DE102004017106B4 - Method for determining the kinetic energy of a weaving machine - Google Patents

Method for determining the kinetic energy of a weaving machine

Info

Publication number
DE102004017106B4
DE102004017106B4 DE102004017106A DE102004017106A DE102004017106B4 DE 102004017106 B4 DE102004017106 B4 DE 102004017106B4 DE 102004017106 A DE102004017106 A DE 102004017106A DE 102004017106 A DE102004017106 A DE 102004017106A DE 102004017106 B4 DE102004017106 B4 DE 102004017106B4
Authority
DE
Germany
Prior art keywords
rotation
angle
weaving machine
characterized
kinetic energy
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
DE102004017106A
Other languages
German (de)
Other versions
DE102004017106A1 (en
Inventor
Michael Cramer
Valentin Krumm
Michael Lehmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lindauer DORNIER GmbH
Original Assignee
Lindauer DORNIER GmbH
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
Application filed by Lindauer DORNIER GmbH filed Critical Lindauer DORNIER GmbH
Priority to DE102004017106A priority Critical patent/DE102004017106B4/en
Publication of DE102004017106A1 publication Critical patent/DE102004017106A1/en
Application granted granted Critical
Publication of DE102004017106B4 publication Critical patent/DE102004017106B4/en
Application status is Expired - Fee Related legal-status Critical
Anticipated expiration legal-status Critical

Links

Classifications

    • DTEXTILES; PAPER
    • D03WEAVING
    • D03DWOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D51/00Driving, starting, or stopping arrangements; Automatic stop motions
    • D03D51/007Loom optimisation

Abstract

method for determining the kinetic energy of an electronic Control loom, which weaving machine at least one Owns batten with reed and a weft insertion system, and being the loom over suitable means is connectable to a shedding machine, wherein in Case of connection the shedding machine component of weaving machine is, wherein the loom driven by at least one electric motor whose runner is over suitable Means rigidly connected to a shaft of the weaving machine and being the shaft itself consists of rigidly interconnected components can exist and this shaft further as the main drive shaft is called and during operation an endlessly rotating Performing movement, and wherein the at least one electric motor is part of the drive unit the weaving machine, wherein for determining the kinetic energy of the Weaving machine at least one selected, expressed as the angle of rotation value angle of rotation or a surrounding this angle of rotation with few degrees of rotation Range is the actual speed a wave is detected, wherein the angle of rotation or this angle of rotation surrounding rotation angle range ...

Description

  • The The invention relates to a method for determining the kinetic Energy of an electronic control loom, which loom at least one batten with reed and / or has a weft insertion system and wherein the weaving machine via geared Means is connectable to a shedding machine, wherein in the case the connection the shedding machine part of the weaving machine is, wherein the weaving machine is driven by at least one electric motor, whose runner has suitable Means connected to a shaft of the weaving machine and being the shaft in turn consist of rigidly interconnected components can and this wave further referred to as the main drive shaft and executes an endlessly rotating movement during operation, and wherein the at least one motor is part of the drive unit the loom is.
  • The Shedding machine can in particular an eccentric dobby, an electronic dobby or a jacquard machine. Of the at least one electric motor is part of the drive unit for the Web and possibly for the Shedding machine, wherein the drive unit comprises means to the at least one electric motor current controlled or -geregelt and / or torque-controlled or regulated and / or speed-controlled and / or position-controlled operation, wherein furthermore the drive unit At more than one electric motor means comprises to the electric motors current and / or torque and / or speed and / or position synchronous respectively, where translation stages in the case are provided that the motor rotor each connected to loom components of different motion sequences are.
  • Of the At least one electric motor is a rotary electric motor and the weaving machine components, with which the electric motor is connected, lead in web operation an endless rotating motion, making the difference in the motion sequences between the components each described with a constant gear ratio can be.
  • Between the motor rotor and the weaving machine component (s) associated therewith is in preferred execution no switchable coupling.
  • A typical construction is a weaving machine with a main drive shaft, from their endless rotating motion via suitable gear means a translation takes place on the pivoting movement of the reed. If the weft insertion by means of grippers, their movement is via suitable geared Means derived from the aforementioned main drive shaft.
  • is a shedding machine, as described above, part the loom, so is the movement of the shedding machine on appropriate Gear means derived from the aforementioned main drive shaft.
  • With the aforementioned main drive shaft are the one or more mentioned above Electric motor (s) rigidly connected in a preferred embodiment via suitable means, wherein such means may be a rigid coupling, and wherein also elastic couplings to compensate for axial and / or radial Offset here to be considered rigid.
  • by virtue of the non-rotational movements, in particular the reed, the weft insertion system and the shed forming means, adds up when related to the main drive shaft mass moment of inertia On a constant component, a gradient is created by the movement profiles the non-rotationally moving components as well as by doing so moving masses or inertia of these components.
  • This fact is the subject of numerous publications; they are exemplary the EP 1 032 867 B1 , the DE 101 49 756 A1 and the DE 100 61 717 A1 called.
  • Also for the control or regulation control of the loom with periodically variable moment of inertia are in the prior art by the EP 1 032 867 B1 and the DE 101 49 756 A1 Solutions offered.
  • In the EP 1 032 867 B1 the loom is guided by previously determined torque setpoints during start, during operation and during the shutdown process. For start and stop operation, moreover, the speed-controlled operation is proposed, wherein the speed setpoint corresponds to a previously recorded "natural" actual speed curve, where "naturally" means in relation to the fluctuations of the mass moment of inertia related to the main drive shaft.
  • For the current Operation is after the completed start phase on o.g. Leadership about in advance certain torque setpoints switched.
  • Since the selection of the torque setpoint to be specified in addition to a torque curve that has been found to be suitable for the respective application depends on the detected actual speed, it is perfectly possible to speak of a speed controller, which, however, is in terms of the un terlagerten torque or current controller still very specific requirements taken into account by orienting himself to og out as appropriate out torque curve.
  • A disadvantage of the method is particularly that a lot of data must be stored. This is aggravated, since patterns have to be stored separately for each weaving cycle of the repeat in terms of speed and torque characteristics, in particular for start and stop phases. The data storage requires a lot of storage space with its extensive tables, the reading out of data from correspondingly large tables is - with comparable performance of the processor technology - associated with a greater time requirement than in the moment determination by a normal PI or PID controller and this delay can be in the highly dynamic processes at startup and shutdown and also in the EP1032867 untreated changes in speed lead to deviations from the ideal behavior, so that in particular the risk of so-called points of contact in the tissue at the start exists.
  • For every machine configuration (other type, other nominal width, other shedding machine, others Stock type and number etc.) as well as again independently for each new patterns have to be created the appropriate data is recalculated. This is with this concept very complex, the system must, if self-learning, to the desired Moments approach or an operator needs the optimization until the systemic necessary high amount of administered Data is determined.
  • The DE 101 49 756 A1 is a modification of the EP 1 032 867 B1 Going so far that for the purpose of reducing the speed variations of the in EP 1 032 867 B1 deviated from the desired machine guidance during operation with approximately constant torque.
  • In phases of increasing speed in this case the energy supply is interrupted; in phases of decreasing speed, the energy supply is greater. This method has the same disadvantages as the following EP 1 032 867 B1 , Under certain circumstances, due to the necessary generation of the special torque curve shapes above the machine rotation angle, even more data must be maintained and even more preliminary tests must be carried out with the respective machine configuration and the web-technical application in order to decide whether and with what exact settings the method DE 101 49 756 A1 in place of EP 1 032 867 B1 is used.
  • in the The meaning of the invention disclosed below is under a weaving cycle the movement from one leaf stop to the next, wherein the sheet stop to the end of the sheet movement to the finished Tissue means. Is spoken of the leaf stop of the weaving cycle, so is always meant the sheet stop, with which the weaving cycle in question ends.
  • If the description below refers to the mass moment of inertia of the weaving machine, then the course referred to a shaft W2π is always meant, unless expressly stated otherwise, wherein W2π sweeps over a rotation angle range α cycle_ful of 2π or 360 ° during a weaving cycle. W2π can be the main drive shaft or a real or virtual shaft rotating with it in constant translation.
  • It but it should be noted that the treated mechanical Sizes moment of inertia, Speed, kinetic energy, rotation angle also on each other W2π in constant translation having revolved real or virtual wave, to simpler understanding but with W2π as Working reference shaft.
  • Apart from the movement of the shedding means, the progression of the mass moment of inertia over the angle of rotation is always a periodic progression, the period of which as a rule corresponds to the angle of rotation range α cycle_full swept over during a weaving cycle . In so-called terry machines , the period N F · α cycle can be full , with N F > 1 and of course. The method according to the invention is equally applicable there.
  • The shedding means, such as shanks, boards and driving gear stages, such as beams, which also do not traverse their trajectory endlessly in the same direction, act depending on the application; the period of the mass moment of inertia is then normally = N S · 2π where N S is the number of cycles of a repeat, ie a pattern period of the fabric. For terry machines, the quotient N S : N F ≥ 1 and natural.
  • If in the following of speed is spoken without being expelled is that it is the actual value, so is the required Speed meant, which, s. previously, refers to the wave W2π. The actual value of the speed fluctuates, mainly due to the transmission characteristics determined, in continuous operation with constant required speed around this required speed and corresponds, less any remaining Control deviation, this required speed.
  • When detecting the actual speed, it may be due to interference in the transmission path, for example, that the detected Actual speed values or characteristics impair. It is also often said that the recorded value or history is noisy. In order to obtain the actual value or course at least in a very good approximation, it is known to use filters for interference frequencies or averaging over small areas. Therefore, they are assumed to be known here as they are often even used as standard in technical applications.
  • Becomes the term energy is used, hence the kinetic energy meant; as well loss energy and energy losses are always the same designated. Other forms of energy do not matter.
  • Since, with suitable controller guidance, a nearly constant level of the kinetic energy of the weaving machine can be achieved via a weaving cycle and weave repeat, it appears opposite EP 1 032 867 B1 and DE 101 49 756 A1 much less expensive to use a scheme that uses the kinetic energy. This also has advantages over a characteristic control, which uses the "natural" course of the actual speed as the setpoint.Various oscillating setpoints cause disturbance in the system due to the delay caused by the controller, since the controller-related delay leads to a time or phase offset Note: Even a pure P controller causes delays due to the computation time and also produces a permanent error.
  • In addition, the in EP 1 032 867 B1 to recalculate named characteristic control for the start with each start angle shift, since the characteristic curve is a function of the angle due to the transmission.
  • From the DE 28 28 556 A1 a method is known for operating a loom with controlled drive with a kinetic energy of the movable organs of the loom transmitting main shaft with a drive motor. The drive motor is controlled by the electrical current during its operation due to a kinetic parameter. The kinetic parameters are the angular velocity and the acceleration of the main shaft. The determination of the kinetic energy is not mentioned here.
  • It is therefore an object of the invention, at low cost for any Loom configuration and any web application whose to determine kinetic energy.
  • The kinetic energy determined in this way can then be used for a regulation.
  • The The object is achieved in that at least one selected, expressed as the angle of rotation value Point or at a rotational angle range surrounding this point, the actual speed a wave is detected, wherein the angle of rotation or this Angle of rotation surrounding the rotation angle range and the actual speed are related to this shaft, which is the main drive shaft or a real rotating with the main drive shaft in constant translation real or virtual wave is that further the control of the drive unit and / or the weaving machine control for this angle of rotation or Rotation angle range related to the aforementioned shaft mass moment of inertia the loom is specified and that the control of the drive unit and / or the loom control from this actual speed and this Inertia, according to the physical relationship of these values, the calculated kinetic energy.
  • In a rapier a very suitable angle of rotation point is the transfer of the weft thread in the middle of the compartment through the weft gripper. In this rotation angle α GrMitte almost no gripper movement takes place; There is also no reed movement and for the most common Fachschlusswinkel finds no or almost no movement of the Fachbildemittel instead. That is, in this angle of rotation substantially only the, with respect to the main drive shaft, constant moments of inertia of the endlessly rotating components. This means that the moment of inertia reaches a local minimum whose value corresponds to the sum of the constant components J Σconst .
  • These Sum can be formed very accurately with few data of the weaving machine become. Is the rapier loom (without shedding machine) as a series product executed the specification of the mass moment of inertia is sufficient as information to name the corresponding constant component.
  • at The shedding machine is also sufficient to specify the mass moment of inertia the unit that is attached to the weaving machine and the one endless Rotational movement of a weaving machine shaft coupled to it an oscillating movement of the shedding means implemented. Additionally the constant mass moment of inertia of the motor rotor the at least one electric motor and the mass moment of inertia possibly with the motor rotor over rigid or geared connection with rotating components of brakes, encoders and fans. Again, information on the moment of inertia from corresponding data sheets known.
  • The speed actual value detection in the aforementioned rotation angle point can be effected by so-called latches, ie, point-accurate triggers on a measuring point and by value detection. Since the actual speed ω GrMitte at this point and over the weave cycle and the binding repeat forms a maximum, it is sufficient to run a maximum value detection for the actual speed, wherein the value entered there is always overwritten when an even larger value is registered. Of course, further improvements are conceivable, for example, by taking into account only rotational speed values which are within a narrow range around the said rotational angle point.
  • A prerequisite for the correctness of the speed thus registered is that the weaving machine is operated in a manner in which the speed curve corresponds approximately to the "natural one." In contrast to EP 1 032 867 B1 Also achieve with a well-known in the art PI speed controller and by skillful choice of its parameters, ie even so a quasi-constant torque at the controller output and thus on the motor shaft can be achieved.
  • The kinetic energy of the weaving machine including the motor rotor and the co-rotating components, such as brake (s), encoder (s) and fan (s), is then in the rotation angle α GrMitte :
    Figure 00070001
  • in the The simplest case is the kinetic energy over a weaving cycle, over a Binding repeat, yes for the entire running operation with constant demanded speed considered constant. The speed controller can thereby skillful choice the parameter (for example with PI controller, see above) the required speeds be specified as a constant value.
  • That is, for the kinetic energy at any angle of rotation α, the following applies: W kin (α) = W kinGrMitte
  • All non-existent information on weaving machine configuration, such as number and mass of shafts with strands, shed angles and web application, such as average moment of inertia on the bond repeat and Vortuchverlusten expressed in the ratio of ω GrMitte to the required speed.
  • The Determination of the kinetic energy takes place with a fixed machine configuration and in terms of angles and patterns of fixed web application expediently while the setup phase.
  • The shed angle is important only if a significant movement of the shed forming means takes place in α GrMitte .
  • For the subsequent weaving operation, the kinetic energy can then be used as a reference variable (setpoint), where it is suitably specified for the starting phase as a course, which has the end value W kinGrMitte , where for the current operation at a constant speed then remains at this value and wherein for the shutdown phase, the setpoint is expediently returned to 0 via the course of W kinGrMitte .
  • As a controller structure using the kinetic energy as Setpoint is concretely built, is not the subject of this invention.
  • Practically but the kinetic energy is over one Web cycle and thus about a binding repeat and finally throughout the operation not quite constant because there are operating areas in which the energy losses are comparatively higher than in other areas. Such other areas are e.g. the movement of the gripper into the compartment and back again from the field, especially in the environment of the maximum gripper speed. Such an area is also to be seen in the context of the Fachschluss where the shedding means move at high speed and In addition, a movement of the reed occurs.
  • In Further refinement of the inventive solution, this is in an estimated course considered the kinetic energy.
  • For this is expediently in a first step, a general investigation of the loss distribution the kinetic energy performed.
  • a) rapier, per nominal width or for selected nominal width steps:
    • a.1) - operation with reed and grippers
    • a.2) - operation only with reed and without gripper
    • a.3) - operation only with gripper and without reed
    • a.4) - operation without reed and grapple
  • Of the Size Comparison indicates the loss proportion of reed and gripper. The results are already clearly if only three of the four measurements (a.1 to a.4) become. The energy loss component of reed and gripper then becomes converted according to their range of motion and shape in a course.
  • b) Shedding machine, per nominal width or for selected nominal width steps:
    • b.1) - operation without moving the shedding means
    • b.2) - operation with a certain medium motion of the shingling means, i.e. it is e.g. only every second of n shafts moves,
    • b.3) - operation with a certain strong movement the shedding means, ie, all the shafts are moved, in comparison to sh.2).
  • Of the size comparison gives the proportion of energy lost within the shedding machine caused by the movement of the shingling means. The results are already clear if only two of the three measurements b.1) to b.3) become. The loss energy share due to the movement of the shingling means Then, according to their range of motion and shape in one History converted.
  • The The results obtained according to a.1) to a.4) or b.1) to b.3) need by no means be highly precise. They only effect a quantitative correction of the original one Assumption of the constancy of the kinetic energy. That even if the Results with e.g. 20% errors are still improving the already good approximation to the real system, assuming constant kinetic energy consists.
  • Of further it is conceivable, e.g. the operating temperature of the loom or include the shedding machine in the measurements.
  • In a further embodiment of the invention, the ratio of ω Gr center to the required rotational speed is used to infer fluctuations in the kinetic energy. This can then be used to modify the estimated course of the kinetic energy. As already mentioned above, the specifics of the loom configuration and web application are expressed in the ratio of ω GrMitte to the required speed. The larger the quotient of ω GrMitte and required speed is, the smaller must be the actual speed in other areas compared to the required speed. In areas where this is the case, an increase in the loss energy must also be applied; to call here again the movement of the gripper in the shed and from the tray, especially in the vicinity of the maximum gripper speed and the area around the Fachschluss where move the shedding means at high speed, and further takes place a movement of the reed and where is also worked with Vortuch. Vortuchverluste arise essentially by the reed from the reed in the range from shortly before the sheet stop work done deformation work in the tissue, which is not recovered in the backward movement of the reed by springing back of the fabric.
  • The loss energy through the pre-fabric reduces the weaving machine speed under the above-mentioned natural, ie significantly geared course; These losses thus act as if the mass moment of inertia were comparatively greater in this area. In order to maintain the required speed, in other cases, the speed must be higher in relation to the required speed in other areas, that is to say also in α mid-range . If the facts from a.1) to a.4) are added, the height and the approximate course of the energy loss caused by shedding and pre-fabric can be deduced. If, in addition, the facts from b.1) to b.3) are added, it is possible to deduce directly the amount and the approximate course of the loss energy related to the pre-fabric.
  • at warp threads are individually movable on most jacquard machines; the corresponding one actuating mechanism therefor owns a majority jacquard machines have one or more springs, depending on the length of the warp thread, So depending on the size of the opening, more or less tense. This leads to a transformation kinetic energy in potential energy of springs - and again back.
  • By The web application is known how many and which feathers in the Cycle changed in its deflection are, i. the change the potential total energy per cycle is in known springs and excursion paths known. The potential total energy is here the sum of the potential energies of all springs. According to the invention thereof assumed that the sum of the change in this invention regarded kinetic energy and the change of the named potential Total energy is equal to 0. That the kinetic energy changes antithetical to the potential total energy, which accordingly in the course of considered kinetic energy becomes.
  • A clarification of the method can be achieved by the inclusion of other distinctive angles of rotation of the main drive shaft in the detection of the actual speed. Particularly suitable angles of rotation α 2 to α m are where the course of the moment of inertia weaving cycle forms local extremes for weaving cycle and where due to the existing data of machine configuration and web application very accurate statements on the size of the respective mass moment of inertia (J 2 to J m ) can be made.
  • To mention here is particularly the angle of rotation point, in which the gripper movement in the shed has its top speed. At this point, there is no sheet movement and no significant movement of shingling means. By determining the kinetic energies W kin i ) = (J (α i ) / 2) · ω (α i ) 2 in the respective rotational angle points α i where i = 2 to m is, the course of the kinetic energy can be determined over a weaving cycle, in which at α GrMitte and α i are the support points.
  • Becomes this provision the remaining web cycles of the binding repeat is extended, the course of the kinetic Energy over get the entire binding repeat.
  • In a weaving machine with a pneumatic weft insertion system, the distinctive angles of rotation are selected according to the basically same criteria. Here, as an analogue to α GrMitte, the entire area is to be seen, in which neither a movement of the reed nor a movement of the shedding means takes place. There is even the possibility here of using a known closure angle to place the striking angle of rotation on the area without reed movement where a movement of the shedding means certainly does not take place.
  • One Another good distinctive angle of rotation is the leaf stop, because there in addition to the endless rotating components, only the shingles are in significant motion.
  • Become, no matter which weaving machine, weave weave woven, which itself by at least two longer ones Distinguish sections (from approx. 5 weaving cycles per section), whereby the subareas themselves differ significantly distinguish strong movement of the shedding means, so is in further Embodiment of the invention provided, the method described to determine the kinetic energy separately for each of the subsections.
  • Example:
  • Pattern repeat:
    • Za) 10 cycles: single-shaft movement
    • Eg) 1 cycle: 16 shafts in 1: 1 binding (= 1: 1 plain weave)
    • Zc) 7 cycles: single-shaft movement
    • Zd) 5 cycles: 16 shafts in 1: 1 binding (= 1: 1 plain weave)
    • Ze) 2 cycles: single shaft movement
    • Zf) 6 cycles: 16 shafts in 1: 1 binding (= 1: 1 plain weave)
  • Here the subdivision makes sense as follows:
    • Part 1, comprising: Za, Zb, Zc
      • Slight shuffle movement, with Zb forming a short-term change;
    • Part 2, comprising: Zd, Ze, Zf
    • Strong shuffle movement, with Ze forming a short-term change.
  • The average level of kinetic energy in the subarea 1 is less than the average level of kinetic energy in subarea 2. In a scheme with kinetic energy as Setpoint is in the course of the change from the sub-area 1 in the sub-area 2 the setpoint is raised accordingly, when changing from the subarea 2 lowered to the sub-area 1 accordingly.
  • The inventive method The detection of kinetic energy is also applicable when between the at least one motor and the main drive shaft of the loom a switchable coupling is arranged. The actual speed is for the loom detected. Is the coupling effect to the engine made and the Frictional coupling action based and slip-free, becomes Determining the kinetic energy of the loom their total mass moment of inertia used. If the coupling effect to the engine is canceled, becomes Determining the kinetic energy of the weaving machine as a sum determined moment of inertia the moving components of the loom used; Furthermore can additionally the kinetic energy of motor plus rigidly connected to its shaft Be determined coupling parts.
  • The Invention will be explained in more detail below using an exemplary embodiment.
  • In show the drawings:
  • 1 the course of the mass moment of inertia J / kgm 2 on the rotation angle α of the main drive shaft of a rapier loom with and without coupled shedding machine and the moment of inertia of a shedding machine and
  • 2 the course of the mass moment of inertia J / kgm 2 on the rotation angle α of the main drive shaft of an air jet loom with and without coupled shedding machine and the moment of inertia of a shedding machine.
  • 1 shows a diagram with a rotation angle 1.11 as abscissa. This rotational angle α sweeps during a movement of the loom from the rotational angle of a Webblattanschlages to the rotational angle of the next Webblattanschlages exactly 360 °. It is not necessary for there to be a real wave doing this, it can also be a fictitious wave W1.
  • 1.12 is on 1.11 related course of the moment of inertia of the weaving machine including the rigidly connected to the main drive shaft components of the or the electric motor re, especially runners, brake components, encoder components and fan components.
  • 1.14 is on 1.11 related course of the mass moment of inertia of the shedding machine including shedding means, which pro rata in 1.12 received; 1.13 is the difference 1.12 and 1.14 , ie the course of the moment of inertia of the weaving machine with mechanically uncoupled, ie separately driven shedding machine.
  • There can be a wave like for 1.11 rotates defined, and this may also be the main drive shaft. The main drive shaft can also rotate with a constant translation k1 to the real or fictitious wave. For the main drive shaft then the values 1.11 be multiplied by k1; this changes nothing in the method according to the invention. Therefore, it is assumed below that W1 is the main drive shaft.
  • The course of the mass moment of inertia 1.13 is typical of a weaving machine with a mechanical weft insertion system and without a shed forming machine. In the angle of rotation 1.1 The gripper systems do not move or in a negligible way. This angle of rotation is colloquially often referred to as Greifermittenübergabe. Also, the reed and the shedding means do not move in this angle of rotation or in only negligible way. If one neglects still possibly in the shedding machine existing modulators, so move in the rotation angle point 1.1 only those components that are effective with a constant mass moment of inertia.
  • The sum of these moments of inertia can be determined with very few data of the electric motor including its encoder, brake, possibly fan, the loom and the shedding machine. The sum of these moments of inertia is also independent of application-specific variables. Application-specific variables include, for example, the gripper stroke set by the user, the reed used, the type of heald frames, the number and the distribution of the strands used in each case, the bracket angle and the pattern-dependent shed movement. All this is without or without a significant influence on the angle of rotation 1.1 , That is, by determining the actual speed in the angle of rotation 1.1 the kinetic energy can be determined with little error in this angle of rotation.
  • 1.12 has in the angle of rotation 1.1 in many cases a punctual local minimum, otherwise 1.12 in which the angle of rotation 1.1 enclosing angle of rotation range an area-like local minimum.
  • In the angle of rotation 1.2 The reed has its highest speed in its movement to the binding point and thus its highest energy. The increase caused by this leaf movement on 1.11 referred mass moment of inertia has in the angle of rotation 1.2 a pointy local maxima. In order to determine the mass moment of inertia in this angle of rotation, much more data is required than for the determination of the mass moment of inertia in the angle of rotation 1.1 ,
  • In the point 1.3 the gripper movement into the shed has its highest speed and thus its greatest kinetic energy, whereby, in the case of a bilateral gripper movement, the sum of the energy of the two sides is relevant. The increase caused by this gripper movement on 1.11 referred mass moment of inertia has in the angle of rotation 1.3 a pointy local maxima. In the angle of rotation 1.4 the gripper movement out of the shed has its highest speed and thus its greatest kinetic energy, whereby, in the case of a bilateral rapier movement, the sum of the energy of the two sides is relevant. The increase caused by this gripper movement on 1.11 referred mass moment of inertia has in the angle of rotation 1.4 a pointy local maxima. To the moment of inertia in the angles of rotation 1.3 respectively. 1.4 to determine much more data are required than for the determination of the mass moment of inertia in the rotation angle point 1.1 , Opposite the angle of rotation 1.1 however, the slope is less than the angle of rotation 1.2 , because in the angles of rotation 1.3 and 1.4 the movement of the shedding means does not take place or only with low speed, so that an error in the data to the shedding means only enters into the total mass moment of inertia with a small proportion.
  • All angles of rotation 1.1 to 1.4 are local extremes. So has the actual speed at a targeted almost constant energy operation of the loom there local extremes. So it is very good plausibility checks for the actual speed values feasible. Also, the actual speed value can be passed through filters, even if they cause a certain time delay, because it is known that if the filtered value has its local extremum, it can be the appropriate angle of rotation ( 1.1 to 1.4 ) be assigned.
  • Note on angle of rotation 1.2 to 1.4 :
  • Theoretically, here as well as the angle of rotation 1.1 instead of point-wise local extremes, regional extremes are also possible in certain areas. However, appropriate transmission designs are mostly disadvantageous and hardly relevant to practice.
  • 2 shows a diagram with a rotation angle 2.11 as abscissa. This rotation angle α sweeps exactly at a movement of the loom from the rotation angle of a Webblattanschlages to the rotational angle of the next sheet stop exactly 360 °. It is not necessary for there to be a real wave doing this, it can also be a fictional wave W2.
  • 2.12 is the over the rotation angle 2.11 related course of the moment of inertia of the weaving machine including the rigidly connected to the main drive shaft components of the or the electric motors, including runners, brake components, encoder components and fan components.
  • 2.14 is the over the rotation angle 2.11 related course of the moment of inertia of the shedding machine including shedding means, which proportionately in the mass moment of inertia 2.12 received; 2.13 is the difference between the mass moment of inertia 2.12 and 2.14 , ie the course in mechanically uncoupled, ie separately driven shedding machine.
  • There can be a wave like for 2.11 rotates defined, and this may also be the main drive shaft. The main drive shaft can also rotate with a constant translation K2 to the real or fictitious wave W2. For main shaft then the values must be off 2.11 be multiplied by K2; this changes nothing in the method according to the invention. Therefore, in the following, it is assumed that W2 is the main drive shaft.
  • The course of the mass moment of inertia 2.13 is typical of an air jet loom without shedding machine.
  • In the angle of rotation 2.1 the reed does not move. Also, the shedding means do not move in this rotation angle or move in a negligible manner. If one neglects, if necessary, the modulators present in the shed forming machine, the angle of rotation moves 2.1 only those components that are effective with a constant mass moment of inertia. The sum of these moments of inertia can be determined with very few data of the electric motor, the weaving machine and the shedding machine. The sum of these moments of inertia is also independent of application-specific variables. Application-specific variables include, for example, the reed used, the type of shanks, the number and distribution of the strands used in each case, the shed angle and the pattern-dependent shed movement. All this is without or without appreciable influence on the angle of rotation 2.1 , That is, by determining the actual speed in the angle of rotation 2.1 the kinetic energy can be determined with very little error in this point.
  • In many cases, the course of the mass moment of inertia 2.12 in which the angle of rotation 2.1 enclosing area an area-like local minimum, otherwise has the moment of inertia 2.12 in the angle of rotation 2.1 in many cases a point-like local minimums.
  • In the angle of rotation 2.2 The reed has its highest speed in its movement to the binding point and thus its highest energy. The increase in the rotation angle caused by this blade movement 2.11 referred mass moment of inertia has in the point 2.2 a pointy local maxima. In order to determine the mass moment of inertia in this angle of rotation, much more data is required than for the determination of the mass moment of inertia in the angle of rotation 2.1 ,
  • The angles of rotation 2.1 and 2.2 are local extremes. Thus, the actual speed at a targeted almost constant energy operation of the loom there has local extremes; So you can very well perform plausibility checks for the actual speed values; Also, the actual speed value can be passed through filters, even if they require a certain time delay, because you always know that if the filtered value has its local extremum, it can the corresponding angle of rotation 2.1 to 2.2 be assigned.
  • Note about point 2.2 :
  • Theoretically Here, instead of point-wise local extremes, some are also local Extreme possible. However, corresponding transmission designs are usually disadvantageous and hardly relevant to practice.

Claims (23)

  1. Method for determining the kinetic energy of a weaving machine having an electronic control, which weaving machine has at least one weaving reed and a weft insertion system, and wherein the weaving machine can be connected to a shedding machine by suitable means, in which case the shedding machine is part of the weaving machine, wherein the weaving machine is driven by at least one electric motor whose rotor is connected by suitable means rigidly connected to a shaft of the loom and wherein the shaft in turn may consist of rigidly interconnected components and this shaft is further referred to as the main drive shaft and during operation an endless performs rotating movement, and wherein the at least one electric motor part of the drive unit of the weaving machine, wherein for determining the kinetic energy of the weaving machine at least one selected, expressed as the rotational angle value angle of rotation or a rotational angle with a few degrees of rotation surrounding area, the actual speed of a wave is detected, wherein the angle of rotation or the angle of rotation surrounding this rotation angle range and the actual speed are related to this shaft, which is the main drive shaft or a real or virtual shaft rotating with the main drive shaft in constant translation, wherein the control of the drive unit and / or the weaving machine control for this angle of rotation or rotation angle on the above Shaft-related mass moment of inertia of the loom is specified and the control of the drive unit and / or the weaving machine control of this actual speed and this moment of inertia, according to the physical relationship of these values, d The kinetic energy is calculated.
  2. Method according to claim 1, characterized in that that the calculated kinetic energy is used as a reference variable in weaving operation becomes.
  3. Method according to claim 1, characterized in that in that the angle of rotation or the selected angle of rotation of the Course of the mass moment of inertia has a local extremum, where the local extremum is a minimum or a maximum in the point concerned or over a rotation angle range can be.
  4. The method of claim 1, wherein the weaving machine via gear Means is connected to a shedding machine, characterized in that in the rotation angle point or the selected rotation angle points of the Course of the related to the main drive shaft mass moment of inertia minus the Share of the shedding machine has a local extremum, the local extremum a minimum or maximum in the relevant angle of rotation or over may be a rotation angle range.
  5. Method according to one of claims 1 to 4, wherein the weaving machine a rapier weaving machine, characterized in that the selected angle of rotation point or a selected one Angular turning point is that point at which the weft thread in the Pass the center through the gripper or taken over becomes.
  6. Method according to one of claims 1 or 3, wherein the weaving machine one with fluidic or gaseous Agent operated weft insertion system has, characterized that the selected one Angle of rotation or a selected angle of rotation the one point is where the reed is in one area the reed standstill between the last movement of the reed away from the binding point and next following movement of the reed towards the binding point.
  7. Method according to claims 1 and 6, wherein the weaving machine via gear Means associated with a shedding machine, characterized that the selected one Angle of rotation or the angle of rotation surrounding this angle of rotation so in the area of the reed standstill is placed that no appreciable influence of the movement through Fachbildemittel exists.
  8. Method according to one of claims 1 to 4, characterized that the selected rotation angle point or a selected one Angular turning point is that point at which the reed during its Moving to the binding point towards its highest speed and thus his biggest kinetic Has energy.
  9. Method according to one of claims 1 to 4, wherein the weaving machine a rapier weaving machine, characterized in that the selected angle of rotation point or a selected one Angle of rotation is that point of the angular position at which the Gripper movement into the shed into its highest speed and thus his biggest kinetic Has energy.
  10. Method according to one of claims 1 to 4, wherein the weaving machine a rapier weaving machine is characterized in that the selected angle of rotation point or a selected one Angle of rotation is that point of the angular position at which the Gripper movement out of the shed its highest speed and thus his biggest kinetic Has energy.
  11. Method according to one of the preceding claims, characterized characterized in that in each of the selected angles of rotation or in each of the angles of rotation surrounding this point the detection the actual speed is at least once per binding repeat.
  12. Method according to claim 11, characterized in that that in each of the selected Angles of rotation or in each of these angles of rotation surrounding Range the detection of the actual speed at least once per weaving cycle he follows.
  13. Method according to one of claims 1 to 12, wherein the speed actual value detection in at least one angle of rotation per binding repeat or in the surrounding this rotation angle Be Be rich, characterized in that the determined kinetic energy is considered constant as long as the weaving machine is operated at the appropriate speed and as long as no determination of a new value for the kinetic energy takes place.
  14. Method according to claim 11 or 12, characterized that over a binding repeat determined kinetic energy as a base for the Course over This rapport is used and that on the basis of known energy losses the weaving machine and / or the weaving process per weaving cycle the course the kinetic energy between the respective bases estimated becomes.
  15. Method according to one of claims 1 to 12, wherein the speed actual value detection in more than one angle of rotation per weaving cycle or in one of the this angle of rotation surrounding rotational angle range takes place, thereby marked that over a bond repeat determined kinetic energies the bases for the Course of kinetic energy over form this rapport.
  16. The method of claim 15, wherein the speed actual value detection in more than one angle of rotation per weaving cycle or in one Angle of rotation surrounding area occurs, and wherein by known energy losses of the weaving machine per weaving cycle, the History of kinetic energy between the bases is estimated.
  17. Method according to one of the preceding claims, according to which Binding reports are subareas that contain several web cycles distinguish and where are two adjacent subareas with each other by a significantly different movement of the shedding means distinguish, characterized in that the individual sub-areas each be handled as a separate binding repeat.
  18. Method according to claim 17, characterized in that that at the boundaries of the subregions the transition between the values or courses of the kinetic energy takes place without jumps.
  19. Method according to claim 17, characterized in that that at the boundaries of the subregions the transition between the values or courses of the kinetic energy ramped is made.
  20. Method according to one of the preceding claims, characterized characterized in that with the detection of the actual speed for determination The kinetic energy is only started when the speed-controlled operated with constant speed setpoint Loom in approximation has assumed the operating behavior which it has after an operating period against infinite possesses.
  21. Method according to claim 20, characterized in that that after completion of a start phase, a PI speed controller with a P and I value is operated such that the output value of the PI speed controller, mostly used as torque or current setpoint, only slightly commutes.
  22. Method according to one of the preceding claims, characterized characterized in that the actual value of the kinetic energy as number (s) and / or graphically displayable.
  23. Method according to claim 22, characterized in that that at least one of the displayable information is storable.
DE102004017106A 2004-04-02 2004-04-02 Method for determining the kinetic energy of a weaving machine Expired - Fee Related DE102004017106B4 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102004017106A DE102004017106B4 (en) 2004-04-02 2004-04-02 Method for determining the kinetic energy of a weaving machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004017106A DE102004017106B4 (en) 2004-04-02 2004-04-02 Method for determining the kinetic energy of a weaving machine
PCT/DE2005/000575 WO2005095694A1 (en) 2004-04-02 2005-04-01 Method for determining the kinetic energy of a power loom

Publications (2)

Publication Number Publication Date
DE102004017106A1 DE102004017106A1 (en) 2005-10-27
DE102004017106B4 true DE102004017106B4 (en) 2008-03-13

Family

ID=34967533

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102004017106A Expired - Fee Related DE102004017106B4 (en) 2004-04-02 2004-04-02 Method for determining the kinetic energy of a weaving machine

Country Status (2)

Country Link
DE (1) DE102004017106B4 (en)
WO (1) WO2005095694A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2664381C1 (en) * 2015-02-12 2018-08-16 Линдауер Дорнир Гезелльшафт Мит Бешренктер Хафтунг Weaving machine starting method

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5037244B2 (en) 2006-07-10 2012-09-26 ハイデルベルガー ドルツクマシーネン アクチエンゲゼルシヤフトHeidelberger Druckmaschinen AG Controlled energy consumption of the electric drive in the machine
CN110209069A (en) * 2019-06-28 2019-09-06 武汉纺织大学 A kind of magnetic suspension projectile shuttle precision wefting insertion control method and system, the information processing terminal

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2828556A1 (en) * 1977-07-04 1979-01-25 Vincenzo Michelin Loom controlled drive - has electric control for motor without flywheel or other mechanical controls
DE10061717A1 (en) * 2000-12-12 2002-06-20 Dornier Gmbh Lindauer Drive arrangement for a weaving machine and shedding machine
EP1032867B1 (en) * 1997-11-21 2003-03-26 Picanol N.V. Process and drive for torque-controlled driving of a machine
DE10149756A1 (en) * 2001-10-04 2003-04-10 Picanol Nv Drive control for machine with periodic component movements, e.g. loom, controls power supplies to electromotor according to its rotary angle positions

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9605059D0 (en) * 1996-03-09 1996-05-08 Palmer Raymond L Drive system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2828556A1 (en) * 1977-07-04 1979-01-25 Vincenzo Michelin Loom controlled drive - has electric control for motor without flywheel or other mechanical controls
EP1032867B1 (en) * 1997-11-21 2003-03-26 Picanol N.V. Process and drive for torque-controlled driving of a machine
DE10061717A1 (en) * 2000-12-12 2002-06-20 Dornier Gmbh Lindauer Drive arrangement for a weaving machine and shedding machine
DE10149756A1 (en) * 2001-10-04 2003-04-10 Picanol Nv Drive control for machine with periodic component movements, e.g. loom, controls power supplies to electromotor according to its rotary angle positions

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2664381C1 (en) * 2015-02-12 2018-08-16 Линдауер Дорнир Гезелльшафт Мит Бешренктер Хафтунг Weaving machine starting method

Also Published As

Publication number Publication date
DE102004017106A1 (en) 2005-10-27
WO2005095694A1 (en) 2005-10-13

Similar Documents

Publication Publication Date Title
CN1022497C (en) Terry method and loom having pile-forming elements
BE1016559A4 (en) Jacquard device.
US20030128004A1 (en) Method and a drive means to drive a machine
US6962171B2 (en) Drive arrangement for a weaving loom and shedding machine
EP0578079B1 (en) A pile warp yarn tension controller
EP1712665B1 (en) Device for modulating a first rotational motion of an input shaft to a second, different from the first, rotational motion of an output shaft in textile machines
CN1040407A (en) Method of controlling warp tension and loom having warp-tensioning elements
JP5095316B2 (en) Loom and loom drive.
DE10128538A1 (en) Weaving machine for producing a leno fabric
EP1328673B1 (en) Method for operating a weaving and shedding machine
JP4257301B2 (en) Lunch forming device for loom
EP1710330B1 (en) Jacquard machine
GB2198263A (en) Electric motor controls and laundry machines using such motor controls
EP1516947A2 (en) Shaft drive for weaving machines
EP2063007A1 (en) Device for making leno fabrics
WO2014094513A1 (en) Numerical control rotating cam control fulcrum chute fuzzing mechanism
WO2003071018A1 (en) Guide reed swing position adjusting device of double raschel machine
JPH10503563A (en) Ear weaving apparatus of the loom
KR100535720B1 (en) Filling Bar Preventing Method and Apparatus
EP1152077A2 (en) Rotary drive for the reed support of a loom
DE60215269T2 (en) Operating system and operating method for a weaving machine
EP3052686A1 (en) Method and device for applying forces and motions to warp threads of weaving machine
JP4198731B2 (en) Drive device for generating reciprocating motion of driven parts of a loom in particular
EP1620588B1 (en) Method for operating a loom
EP0803000A1 (en) Needling machine and associated feed control method

Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee