EP1541728A1 - Procede de commande d'un dispositif d'ouverture electrique - Google Patents

Procede de commande d'un dispositif d'ouverture electrique Download PDF

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Publication number
EP1541728A1
EP1541728A1 EP03792834A EP03792834A EP1541728A1 EP 1541728 A1 EP1541728 A1 EP 1541728A1 EP 03792834 A EP03792834 A EP 03792834A EP 03792834 A EP03792834 A EP 03792834A EP 1541728 A1 EP1541728 A1 EP 1541728A1
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EP
European Patent Office
Prior art keywords
torque restriction
restriction value
electric motor
shedding
torque
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.)
Withdrawn
Application number
EP03792834A
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German (de)
English (en)
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EP1541728A4 (fr
Inventor
Jun Hirai
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Tsudakoma Corp
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Tsudakoma Industrial Co Ltd
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Publication date
Application filed by Tsudakoma Industrial Co Ltd filed Critical Tsudakoma Industrial Co Ltd
Publication of EP1541728A1 publication Critical patent/EP1541728A1/fr
Publication of EP1541728A4 publication Critical patent/EP1541728A4/fr
Withdrawn legal-status Critical Current

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    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03C—SHEDDING MECHANISMS; PATTERN CARDS OR CHAINS; PUNCHING OF CARDS; DESIGNING PATTERNS
    • D03C13/00—Shedding mechanisms not otherwise provided for
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03C—SHEDDING MECHANISMS; PATTERN CARDS OR CHAINS; PUNCHING OF CARDS; DESIGNING PATTERNS
    • D03C13/00—Shedding mechanisms not otherwise provided for
    • D03C13/02—Shedding mechanisms not otherwise provided for with independent drive motors
    • D03C13/025—Shedding mechanisms not otherwise provided for with independent drive motors with independent frame drives
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
    • D03D51/007—Loom optimisation

Definitions

  • the present invention relates to a method of controlling an electric shedding device having an electric motor for each heald frame.
  • An object of the present invention is to avoid shortening of life due to damage to or wear and the like of driving parts of a heald frame or an electric motor and to raise weaving property.
  • Control methods according to the present invention are all applicable to controlling of an electric shedding device of a type in which a plurality of heald frames are respectively driven by an exclusive electric motor and in which an output torque of the electric motor is restricted according to a predetermined torque restriction value.
  • a first control method comprises obtaining of a torque restriction value of the electric motor according to a setting mode at least one weaving element and setting the obtained torque restriction value as the torque restriction value of the electric motor.
  • a plurality of torque restriction values are preliminarily set according to the setting mode of the weaving elements, and in obtaining the torque restriction value of the electric motor, the torque restriction value according to the setting mode of the weaving elements can be selected.
  • a plurality of factors for computing the torque restriction value corresponding to the setting mode of the weaving elements are set for each weaving element, and in obtaining the torque restriction value of the electric motor, a factor corresponding to the setting mode of the weaving element can be selected for each weaving element, and the torque restriction value is obtained by operation from the selected factors and can be set as the torque restriction value of the electric motor.
  • a second control method according to the present invention comprises setting of the torque restriction value of each electric motor according to the heald frame No.
  • a third control method comprises obtaining and setting of the torque restriction value of the electric motor according to a setting mode of at least one weaving element and the heald frame No. More preferably, a factor relative to the torque restriction value is preliminarily factorized in correspondence to the setting mode of the waving element and the heald frame No., and the torque restriction value of the electric motor can be obtained and set by operation from the selected factor in correspondence to the setting mode of the weaving element and the heald frame No.
  • a fourth control method comprises enabling to be changed over at least one setting mode among the weaving elements during weaving operation, and obtaining and setting of the torque restriction value of the electric motor in correspondence to a changeover of the setting mode of the weaving element.
  • a torque restriction value corresponding to the changeover of the setting mode is selected and set as the torque restriction value of the electric motor.
  • the weaving elements can include at least one selected from a group including continuity of shedding motion from preceding several picks up to the changeover, composing elements of a shedding curve, direction of the shedding motion from the changeover, external force acting on the heald frame and the rotational speed of a loom.
  • respective setting modes of plural weaving elements under weaving operation can be changed over, that plural torque restriction value factors corresponding to each setting mode are set in each weaving element, that a torque restriction value corresponding to the changeover of the setting mode is selected for each weaving element, and that, at the time of the changeover of the setting modes under weaving operation, the torque restriction value obtained by operation from the plural selected factors is set.
  • a fifth control method comprises: preliminarily setting of an output torque restriction value of the electric motor in correspondence to a first process where a rotational angle speed of a main shaft is accelerated or decelerated and to a second process where the rotational angle speed of the main shaft is maintained; and, in the first and second processes at the time of driving the shedding device, driving of the electric motor by restricting the output torque of a drive motor on the basis of output torque restriction values corresponding to those processes.
  • the foregoing exclusive electric motor is provided in the shedding device independently of a drive motor for the main shaft of the loom. Such an electric motor can be driven according to a predetermined shedding curve and following the rotation of the main shaft.
  • the above-mentioned torque restriction value may be either one of the maximum torque value and the maximum current value, because the torque value and the current correspond.
  • an instantaneous maximum torque or an instantaneous maximum current can be used.
  • weaving elements As weaving elements, shedding pattern, dwell angle, rotational speed of a loom, shedding amount, cloth width, warp tension, the number of warps, etc., can be enumerated.
  • the torque restriction value of the exclusive electric motor can be set at an optimum value in correspondence to the set weaving condition, the frame No. of the heald frame or the set torque restriction value, there will be caused neither damage to the driving parts or the electric motor due to an excessive torque nor failure in weaving attributable to a delay in responding of the heald frame because of a too small torque. That is to say, the optimum weaving property can be obtained without causing any damage to the driving parts or the electric motor due to an excessive torque or a delay in responding of the heald frame because of a too small torque.
  • a control device 10 of an electric shedding device comprises: a main control device 12 of a loom, a setter 14 connected to the main control device 12; a shedding control device 18 for computing a torque restriction level, namely, a torque restriction value S2 for each heald frame 16 upon receipt of various set conditions S1 set in the setter 14; a servo amplifier 20 provided in each heald frame 16; a servo motor 22 provided in each heald frame 16; and an encoder 24 for outputting a rotational angle signal ⁇ 1 representing the rotational angle of each servo motor 22 to the shedding control device 18.
  • Fig. 1 only shows one heald frame 16, the servo amplifier 20 corresponding to the heald frame 16, the servo motor 22 as an electric motor for driving the heald frame 16, and the encoder 24 for generating the rotational angle ⁇ 1 of the servo motor 22. Actually, however, a plurality of heald frames 16 are provided, and the servo amplifier 20, servo motor 22 and encoder 24 are provided in each heald frame 16.
  • a plurality of servo amplifiers 20 are connected to one shedding control device 18 in correspondence to the number of the frames of the heald frame 16.
  • electric motor in the present invention corresponds to the servo motor 22, the drive unit to the servo amplifier 20, and the control circuit to the main control device 12 and the shedding control device 18, respectively.
  • a publicly known reciprocal motion converting mechanism constituted by a bell crank and the like to convert the rotational motion of the output shaft into a reciprocal motion is interposed.
  • the main control device 12 like a general main control device used for a loom, controls various machinery of a loom such as the shedding device, a picking device, a weft length measuring storage unit, a warp tension adjusting device, a cloth take-up device and the like.
  • parameters of a warp shedding motion such as a shedding pattern to be determined as either an upper shed shedding or an under shed shedding for each pick of weft insertion, a dwell angle, the amount of the warp shedding for setting a shedding motion mode are set for each heald frame 16, and setting data of weaving elements such as a rotational speed of the loom, a shedding amount, a cloth width, warp tension, the number of warps are set.
  • weaving elements relate to a load of the servo motor 22 which drives the heald frame, and to be used, in the main control device 12, for reading a plurality of factors which the heald frame 16 and various weaving elements are factorized for each heald frame.
  • the read factors are supplied to the shedding control device 18 for each heald frame as set conditions S1.
  • the main control device 12 reads a plurality of corresponding factors, based on a setting function (setting data) of plural weaving elements set in the setter 14, and outputs the read factors to the shedding control device 18 as set conditions S1.
  • the setter 14 preliminarily prepares a shedding curve corresponding to the main shaft rotational angle for each heald frame, on the basis of parameters such as a parameter of shedding motion as mentioned above and a cross timing of the shedding device, and feeds it to the shedding control device 18 via the main control device 12.
  • the shedding curve as fed is stored in the shedding control device 18.
  • the shedding control device 18 outputs a drive amount signal (not shown) corresponding to an inputted main shaft rotational angle signal ⁇ 0 to each of servo amplifiers 20, 20, ... for driving the heald frame.
  • the rotational angle signal ⁇ 1 from the encoder 24 corresponding to the servo motors 22, 22, ... is inputted to each of the servo amplifiers 20, 20, ...
  • Each of the servo amplifiers 20, 20, ... while following the drive amount signal corresponding to the rotational angle of the main shaft to be inputted from the shedding control device 18, can drive respective frames 16, 16, ..., by controlling a torque (current) in correspondence to a torque restriction signal S2 to be determined by a factor corresponding to a weaving element to be inputted likewise as mentioned later, i.e., by restricting an output current to the restriction value and by supplying it to the respective servo motors 22, 22, ...
  • a loom control signal (not shown) such as for loom operation, stopping, or the like has been inputted to the shedding control device 18 from the main control device 12, and the shedding control device 18 can also drive each heald frame by outputting a drive amount signal and a torque control value in correspondence to an input.
  • the frame Nos. mean numbers given to a plurality of heald frames provided in parallel on the loom, and are, for example, given so as to increase from the nearest one to the cloth fell toward the farthest one.
  • Table 1 the larger the momentum of the heald frames with larger numbers are, the factors are set smaller, while it is possible to set the factors the larger, the larger the momentum of the heald frames with larger numbers are, so as to make the delay in responding small at the time of acceleration and deceleration of the heald frames with large frame numbers, thereby improving the weaving property.
  • Intermittent shedding patterns (1/2 • 2/1, 1/3 • 3/1, etc.) tend to cause a delay in following at the time of acceleration and deceleration, and is unable to gain any sufficient shedding amount. Consequently, in case of such a shedding pattern, the factor value is increased to make the acceleration force and the braking force at the time of acceleration and deceleration.
  • the stopping time of the heald frame is long, so that the servo motor 22 is not burned even if the factor is increased and the current value at the time of acceleration and deceleration is increased.
  • the heald frame moves continuously, so that the braking force at the time of acceleration and deceleration can be small. Consequently, the factor value is controlled to be small to make the consumption power for the continuous motion not to increase. In other words, by the amount of the decrease in consumption power due to the reduced factor value, the servo motor 22 is not burned even if the rotational speed of the loom is raised.
  • the warp shedding amounts are set the larger, the momentum per rotation of the main shaft becomes great. Therefore, the greater the frame No. is, the smaller the factor value is made to prevent the driving parts from being damaged.
  • the composing elements of the shedding motion such as the shedding pattern, frame No., cloth width and factorization of the rotational speed of the loom are summarized in Table 1, and an example of concrete factor values is shown in Table 2.
  • the shedding control device 18 temporarily stores the set condition S1 to be supplied from the main control device 12 and the final frame No. S3 (i.e., corresponding to the number of the heald frames to be mounted) of the heald frames 16 to be supplied from an external device in an internal memory, and, based on the stored set condition S1 and the final frame No. S3, calculates the torque restriction value for each heald frame.
  • Calculation of the torque restriction value is carried out by taking out the factor values from the set condition S1 and the first frame No. 1 to the last frame No. S3 from the setter 14 for each heald frame, and multiplying the factor values by the instantaneous maximum torque (or the instantaneous maximum current) of the electric motor corresponding to each heald frame, and obtaining the torque restriction value for each heald frame.
  • Table 2 shows an example of the factor values when the instantaneous maximum torque is made 200 % of the rating torque of the servo motor 22.
  • the calculated torque restriction value is stored in the internal memory of the shedding control device 18 for each heald frame.
  • the shedding control device 18 supplies the stored torque restriction value S2 to the corresponding servo amplifier 20.
  • Each servo amplifier 20 based on a drive signal (not shown) and the torque restriction value S2 to be supplied from the shedding control device 18, drives the corresponding servo motor 22 while controlling the position of the corresponding servo motor 22 so that the torque or the current value may not exceed the restriction value.
  • Each servo amplifier 20 controls the corresponding servo motor 22 so as to drive not to exceed the restriction value corresponding to the torque or the current value.
  • FIGs. 2 and 3 show an actual position (shedding curve) of the heald frame and the driving torque value at that time, taking a shedding device as an example, wherein the servo motor is driven continuously in one direction when the heald frame descends from the upper shed shedding position and ascends again to return to its initial position.
  • Fig. 2 shows an example of the shedding pattern 1/1 for the heald frame of the frame No. 12 at the time of an ordinary shedding (plain weave) in (A), and the driving torque of the servo motor 22 at that time in (B).
  • the abscissa shows the rotational angle (time) of the main shaft.
  • the 0° on the abscissa in Fig. 2 (A) shows a timing for beating, and the rotational angle 0° at this time is 0°.
  • each flat region on the upside shows the acceleration time
  • each flat region on the underside shows the deceleration time
  • Fig. 3 shows an example of the shedding pattern 1/3 for the frame No. 1 heald frame in (A), and the driving torque of the servo motor 22 at that time in (B).
  • the abscissa shows the rotational angle (time) of the main shaft.
  • the 0° on the abscissa in Fig. 3 (A) shows the beating timing, and the rotational angle of the main shaft at this time is 0°.
  • each of the upside flat regions shows the acceleration time, and each of the underside regions the deceleration time.
  • Table 2 does not show an example of a case of operating the torque restriction value by factorizing according to the setting mode of the weaving element.
  • Tables 3 and 4 show an example of a case of preliminarily setting the torque restriction value of the heald frame No. (frame No.).
  • Table 3 shows an example of a case of presetting the torque restriction value of the ordinary shedding pattern 1/1 for each heald frame.
  • Table 4 shows an example of a case of presetting the torque restriction value of each heald frame for each shedding pattern.
  • the torque restriction value is calculated according to the operation (multiplication) result of each factor value, but to simplify more, it suffices to calculate in correspondence to one or more conditions which are of comparatively great influence among those listed above. It may be as all the heald frames with the heald frame which is obtained the torque restriction value as above, and may be only as some heald frames.
  • the electric shedding device shown in the following is an example constituted to be capable of switching the torque restriction value during loom operation in contrast to the first embodiment.
  • a shedding control device capable of further saving a memory capacity of data concerning driving a shedding curve and the like even for a fabric of a complicated structure is concretely shown.
  • the control device 30 of the electric shedding device controls the rotational angle of a crank 44 connected to an electric motor 38, by controlling the rotational angle (rotational amount) of the electric motor 38 which is in one-to-one correspondence to each of plural heald frames 36, on the basis of the rotational angle signal ⁇ 0 of the main shaft 32 which is outputted by an angle detector 34 such as an encoder for detecting the rotational angle of the main shaft 32 of the loom.
  • the number of the heald frames 36 is, for example, eight.
  • the control device 30 is provided with: a position command portion 40 individually commanding vertical positions of the first to eighth heald frames 36, 36, ..., after the rotational angle signal ⁇ 0 of the main shaft 32 is inputted; and first to eighth position control portions 42, 42, ..., where first to eighth position control signals Sp1, Sp2, ..., Sp8 outputted from the position command portion 40 are to be inputted.
  • the position control portions 42 are in one-to-one correspondence to the electric motors 38 as shedding motors.
  • the electric motors 38 are in one-to-one correspondence to the heald frames 36.
  • As each electric motor 38 the same servo motor as in the first embodiment can be used.
  • each electric motor 38 is controlled by the drive power from the corresponding position control portion 42.
  • the electric motor 38 rotates, by the torque of its output shaft, the crank 44 for shedding motion and vertically moves the corresponding heald frame 36 through a connection rod 46.
  • the heald frame 36 to be vertically moved has a plurality of warps 50 to make shedding motion through a plurality of healds 48 attached to the heald frame 36. Accordingly, since the crank 44, the connection rod 46 and the heald frame 36 have considerable masses, when making them perform rotational motion and vertical motion from stoppage, and when stopping their moving state, great inertia force acts on the electric motor 38.
  • the position command portion 40 outputs: the first to eighth position control signals Sp1, Sp2, ..., Sp8 for controlling for each motor the rotation of the first to eighth electric motors 38 on the basis of shedding patterns to be described later in a state of being synchronized with the rotation of the main shaft 32 of the loom; and first to eighth torque restriction values S21, S22, ..., S28 which restrict the torque of the electric motors 38 for each motor.
  • the position command portion 40 has, therefore, a drive amount output circuit 52 for outputting a position control signal Spn, a torque restriction value generation circuit 54 for outputting a torque restriction value S2n, and a shedding selection command circuit 56 for outputting a selection command signal Sk which indicates a shedding curve.
  • n 1, ..., m, wherein m is the number of the heald frames to be calculated.
  • the shedding selection command circuit 56 has a stepping signal generator 58 which outputs selectively a forward stepping signal F and a backward stepping signal R according to the rotational direction of the main shaft 32 when the main shaft 32 normally rotated or reversed and passed a predetermined angle based on the rotational angle signal ⁇ 0 of the main shaft 32; a shedding command setter 60 storing a shedding pattern for one round of rotation of the main shaft corresponding to each heald frame 36; and a selection controller 62 for selecting the No. of the shedding curve for vertically moving each heald frame 36 by using the forward stepping signal F and backward stepping signal R as well as the shedding patterns set for each heald frame 36.
  • the shedding pattern is a pattern representing ascension and descent of the heald frame 36 and is used for indicating the direction of the shedding motion of the heald frame 36.
  • the shedding curve is a curve representing a position of the heald frame 36 in the vertical direction at the time of vertical motion and is to be used for commanding the speed of the shedding motion of the heald frame 36.
  • the stepping signal generator 58 generates a pulse-like forward stepping signal F when the main shaft 32 is normally rotating and the rotational angle signal ⁇ 0 of the main shaft 32 becomes 110°, meaning that the main shaft 32 normally rotated and passed 110°, and when the main shaft 32 reverses and the rotational angle signal ⁇ 0 of the main shaft 32 becomes 110°, generates a pulse-like backward stepping signal R meaning that the main shaft 32 reversed and passed 110°.
  • the forward stepping signal F is supplied to the selection controller 62 and the torque restriction value generation circuit 54.
  • the backward stepping signal R is supplied to the selection controller 62.
  • shedding patterns for one shedding step corresponding to each heald frame 36 are preset over a plurality of picks.
  • each heald frame 36 should be at an ascended position (shown by "1" outside the parentheses in Table 5) and that it should be at a descended position (shown by "0" outside the parentheses in Table 5).
  • the selection controller 62 holds the value of the shedding step and has a calculation circuit for adding or subtracting the value of the shedding step (pick count value) corresponding to the forward stepping signal F or the backward stepping signal R to be inputted. For this reason, the selection controller 62 adds or subtracts the pick count value by "1" every time the forward stepping signal F or the backward stepping signal R is inputted from the stepping signal generator 58.
  • the selection controller 62 also returns the pick count value to 0 (or to the value of the ceiling repeat value) when the pick count value reaches the ceiling repeat value (or the lower limit repeat value 0).
  • the selection controller 62 reads for each heald frame 36 the shedding patterns stored in the setter 60 by using a pick count value and outputs a selection command signal Sk indicating the shedding curve corresponding to the read shedding pattern for each heald frame 36 to the drive amount output circuit 52 and the torque control value generation circuit 54.
  • the drive amount output circuit 52 has, besides a changeover controller 64, a timing generator 66 for generating a timing signal St which shows a start timing of one shedding step, and a shedding curve setter 68 in which a shedding curve showing a vertical position of each heald frame 36 corresponding to the rotational angle signal ⁇ 0 of the main shaft 32 is set.
  • the timing generator 66 generates a pulse-like timing signal St, for example, when the rotational angle ⁇ 0 of the main shaft 32 becomes 120°.
  • the timing signal St is supplied to the changeover controller 64 and the torque restriction amount generated circuit 54.
  • the timing generator 66 outputs the pulse-like timing signal St which turns "on” every time the inputted rotational angle signal ⁇ 0 becomes 120° to the changeover controller 64.
  • shedding curve setter 68 As shown in Fig. 6, a plurality of shedding curves for setting the positions of the heald frames 36 in one round of rotation of the loom, namely, between 0° and 360° of the rotational angle of the main shaft, are preset and stored. Those shedding curves are made to correspond respectively to heald frame moving patterns (1), (2) and (3) predetermined for each moving direction of the heald frames 36 so as to indicate the vertical position of each heald frame 36 corresponding to the rotational angle signal ⁇ 0 of the main shaft 32 and are read in the changeover controller 64.
  • the heald frame moving patterns (1), (2) and (3) are respectively made to correspond to the time when the heald frame 36 moves from top to bottom, when the heald frame 36 moves from bottom to top, and from above to above (namely, the heald frame 36 does not move) as shown by a solid line, or from bottom to bottom (namely, when it does not move) as shown by a broken line.
  • target phase curves (see Fig. 6) showing the rotational angle of an output shaft of the electric motor 38 and the crank 44, respectively in correspondence to the main shaft rotational angle, are preset and stored.
  • the target phase curves of the electric motor 38 when the heald frame moving patterns are (1) and (2) are both upward to the right.
  • the abscissa shows the rotational angle signal ⁇ 0 of the main shaft 32.
  • the vertical lines in the columns of the shedding curve, target phase curve and rotational amount pulse respectively show the vertical position of the heald frame 36, the rotational angle of the electric motor 38 and the pulse peak value.
  • the changeover controller 64 selects the shedding curve according to an inputted selection command signal Skn and outputs the pulse-like position control signal Spn according to each electric motor 38 so that the rotational angle of the electric motor 38 relative to the rotational angle signal ⁇ 0 of the main shaft 32 may become the target phase curve as shown in Fig. 6.
  • the changeover controller 64 reads the shedding curve stored in the setter 68 for each heald frame on the basis of the rotational angle signal ⁇ 0 of the main shaft 32, the timing signal St and the first to eighth selection command signals Skn and generates the first to eighth position control signals Spn individually corresponding to the heald frames 36 on the basis of the read shedding curves to correspond to each rotational angle signal ⁇ 0 of the main shaft 32.
  • the torque restriction value generating circuit 54 has a torque restriction element setter 72 in which torque restriction values corresponding to, for example, 120 %, 70 % and 30 % of the rating torque restriction value of the electric motor 38 are set and stored in correspondence to the continuity of the shedding motion as one of weaving elements, and a torque restriction value generator 74 for outputting the read torque restriction values from the torque restriction element setter 72 to the position control portion 42.
  • the torque restriction value generating circuit 54 changes the torque restriction value to any of ranks A, B and C in correspondence to the continuity of the shedding motion when a period for the main shaft 32 to rotate one round is defined as one motion period.
  • the ranks A, B and C of the torque restriction values have a relationship of A > B > C, and the rank A is set at a continuous rating value (100 %) or a value set in its neighborhood, or in a range not exceeding a short-time rating value and at a value higher than the continuous rating value (for example, 120 %).
  • Rank A is set at 120 % of the rated current of the electric motor 38 so as to be able to surely drive the electric motor 38 when starting and stopping operation of the electric motor 38.
  • Rank B is set at 70 % of the rated current of the electric motor 38 so that heat generation of the electric motor 38 can be suppressed and the inertia force can be utilized for saving energy during continuous motion of the electric motor 38.
  • Rank C is set at 30 % of the rated current of the electric motor 38 by further making the torque restriction value smaller while the electric motor 38 is under stoppage.
  • the torque restriction value generator 74 outputs the torque restriction value S2 when the timing signal St is generated (120°) by judging the continuity of the shedding motion, as mentioned later, from the selection command signal Sk of the shedding curve to be renewed at the time of generation (110°) of the forward stepping signal F as well as from the selection command signal Sk of the past several shedding patterns before.
  • the torque restriction value generator 74 performs: (A) motion at the start of the operation, for making the torque restriction value 120 % of the rating torque of the electric motor 38 until reaching a predetermined number of picks after starting operation of the loom; and (B) thereafter, commanded by a unit of one pick, motion at the time of the continuous operation for making the torque restriction value any one of a group of 120 % (rank A), 70 % (rank B) and 30 % (rank C) of the rating torque of the electric motor 38 from an output mode, that is, the continuity of the shedding motion of a shedding selection command (command for selection of the shedding curve) corresponding to the pick just before and the pick before it and the present pick.
  • each position control portion 42 controls the rotational angle of the electric motor 38, in turn, the rotational angle of the crank and the vertical motion of the heald frame, by performing a feedback control of the electric motor 38, based on the position control signal Spn and torque restriction value S2n.
  • the rotational angle of each electric motor 38 is detected as a pulse signal Se generated according to the rotation of the electric motor 38 in an encoder 76.
  • Each position control portion 42 receives the pulse signal Se representing the rotational angle of the electric motor 38 corresponding to itself in a deviation detection circuit 78 and in a speed control circuit 80 through a speed signal conversion circuit 83, and further in a current control circuit 82 through a rotational angle conversion circuit 85, thereby controlling the rotational angle of the electric motor 38 in correspondence to the position control signal Spn.
  • the speed signal conversion circuit 83 which is a frequency-voltage conversion circuit, converts the inputted pulse signal Se into a voltage corresponding to its frequency and generates a speed signal Sv representing an actual speed.
  • the rotational angle conversion circuit 85 counts the inputted pulse signal Se and generates an angle signal ⁇ t representing the rotational angle of the electric motor 38.
  • the deviation detection circuit 78 receives the position control signal Sp and pulse signal Se.
  • a reciprocal counter which is built in and to which both signals Spn and Se are inputted detects a deviation of the input numbers of two pulse signals and outputs the detected deviation to the speed control circuit 80 as a deviation signal ⁇ P.
  • the speed control circuit 80 computes a speed deviation on the basis of the deviation signal ⁇ P and speed signal Sv to be inputted in the speed control circuit 80 and outputs the computed speed deviation to the current control circuit 82 as the speed deviation signal ⁇ V.
  • the current control circuit 82 computes a current command value corresponding to the two deviations from the speed deviation signal ⁇ V and a current value signal Sif detected by a current sensor 81.
  • the current control circuit 82 also performs torque restriction by outputting the current to the electric motor 38 on the basis of the current command value to be determined so as not to exceed the torque restriction value S2 as well as on the angle signal ⁇ t, and controls the current of the electric motor 38.
  • the position control portion 42 restricts the current to be supplied to the electric motor 38 so that the output torque value of the electric motor 38 may not exceed the torque restriction value S2.
  • the current control circuit 82 can drive the electric motor 38 according to the speed deviation signal ⁇ V and in a state that the output torque is restricted within a range of the torque restriction value S2.
  • the current control circuit 82 includes: a current calculator 84 for operating a current command value I corresponding to the speed deviation signal ⁇ V and outputting to an addition terminal of an addition point 86; a multiplier 88 for outputting a value obtained by multiplying the current value signal Sif representing the current flowing in the electric motor 38 by a current loop gain g to a subtraction terminal of the addition point 86; a limiter circuit 90 for outputting the current command value signal Si within a range that the deviation current value ⁇ I showing a result computed at the addition point 86 does not exceed the torque restriction value S2; and a current generation circuit 92 for generating the current to be supplied to the electric motor 38 on the basis of the current command value signal Si and so that the electric angle signal ⁇ t of the electric motor 38 may be located within a predetermined angular range.
  • the foregoing control device 30 vertically drives the heald frames 36 such as in the timing charts shown in Figs. 9 and 10.
  • Figs. 9 and 10 are timing charts showing as a time series the above-mentioned motion flow in continuous operation in the first heald frame 36 at the time of the shedding patterns (1/3 ⁇ 3/1).
  • the timing chart shown in Fig. 10 is an example of determining a torque restriction value by judging the continuity of the shedding motion according to a result of comparison between the shedding pattern in the previous shedding step in the switching timing of the shedding motion during an operating period of the loom and that in the present shedding step.
  • the timing chart shown in Fig. 9 is an example of determining a torque restriction value which is different between the acceleration time at the time in starting operation of the loom and a state of steady rotation thereafter. Such a motion is realized by the flowcharts shown in Figs. 11 through 14 to be mentioned later.
  • the abscissa shows in the first heald frame 36 the rotational angle signal ⁇ 0 of the main shaft 32, and the vertical axis shows (A) an operation start signal So, (B) the forward stepping signal F, (C) a shedding step No., (D) No. of heald frame moving pattern designated by the selection command signal Sk to be outputted from the shedding selection command circuit 56, (E) the timing signal St, (F) the vertical shedding amount of the heald frame, (G) a state of a drive pulse outputted to the electric motor 38, and (H) the torque restriction value.
  • the torque restriction value generator 74 determines during control operation a torque restriction value according to the flowcharts shown in Figs. 11 through 14.
  • Fig. 9 shows a motion timing chart relative to the first heald frame 36 whose frame No. is 1 (namely, in front row).
  • the selection controller 62 outputs a selection command signal Sk of "0" in the state of shedding step No. 1 as shown in Table 5, and the first heald frame 36 has been moved to a position for being somewhat in an under shed shedding state by a position command signal SP1 outputted like pulse from the position command portion 40 and is in a synchronized state relative to the rotational angle ⁇ 0 of the main shaft of the loom.
  • Fig. 9 is an example that, during an operation period when the rotational speed of the loom reaches a steady rotational speed, the torque control value generator 74 judges the continuity of the shedding motion of the frame No. 1 heald frame 36 and changes the corresponding torque restriction value as well as an example that, during the period from after starting operation of the loom to plural picks (3 picks in the illustration) after starting operation, the torque control value generator 74 changes to a constantly high torque restriction value in place of the above in order to avoid a delay in driving of the heald frame by inertia force.
  • flag A for changing the rotational speed of the torque restriction value generator 74 is "off.”
  • the position command portion 40 outputs a position control signal Sp so as to move the first heald frame 36 to a bottom dead center.
  • the torque restriction value of the pick right after starting operation of the loom (the first pick) at this time is computed as follows:
  • a control process such as the flowcharts in Figs. 11 through 14 is carried out, not only at the time of the input of the operation start signal So and the input of a rotational speed change signal SA, but every time the forward stepping signal F is generated (when passing 110°) during operation of the loom. Also, flag A to be mentioned later is a flag to be set by the input of the operation start signal So or the input of the rotational speed change signal SA.
  • the torque restriction value generator 74 when flag A is “on” as a result of judgment in step 101, shifts through B to a shedding curve selection process flow shown in Fig. 12, and when flag A is "off,” shifts to judgment as to whether the operation start signal So for "on” is inputted or not (step 102).
  • the torque restriction value generator 74 when the operation start signal So for "on" is inputted as a result of judgment in step 102, shifts through B to the shedding curve selection process flow shown in Fig. 12, and otherwise, through A to the rotational speed change process shown in Fig. 13.
  • the torque restriction value generator 74 makes another judgment as to whether flag A is "on” or "off” (step 201).
  • flag A should have already been "off' as mentioned above, but it is sometimes "on.”
  • the torque restriction value generator 74 turns flag A “on” and turns the pick count value of the selection controller 62 to "0" (step 202), and then sets a torque restriction value ILO of the torque restriction value generator 74 at 120 % of the rating torque of the electric motor 38 (namely, rank A) (step 203).
  • the torque restriction value ILO is set at the value of rank A. Thereafter, the torque restriction value generator 74 shifts to step 401 shown in Fig. 14.
  • step 401 the torque restriction value ILO is immediately renewed to a torque restriction value IL, and the torque restriction value generator 74, after outputting the torque restriction value IL to the position control portion 42 as a torque restriction value S2, finishes computing the torque restriction value of the pick of right after starting operation of the loom (in other words, the first pick after starting operation).
  • the changeover controller 64 of the drive amount output circuit 52 outputs the position control signal Sp1 such as shown in the rotational amount pulse waveform of (1) in Fig. 9 (G) and Fig. 6.
  • the first position control portion 42 drives the first electric motor 38, based on the position control signal Sp1 and torque restriction value S21, by the current within the range of the torque restriction value S2 or less as set at rank A, namely, 120 % of the rating torque.
  • control device 30 outputs the pulse-like forward stepping signal F from the stepping signal generator 58 when the rotational angle signal ⁇ 0 of the main shaft 32 becomes 110° (see Fig. 9 (B)).
  • the selection controller 62 selects a set value corresponding to the shedding steps 2 and 3 of Table 5 and outputs the selection command signal Sk of the shedding curve (2) in Table 5.
  • step 204 when flag A is judged to be "on" in step 101, and as a result of the judgment in step 201, if flag A is "on," the control device 30 increases the pick count value by "1" as shown in Fig. 12 (step 204). As a result, the count value becomes 1 or 2.
  • the torque restriction value generator 74 stores the selection command signal Sk of one pick before the selection command signal Sk of the pick of just before, the selection command signal Sk of just before and the present selection command signal Sk respectively as the third selection command, second selection command and first selection command (step 205).
  • the third selection command is not stored.
  • the first and second selection commands in the second pick are kept at a value of "1” or "0" showing vertical positions of the heald frame 36 shown in Table 5.
  • the first, second and third selection commands in the third pick are kept respectively at the values of "1," "1," and "0.”
  • the torque restriction value generator 74 judges whether the pick count value has reached a predetermined value (3 in this embodiment) (step 206), and then shifts to step 401.
  • the torque restriction value ILO is set at the first pick value (the value of rank A), so that, in step 401, the value of the torque restriction value IL is kept at the value of rank A, and the torque restriction value generator 74, waiting for inputting of the timing signal St, outputs the torque restriction value ILO as the torque restriction value S2.
  • control device 30 judges that flag A is “on” in step 101, judges again that flag A is “on” in step 201, and then in step 204, increases the pick count value of the torque restriction value generator 74 by "1.” As a result, the pick count value of the torque restriction value generator 74 becomes 3.
  • the torque restriction value generator 74 in step 205, stores the selection command signal Sk of one pick before the selection command signal Sk of the pick of just before, and the selection command signal Sk of just before and the present selection command signal Sk respectively as the third selection command, second selection command and first selection command.
  • the torque restriction value generator 74 judges whether the pick count value of the torque restriction value generator 74 has reached a predetermined value (3 in this embodiment).
  • the torque restriction value generator 74 turns flag A "off” and shifts to step 302 shown in Fig. 13.
  • the torque restriction value generator 74 judges whether the first selection command and the second selection command are the same or not in step 302 so as to set the torque restriction value.
  • the torque restriction value generator 74 judges whether the second selection command and third selection command are the same or not in step 303 if the first selection command and second selection command are different, and in step 304 if the first selection command and second selection command are the same, respectively.
  • step 303 if the second selection command and third selection command are the same, the torque restriction value generator 74 sets the value of the torque restriction value ILO at the value of rank A (step 305) and shifts to step 401.
  • step 302 if the second selection command and third selection command are different, the torque restriction value generator 74 sets the value of the torque restriction value IL0 at the value of rank B (step306) and shifts to step 401.
  • step 304 if the second selection command and third selection command are the same, the torque restriction value generator 74 sets the value of the torque restriction value ILO at the value of rank C (step 307) and shifts to step 401.
  • step 304 if the second selection command and third selection command are different, the torque restriction value generator 74 sets the value of the torque restriction value ILO at the value of rank A (step 308) and shifts to step 401.
  • step 401 the value of the torque restriction value IL is set at the value of the torque restriction value ILO, and the torque restriction value generator 74, waiting for the input of the timing signal St, outputs the torque restriction value ILO as the torque restriction value S2.
  • the heald frame which is stationary during weaving operation, when movement (shedding motion) of the heald frame occurs newly because the shedding step No. is increased by one, the torque necessary for starting movement of the heald frame because the torque restriction value of rank A is selected due to passing step 305 is enabled to be outputted.
  • the torque restriction value of rank C is selected due to passing through step 307, thereby enabling to restrict to an output torque necessary for maintaining the position of the heald frame.
  • the torque restriction value of rank B is selected by passing through step 306, thereby restricting the output torque, useless motion relative to deceleration and acceleration for accurately following the shedding curve is restricted. As a result, the inertia force is effectively used, enabling to drive the heald frame.
  • the torque restriction value of rank A is selected when passing through step 308, enabling to output the deceleration torque necessary for making the moving heald frame stationary.
  • the torque restriction value in the future one pick period is set on the high side in correspondence to these states.
  • the torque restriction value is set on the low side when the motion of the heald frame has continuity, so that useless deceleration or acceleration is suppressed to perform driving by making use of action force (inertia force) while the heald frame is moving and when a torque is required for moving or stopping the heald frame, the torque restriction value is set on the high side to output a necessary torque, thereby improving an energy saving effect.
  • torque restriction value is set in correspondence to whether there is continuity of motion of the heald frame or not, it is also possible to set torque restriction values different between a case of starting movement from the stationary state and a case of becoming stationary from the moving state.
  • step 102 operation of the loom has already been started, and when the rotational angle signal ⁇ 0 becomes 110°, the control device 30 outputs the pulse-like stepping signal F from the stepping signal generator 58, so that the torque restriction value generator 74 performs the process of the above-mentioned flowchart again. And yet, since the operation start signal So is turned “off” as shown in Fig. 9 (A) and, moreover, in previous step 207, flag A has already been turned “off,” the torque restriction value generator 74, judging as "off” in step 101 for judging flag A, proceeds to step 102.
  • step 102 Since in step 102 the operation start signal So is "off" as mentioned above and no command for changing the rotation of the main shaft 32 is inputted, the torque restriction value generator 74 shifts to step 301 shown in Fig. 13.
  • the torque restriction value generator 74 stores, in step 301, the selection command signal Sk of one pick before the selection command signal Sk of the pick of just before, and storing the selection command signal Sk of just before and the present selection command signal Sk respectively as the third selection command, second selection command and first selection command, shifts to step 302.
  • the torque restriction value generator 74 judges whether the first, second and third selection commands are the same or not, and according to the result, and shifting to step 305, 306, 307 or 308, sets the torque restriction value ILO at any one of ranks A, B and C, and then shifts to step 401.
  • step 401 the torque restriction value generator 74, setting the value of the torque restriction value IL as the value of the torque restriction value ILO, and after waiting for the input of the timing signal St, outputs as the torque restriction value S2. Consequently, when the total number of the shedding steps are counted as eight and the shedding patterns shown in Table 5 are set as shown relative to the first to eighth heald frames, the torque restriction value generator 74 outputs the torque restriction value S2 corresponding to the rank as shown in Table 6 in each shedding step to each heald frame.
  • control device 30 (torque restriction value generator 74) may be changed as follows.
  • the changeover during weaving operation is not limited to the continuity of the above-mentioned shedding motion regarding a weaving element, but the torque restriction value may be determined, taking into account of the following, and two or more may be combined.
  • the torque restriction value is obtained and set from the factor selected in correspondence to the setting mode of each weaving element. It is desirable to set the torque restriction value in such a case by preliminarily obtaining the torque restriction value in correspondence to a combination of each setting mode prior to weaving operation and to set by selecting them during weaving operation, but it is possible to set it by calculation every time the setting mode is changed over during weaving operation.
  • a dwell angle an angle for maintaining in the maximum shedding state
  • shedding curves different in composing elements of the shedding curves such as shedding amount.
  • the torque restriction value may be changed to correspond to the moving direction of the heald frame 36 (from top to bottom or from bottom to top). More concretely, in case the dead load of the heald frame 36 acts greatly on the rotation of the electric motor 38, the torque restriction value may be set on the low side.
  • the warp tension is changed according to the weft inserting pick during operation of the loom.
  • the above-mentioned torque restriction value of the shedding device may be changed over in correspondence to such a change. More concretely, when the warp tension is lowered, the torque restriction value is also set on the low side.
  • step 102 shown in Fig. 11 in the control device 30 of the electric shedding device, flag A is "off" in step 101, and when a change in rotational speed of the main shaft 32 is judged in step 102 and in case the rotational speed of the main shaft 32 is judged to have changed, shifts to step 202 through step 201 of Fig. 12 like when the operation start signal So turned "on.”
  • the main shaft 32 of the loom is enabled to change over every time it rotates one round, but it is possible to change by a predetermined angle of one rotation or less or one rotation or more, and further, it is possible to change per plural rounds of rotation such as twice or more.
  • Changeover of the torque restriction value may be performed by judging a change in continuity of the shedding motion or may be performed in correspondence to a changeover of textile of a cloth.
  • the torque restriction value may be changed over on the low side in the second process after reaching a steady operational speed.
  • a changeover signal of the rotational speed of the loom is inputted to the torque restriction value generation circuit as the torque restriction value generator 74.
  • While changeover of the torque restriction value may be performed according to the rotational angle of the main shaft 32, it may be changed over according to an elapsed time from a reference angle.
  • the torque restriction value may be set to differ in consideration of the heald frame No. (frame No.) such as in case of the first embodiment.
  • the internal constitution of the shedding control device may undergo a process by hardware concerning a series of processes as illustrated or a process by a micro-processor as well as software.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Looms (AREA)
EP03792834A 2002-08-26 2003-08-25 Procede de commande d'un dispositif d'ouverture electrique Withdrawn EP1541728A4 (fr)

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JP2002245382 2002-08-26
JP2002245382 2002-08-26
PCT/JP2003/010707 WO2004018752A1 (fr) 2002-08-26 2003-08-25 Procede de commande d'un dispositif d'ouverture electrique

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US9043010B2 (en) 2011-03-29 2015-05-26 Lindauer Dornier Gesellschaft Mbh Method and weaving machine for shedding

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101782458B (zh) * 2009-12-17 2011-11-09 江苏万工科技集团有限公司 一种开口机构运动规律的运动试验装置
FR2956414B1 (fr) * 2010-02-12 2012-03-16 Staubli Sa Ets Procede de commande des actionneurs electriques d'un dispositif de formation de la foule
JP4989757B2 (ja) * 2010-09-07 2012-08-01 津田駒工業株式会社 織機の電動開口装置
CN103320949B (zh) * 2012-03-20 2016-02-10 厦门莱宝机械有限公司 一种不需要开口机构反转运动的反向寻纬方法
JP6635006B2 (ja) * 2016-11-25 2020-01-22 株式会社豊田自動織機 織機における開口方法及び開口装置

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EP0534318B1 (fr) * 1991-09-19 1997-02-05 Tsudakoma Kogyo Kabushiki Kaisha Régulateur de vitesse pour machine à tisser
JPH0995840A (ja) * 1995-09-28 1997-04-08 Toyota Autom Loom Works Ltd 織機における運転速度制御方法及び運転速度制御装置並びに運転速度決定装置
WO1999027426A1 (fr) * 1997-11-21 1999-06-03 Picanol N.V. PROCEDE ET SYSTEME D'ENTRAINEMENT POUR l'ENTRAINEMENT UNE MACHINE COMMANDE PAR COUPLE
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JP2810190B2 (ja) * 1990-02-19 1998-10-15 津田駒工業株式会社 織機の起動方法と、その装置

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EP0534318B1 (fr) * 1991-09-19 1997-02-05 Tsudakoma Kogyo Kabushiki Kaisha Régulateur de vitesse pour machine à tisser
JPH0995840A (ja) * 1995-09-28 1997-04-08 Toyota Autom Loom Works Ltd 織機における運転速度制御方法及び運転速度制御装置並びに運転速度決定装置
WO1999027426A1 (fr) * 1997-11-21 1999-06-03 Picanol N.V. PROCEDE ET SYSTEME D'ENTRAINEMENT POUR l'ENTRAINEMENT UNE MACHINE COMMANDE PAR COUPLE
JP2000303320A (ja) * 1999-04-12 2000-10-31 Toyota Autom Loom Works Ltd 織機における専用モータ制御方法及び装置

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Publication number Priority date Publication date Assignee Title
US9043010B2 (en) 2011-03-29 2015-05-26 Lindauer Dornier Gesellschaft Mbh Method and weaving machine for shedding

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CN1675420A (zh) 2005-09-28
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WO2004018752A1 (fr) 2004-03-04

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