft Z servomotor speed according to the size of X-axis stepping motor, y-axis stepper motor move distance (being needle gage), thereby guarantees can finish at main shaft Z servomotor X-axis stepping motor, y-axis stepper motor between 2 → dead-center position, 1 motor area, B position the motion of this pin.
2, free of discontinuities speed is switched and can be improved the speed of making
As previously mentioned, main shaft Z servomotor does not need to change inactive state earlier over to when switching between two different phases of a period of motion, but directly dynamically quickens or be decelerated to target velocity by present speed, has therefore shortened the acceleration and deceleration time, has improved speed.
Make according to different pattern, record time spent such as table 3.
Table 3 is made the time that different pattern uses
| Step pitch (mm) | Pin number (pin) | Set maximum sewing speed (pin/minute) | Time (s) | Actual sewing speed (pin/minute) |
| 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 kind of motor operation control method of electron pattern machine comprises the steps:1) behind each clear point, main shaft Z servomotor with initial velocity from dead-center position (1) setting in motion;
- 2) monitor main shaft Z servomotor when moving to B position (2) when control system, the maximum step pitch that system is moved according to this X-axis stepping motor, y-axis stepper motor is regulated main shaft Z servomotor automatically from B position (2) → dead-center position (1) movement velocity, and the step pitch scope is 0.1mm～12.7mm;
- 3) when control system monitoring main shaft Z servomotor arrives dead-center position (1), change the speed of main shaft Z servomotor, be no more than 1ms the switching time of speed;
- 4) repeating step 2, step 3 are moved up to having stitched last pin.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100963842A CN100349374C (en) | 2005-11-21 | 2005-11-21 | Motor operation control method of electron pattern machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100963842A CN100349374C (en) | 2005-11-21 | 2005-11-21 | Motor operation control method of electron pattern machine |
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| CN1794561A true CN1794561A (en) | 2006-06-28 |
| CN100349374C CN100349374C (en) | 2007-11-14 |
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| CNB2005100963842A Expired - Fee Related CN100349374C (en) | 2005-11-21 | 2005-11-21 | Motor operation control method of electron pattern machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101841295A (en) * | 2010-05-10 | 2010-09-22 | 湖南天安门业科技有限公司 | Linear motor motion control method based on fixed-step speed measurement |
| CN101587327B (en) * | 2008-05-21 | 2010-12-15 | 深圳市先阳软件技术有限公司 | Universal motion control system and control method on industrial control platform |
| CN102605573A (en) * | 2012-04-06 | 2012-07-25 | 南京理工大学常熟研究院有限公司 | Method for controlling high-speed motion of electronic pattern sewing machine |
| CN103064339A (en) * | 2012-12-21 | 2013-04-24 | 苏州科技学院 | Multi-dimension dynamic synergic movement control method of high-speed intelligent prototype |
| CN112009024A (en) * | 2020-09-10 | 2020-12-01 | 西门子（中国）有限公司 | Carton binding machine control method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2794140B1 (en) * | 1999-05-31 | 2001-07-13 | Staubli Sa Ets | JACQUARD WEAPON MECHANICS AND WEAVING MACHINE EQUIPPED WITH SUCH MECHANICS |
| CN2503081Y (en) * | 2001-05-24 | 2002-07-31 | 上海笙翔机电工业有限公司 | Driving mechanism of label weaving electronic jacquard mouchine |
| CN1603499A (en) * | 2004-02-20 | 2005-04-06 | 福州大学 | Microcomputer controlled jacquard warp knitting machine with multi-bar |
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2005
- 2005-11-21 CN CNB2005100963842A patent/CN100349374C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587327B (en) * | 2008-05-21 | 2010-12-15 | 深圳市先阳软件技术有限公司 | Universal motion control system and control method on industrial control platform |
| CN101841295A (en) * | 2010-05-10 | 2010-09-22 | 湖南天安门业科技有限公司 | Linear motor motion control method based on fixed-step speed measurement |
| CN102605573A (en) * | 2012-04-06 | 2012-07-25 | 南京理工大学常熟研究院有限公司 | Method for controlling high-speed motion of electronic pattern sewing machine |
| CN103064339A (en) * | 2012-12-21 | 2013-04-24 | 苏州科技学院 | Multi-dimension dynamic synergic movement control method of high-speed intelligent prototype |
| CN103064339B (en) * | 2012-12-21 | 2015-07-29 | 苏州科技学院 | High-speed intelligent pattern sewing machine Dynamic and Multi dimensional cooperative motion control method |
| CN112009024A (en) * | 2020-09-10 | 2020-12-01 | 西门子（中国）有限公司 | Carton binding machine control method |
| CN112009024B (en) * | 2020-09-10 | 2022-05-20 | 西门子（中国）有限公司 | Carton stapler control method |
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| CN100349374C (en) | 2007-11-14 |
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Granted publication date: 20071114 Termination date: 20111121 |