JP2020026581A - Synchronous control method in loom, and loom thereof - Google Patents

Abstract

To provide a synchronization control method in a loom capable of suppressing the overall cost of a loom by eliminating the necessity of using a synchronous motor of large output as a shedding motor in the loom, and to provide the loom thereof.SOLUTION: In a loom having a shedding motor independent of a main shaft motor of the loom as a driving source and a shedding device for vertically displacing each individual heald by driving a single driving shaft common to all the healds using the shedding motor, a synchronization control method comprises the steps of: detecting the rotation amount of the driving shaft in each loom cycle at least during steady operation of the loom; and controlling the main shaft motor in accordance with the detected signal so that the main shaft of the loom is rotated synchronously with the driving shaft.SELECTED DRAWING: Figure 1

Description

  The present invention provides an opening motor independent of a main shaft motor of a loom as a drive source, and an opening that displaces each heald in a vertical direction by driving a single drive shaft common to all healds by the opening motor. The present invention relates to a synchronous control method for a loom equipped with a device and a loom thereof.

  In a loom, a jacquard shedding device is well known as a shedding device for causing a warp to perform a shedding operation.

  In the jacquard shedding device, a single drive shaft common to all healds is rotationally driven, so that each heddle is individually preset in order to open the warp drawn through each heald. It is configured to be displaced upward or downward according to the pattern.

  For a loom equipped with such a jacquard shedding device, the drive shaft of the shedding device is generally driven to rotate so that the main shaft of the loom is rotated by half every one rotation. Conventionally, there are two types of configurations for rotationally driving the drive shaft: a mechanical configuration using a main shaft as a drive source and an electrical configuration using a dedicated motor as a drive source.

  In the former mechanical configuration, the loom has a configuration in which the drive shaft of the shedding device and the main shaft of the loom are mechanically connected by a shaft, a chain, or the like. However, in the case of the configuration, there are problems that many mechanical parts are required and maintenance is very complicated.

  On the other hand, in the latter electrical configuration, the loom is configured such that the drive shaft of the shedding device is driven by a dedicated drive motor (opening motor) independent of the main shaft motor of the loom. According to the configuration, since the connection between the drive shaft of the shedding device and the main shaft of the loom is electrical, there is an advantage that the number of mechanical parts is reduced and the maintainability is improved as compared with the mechanical configuration. There is. A loom that employs such an electrical configuration for the connection between the drive shaft of the jacquard opening device and the main shaft of the loom is disclosed in Patent Document 1 below.

JP-A-3-249233

  By the way, the loom described in Patent Document 1 controls the driving of the shedding motor synchronously so that the rotation of the drive shaft of the shedding device is synchronized with the rotation of the main shaft of the loom.

  In the shedding device, since the heald through which the warp maintained at a predetermined tension is drawn is displaced upward or downward, the load applied to the drive shaft is large. In addition, jacquard shedding devices are generally used for weaving fabrics with complex weave patterns. Therefore, in the Jacquard shedding device, the heald is driven according to a complicated pattern, and accordingly, the number of healds displaced upward and the number of healds displaced downward often change greatly every cycle of the loom. . Then, in that case, the load acting on the drive shaft changes greatly every cycle of the loom.

  Therefore, in controlling the drive of the aperture motor synchronously as described above, it is necessary to control the drive of the aperture motor so that the rotation of the drive shaft is not delayed or advanced due to the load fluctuation. .

  In addition, the main shaft of the loom is connected to the beating device, and the load caused by the beating operation (oscillation of the reed) acts on the main shaft of the loom. Therefore, the rotation of the main shaft is not constant but changes during one rotation (one cycle of the loom). Therefore, the synchronous control of the opening motor needs to be performed so that the rotation of the drive shaft follows the rotation of the main shaft that changes in such a manner.

  Therefore, in a Jacquard shedding apparatus using a dedicated drive motor (aperture motor) as a drive source, a high-output synchronous motor (for example, a servo motor) that enables such a synchronous control is generally used. It is used as an aperture motor. However, since such a synchronous motor is expensive, the cost of a loom provided with a jacquard shedding device has been increased.

  The present invention has been made in view of the above circumstances, and in the above-described loom, it is not necessary to use such a high-output synchronous motor as the shedding motor, and the overall cost of the loom can be reduced. It is an object of the present invention to provide a synchronous control method in a loom that enables the loom, and a loom thereof.

  The present invention includes an opening motor independent of a main shaft motor of a loom as a drive source, and displaces each heald in a vertical direction by driving a single drive shaft common to all healds by the opening motor. Assume a loom equipped with a shedding device.

  The synchronous control method for the loom of the present invention detects the amount of rotation of the drive shaft during each loom cycle at least during steady operation of the loom, and rotates the main shaft of the loom in synchronization with the drive shaft in accordance with the detection signal. The drive of the spindle motor is controlled so as to be performed.

  Further, in the synchronous control method for a loom of the present invention, the control of the driving of the spindle motor may be performed by a target rotation amount obtained based on the rotation amount of the drive shaft detected every preset period. It is assumed that the spindle is rotated during the set period from the time when the amount of rotation is obtained, and that the rotation angle of the spindle reaches a preset angle which is a predetermined rotation angle of the spindle. The actual rotation angle of the main shaft at the time point is detected, the detected actual rotation angle is compared with the set angle to determine the deviation of the actual rotation angle from the set angle, which is set in advance. At the time when the deviation of the number of times obtained is obtained, the target rotation amount obtained for the set period after that time may be corrected based on the deviation.

  Further, in the synchronous control method for a loom of the present invention, a control parameter used for controlling the spindle motor may be changed according to a load acting on the drive shaft in accordance with the displacement of the heald.

  Also, a loom for realizing the synchronous control method according to the present invention is an shedding device having a shedding motor independent of a main shaft motor of the loom as a driving source, and a single driving shaft common to all healds is provided with the shedding motor. It is assumed that the loom includes an opening device that displaces each of the healds in the vertical direction by being driven by the main shaft and a spindle control device that controls driving of the spindle motor.

  In the present invention, the loom detects a rotation amount of the drive shaft during each loom cycle at least during a steady operation of the loom, and a main shaft of the loom according to a detection signal output from the rotation detection device. A synchronous control device for obtaining a rotation amount of the main shaft so as to be synchronized with a drive shaft, the synchronous control device outputting a rotation command signal based on the obtained rotation amount of the main shaft to the main shaft control device. It is characterized by having.

  Further, in the loom of the present invention, the synchronous control device is a target rotation amount obtained based on the rotation amount of the drive shaft detected at every preset setting period, and the target rotation amount is obtained. An arithmetic unit for calculating a target rotation amount at which the main shaft is rotated during the set period from a point in time, and the synchronization control device further sets the main shaft to a set angle that is a predetermined rotation angle of the main shaft. An angle detector for obtaining an actual rotation angle of the main shaft at a time when a rotation angle is assumed to be reached, and comparing the actual rotation angle and the set angle obtained by the angle detector with the set angle. And a comparator for calculating a deviation of the actual rotation angle with respect to the above.When the deviation is obtained a predetermined number of times, the arithmetic unit is calculated for the set period after that time. The target rotation amount may include a corrector for correcting, based on said deviation.

  Further, in the loom of the present invention, the synchronous control device has a function of changing a control parameter used for controlling the spindle motor according to a load acting on the drive shaft in accordance with the displacement of the heald. Is also good.

  According to the present invention, since the synchronous control of the drive shaft and the main shaft that synchronizes the rotation of the main shaft of the loom with the rotation of the drive shaft of the shedding device is performed, the main shaft that fluctuates as described above during weaving is controlled. It is not necessary for the aperture motor to have such a performance as to maintain the synchronized state of the drive shaft under a large load. Thus, an inexpensive induction motor can be used instead of an expensive synchronous motor as the opening motor, and as a result, the cost of the opening device can be reduced.

  Since the rotation of the main shaft is synchronized with the rotation of the drive shaft, it is necessary to use a synchronous motor as the main shaft motor, and the cost of the main shaft motor increases accordingly. However, when comparing the load acting on the drive shaft (the load associated with displacing the heald) and the load acting on the main shaft (the load associated with the swinging of the reed), the load acting on the main shaft acts on the drive shaft. About half of the applied load, which is sufficiently small. For this reason, even when a synchronous motor is used as the main shaft motor, the main shaft motor can be an inexpensive motor whose output is smaller than that of an opening motor in a conventional loom. Therefore, although the cost of the spindle motor itself is slightly increased, the cost of the loom as a whole can be reduced as compared with the case where a synchronous motor is used as the shedding motor.

  Further, in the present invention, by controlling the driving of the spindle motor so that the target rotation amount of the spindle is corrected, even if a deviation in the rotation amount occurs between the drive shaft and the main shaft, the deviation is determined. , The state where the rotation of the main shaft is more accurately synchronized with the rotation of the drive shaft can be maintained.

  Specifically, in the present invention, the rotation of the main shaft is synchronized with the rotation of the drive shaft. However, a deviation in the amount of rotation occurs between the drive shaft and the main shaft due to some cause (for example, abnormal vibration of a loom). Sometimes.

  Therefore, by detecting the actual rotation angle of the main shaft at the time when the rotation angle of the main shaft is assumed to reach the set angle, and comparing the detected actual rotation angle with the set angle, the rotation amount of the main shaft is calculated. Find the deviation (deviation). Then, by controlling the driving of the spindle motor so as to correct the target rotation amount of the spindle based on the obtained deviation, the deviation can be eliminated. As a result, it is possible to maintain a state in which the main shaft is more accurately synchronized with the drive shaft.

  In the present invention, the load on the spindle motor can be reduced by changing the control parameters used for controlling the spindle motor in accordance with the load acting on the drive shaft.

  Specifically, as described above, as a result of the change in the load acting on the drive shaft for each cycle of the loom, the rotation of the drive shaft varies for each cycle of the loom. In the present invention, the rotation of the main shaft follows the fluctuation of the rotation of the drive shaft, so that if the fluctuation is large, the load on the main shaft motor increases.

  Therefore, in a loom cycle in which the load acting on the drive shaft is large, the control parameters are changed so that the followability of the rotation of the spindle to the rotation of the drive shaft is reduced. Burden can be reduced.

It is a block diagram showing an example of composition of a loom by the present invention. FIG. 2 is a block diagram illustrating an example of a configuration of a synchronization control device. It is a block diagram which shows the other example of a structure of a synchronous control device.

  FIG. 1 shows an example of a loom to which the present invention is applied. The loom in this embodiment is a weaving device 1 including a loom main body 11 provided with a weft insertion device, a beating device, and the like (not shown). And a jacquard shedding device 2 including a jacquard body 21 disposed above the weaving device 1 (loom body 11) as an shedding device for giving shedding motion to the warp. However, the jacquard shedding device 2 uses a dedicated motor (opening motor 23) independent of the motor (spindle motor 13) of the loom main body 11 as a drive source, and the jacquard main body 21 is mechanically separated from the loom main body 11. It has an independent configuration.

  The weaving device 1 includes a main shaft motor 12 for rotating the main shaft 12 of the loom main body 11 in addition to a loom main body 11 that includes a main shaft 12 and is a portion where weaving is performed by the weft insertion device, the beating device, and the like. , And a spindle control device 14 for controlling the rotation of the spindle motor 13. In addition, the weaving apparatus 1 includes a spindle-side encoder 15 for detecting the rotation amount of the spindle 12 that is rotationally driven as described above, and an input setting device 16 for inputting and setting each set value such as weaving conditions. In.

  The main shaft motor 13 is connected to the main shaft 12 of the loom main body 11 via a drive transmission mechanism 17 such as a speed reducer. This spindle motor 13 is assumed to be a synchronous motor in this embodiment. Incidentally, an example of the synchronous motor is an IPM motor. Then, the spindle 12 is driven to rotate by such a spindle motor 13. In addition, the beating device included in the loom main body 11 is configured such that the reed connected to the main shaft 12 is rocked by rotation of the main shaft 12. Therefore, in the beating apparatus, the reed is rocked and the beating motion is performed by rotating the main shaft 12 as described above.

  Further, in the weaving device 1, weaving with weft insertion by the above-described weft insertion device is performed, and a device related to weaving such as the weft insertion device includes a detected rotation angle of the main shaft 12 (hereinafter, referred to as "crank"). Angle ”). Therefore, the weaving device 1 is provided with the main spindle side encoder 15 for detecting the crank angle. Then, the spindle-side encoder 15 sends a detection signal (hereinafter, referred to as “spindle-side detection signal Rm”) corresponding to the detected crank angle to a device controller (not shown) that controls the operation of each device. Output.

  The spindle-side detection signal Rm is also output to a spindle control device 14 that controls driving of the spindle motor 13. Then, the spindle control device 14 is configured to control the driving of the spindle motor 13 based on a rotation command signal Rc to be described later and a spindle detection signal Rm from the spindle encoder 15 which are input.

  The input setting device 16 is a device for inputting and setting each set value of weaving conditions in the weaving. The weaving conditions include a set rotation speed, which is a rotation speed of the loom assumed (set) for the weaving at that time (a rotation speed during a steady operation), and a position (upper, lower) of the warp for each loom cycle. ) Is set. Incidentally, the input setting device 16 has, for example, a screen display device of a touch panel type, and is configured such that each of the above-described setting values can be input and set by a setting screen or the like displayed on the screen display device. . The input setting device 16 is connected to the loom main body 11, and is configured to transmit each set value input and set to each device controller in the corresponding loom main body 11.

  The jacquard shedding device 2 is provided in a number corresponding to the number of warps, a plurality of healds (not shown) into which the warps are inserted, and a warp shed by displacing the healds in the vertical direction. A jacquard main body 21, an opening motor 23 serving as a drive source of the jacquard main body 21, and an opening control device 24 for controlling rotation of the opening motor 23 are included. In addition, the jacquard opening device 2 includes an opening-side encoder 25 as a rotation amount detection device that detects the rotation amount of the drive shaft 22 of the jacquard main body 21 that is rotationally driven by the opening motor 23.

  The jacquard main body 21 is provided with a single drive shaft 22, and the drive shaft 22 is rotationally driven to displace the heald in the vertical direction. That is, the single drive shaft 22 in the jacquard main body 21 is common to all healds. The drive shaft 22 is connected to the opening motor 23 via a drive transmission mechanism 26 such as a speed reducer. The opening motor 23 is an induction motor in this embodiment. Since the configuration of the jacquard main body 21 itself is well known, a detailed description thereof will be omitted. It has a mechanism (not shown). The drive mechanism is connected to each heddle via a rope (wire) provided corresponding to each heddle and connected to each heddle. The drive mechanism is configured such that the heald is displaced in the vertical direction with the rotation of the drive shaft 22.

  The shedding control device 24 is connected to the input setting device 16 of the weaving device 1 and also to the shedding encoder 25. Then, the set rotation speed and the opening pattern as the weaving conditions are transmitted from the input setting device 16 to the opening control device 24. Further, a detection signal (hereinafter, referred to as “opening side detection signal Rd”) corresponding to the rotation amount of the drive shaft 22 detected by the opening side encoder 25 is output from the opening side encoder 25 to the opening control device 24. Have been. In this embodiment, the drive mechanism is configured to cause each heald to perform an operation for weaving for two weaving machine cycles when the drive shaft 22 is rotated once. Therefore, in the present embodiment, the drive shaft 22 is rotationally driven so as to be rotated by half in one cycle of the loom. Therefore, the opening control device 24 controls the driving of the opening motor 23 based on the set rotation speed and the opening side detection signal Rd so that the drive shaft 22 is driven at a rotation speed that is １ ／ of the set rotation speed. It is configured as follows. The opening control device 24 is configured to control the jacquard main body 21 (drive mechanism) so that the heald is displaced according to the opening pattern.

  In the weaving machine having the weaving device 1 and the jacquard shedding device 2 described above, in the present invention, the weaving machine operates the weaving device 1 according to the opening side detection signal Rd of the rotation detecting device (the opening side encoder 25) during the steady operation. A synchronous control device 3 for determining the amount of rotation of the main shaft 12 so that the main shaft 12 of the loom main body 11 is rotated in synchronization with the drive shaft 22 of the jacquard main body 21 of the jacquard opening device 2. The synchronous control device 3 that outputs a rotation command signal Rc based on the rotation amount to the spindle control device 14 is provided.

  As shown in FIG. 1, the synchronous control device 3 is connected at an input end thereof to the opening side encoder 25 and the main spindle side encoder 15, and is connected at its output end to the main spindle control device 14. As shown in FIG. 2, the synchronization control device 3 is configured to include components such as a calculator 31, a discriminator 32, an angle detector 33, and a comparator 34. The details of each of these components are as follows.

  As illustrated in FIG. 2, the calculator 31 includes a rotation amount calculator 35 and a corrector 36. Among them, the rotation amount calculator 35 is connected at its input end to the opening side encoder 25 and the corrector 36, and at its output end to the spindle controller 14. The corrector 36 is connected at its input end to the comparator 34, and at its output end to the rotation amount calculator 35.

  The rotation amount calculator 35 outputs the aperture output from the aperture-side encoder 25 during a preset period (for example, 0.5 msec; hereinafter, referred to as a “set period”) every set period. The rotation amount of the drive shaft 22 during the set period (hereinafter, referred to as “drive shaft rotation amount”) is determined based on the side detection signal Rd. Further, each time the drive shaft rotation amount is determined (every set period), the rotation amount calculator 35 receives the aperture-side detection signal Rd next from the determined drive shaft rotation amount. During this period (during the set period), a target rotation amount which is a rotation amount by which the main shaft 12 is to be rotationally driven is obtained.

  However, the target rotation amount is a rotation amount for causing the rotation of the main shaft 12 to follow the rotation of the drive shaft 22, and 0.5 msec after the next drive shaft rotation amount is obtained (after the set period). The rotation amount is such that the rotation angle of the main shaft 12 reaches the rotation angle corresponding to the rotation angle of the drive shaft 22 at the time when the drive shaft rotation amount on which the target rotation amount is obtained is obtained. The rotation angle corresponding to the rotation angle of the drive shaft 22 is a rotation angle obtained by doubling the rotation angle of the drive shaft 22. Therefore, the target rotation amount is obtained by doubling the drive shaft rotation amount.

  Specifically, in the weaving apparatus 1, one weaving operation (one weaving operation with one weft insertion, beating, etc.) is usually performed by rotating the main shaft 12 once. Note that in weaving by a loom, this one weaving operation is repeatedly performed, and one time corresponds to one cycle of the loom (one weaving cycle (also referred to as one weaving cycle)). On the other hand, the jacquard opening device 2 of the present embodiment is configured such that each heald performs an operation for two weaving cycles for each rotation of the drive shaft 22, as described above. In other words, in the jacquard opening device 2, the operation for one weaving cycle is performed by １ ／ rotation of the drive shaft 22. Therefore, since the main shaft 12 must be driven so that the main shaft 12 makes one rotation while the drive shaft 22 makes a half rotation, the target rotation amount is twice the drive shaft rotation amount.

  In addition, the rotation amount calculator 35 is a rotation command signal Rc used for controlling the spindle motor 13 in the spindle control device 14 based on the obtained target rotation amount. And generates a rotation command signal Rc that is driven to rotate, and outputs the rotation command signal Rc to the spindle control device 14.

  Further, the synchronization control device 3 in the present embodiment is configured to correct the rotation amount of the main shaft 12 based on the deviation between the opening side detection signal Rd and the main shaft side detection signal Rm.

  More specifically, the rotation amount calculator 35 is configured as described above, and as a result of the main shaft control device 14 driving the main shaft motor 13 in accordance with the rotation command signal Rc, the main shaft 12 is rotated during one rotation thereof (during one weaving cycle). ), The rotation should follow the rotation of the drive shaft 22 with a delay of the set period (0.5 msec). Therefore, the time when the rotation angle of the main shaft 12 reaches a predetermined rotation angle (the “set angle” in the present invention, hereinafter referred to as “set angle”) during one rotation of the main shaft 12 and the setting thereof When the drive shaft 22 reaches the rotation angle of the drive shaft 22 corresponding to the angle (hereinafter, also referred to as a reference angle), the drive shaft 22 reaches the reference angle when the main shaft 12 reaches the set angle. It should be after the set period (0.5 msec) with respect to the time when the angle is reached. However, in some cases, the rotation amount is deviated between the drive shaft 22 and the main shaft 12 for some reason (for example, abnormal vibration of the loom), and when the main shaft 12 reaches the set angle, the drive shaft 22 The state may be delayed by more than 0.5 msec from the point in time when the reference angle has been reached, or may be advanced.

  Thus, the synchronization control device 3 of the present embodiment is configured to correct the rotation amount of the main shaft 12 based on the opening side detection signal Rd of the opening side encoder 25 and the main shaft side detection signal Rm of the main shaft side encoder 15. . The synchronization control device 3 includes a discriminator 32, an angle detector 33, a comparator 34, and a compensator 36 included in the calculator 31 as components for that purpose.

  In the present embodiment, 0 ° (360 °) is set as the set angle of the main shaft 12, and 180 ° and 360 ° (0 °) are set as the reference angles of the drive shaft 22 corresponding to the set angle. It has been set.

  The discriminator 32 is connected at its input end to the aperture-side encoder 25 and at its output end to the angle detector 33. The discriminator 32 is configured to calculate the rotation angle of the drive shaft 22 based on the opening detection signal Rd output from the opening encoder 25. Then, the discriminator 32 determines that the obtained rotation angle of the drive shaft 22 has reached the reference angle (180 °, 360 ° (0 °)), and determines that the rotation angle has reached the reference angle. 0.5 msec (after the set period) from the time when the crank angle reaches the set angle (0 °) to the angle detector 33 (hereinafter, referred to as a “reference signal T0”). ) Is output.

  The angle detector 33 is connected at its input end to the spindle encoder 15 and the discriminator 32, and at its output end to the comparator. Further, the angle detector 33 is configured to be able to determine a crank angle based on the spindle detection signal Rm output from the spindle encoder 15. Then, the angle detector 33 is configured to obtain the crank angle at the time when the reference signal T0 is output from the discriminator 32. Then, the angle detector 33 is configured to output a signal indicating the obtained crank angle (hereinafter, referred to as an “angle signal θ”) to the comparator 34.

  The comparator 34 is connected at its input end to the angle detector 33 and at its output end to the corrector 36 in the arithmetic unit 31. When the angle signal θ is output from the angle detector 33, the comparator 34 determines the crank angle indicated by the angle signal θ and the set angle (0 °), that is, the time when the reference signal T0 is output. It is configured to determine a deviation of the crank angle from the set angle by comparing the rotation angle with which the crank angle is expected to reach, and to output a deviation signal Δθ indicating the determined deviation to the calculator 31. I have. However, the deviation referred to here includes zero. That is, when the deviation is 0, the comparator 34 outputs a deviation signal Δθ corresponding to the deviation = 0 to the calculator 31. Incidentally, the deviation is determined to be a positive value if the rotation of the main shaft 12 is delayed with respect to the rotation of the drive shaft 22, and a negative value if the rotation is advanced.

  The corrector 36 in the calculator 31 is connected at its input end to the comparator 34 and at its output end to the rotation amount calculator 35. Then, when the deviation signal Δθ is input from the comparator 34, the corrector 36 calculates the target rotation amount of the spindle 12 determined by the rotation amount calculator 35 as described above based on the deviation indicated by the deviation signal Δθ. It is configured to obtain a correction rotation amount for correction.

  More specifically, the corrector 36 stores the deviation indicated by the deviation signal Δθ every time the deviation signal Δθ is input from the comparator 34, and sets the number of times the deviation signal Δθ is input to a preset number of times (for example, 10 times). (10 weaving cycles), the average value of the deviations for the set number of times (hereinafter also referred to as the “average deviation value”) is calculated when the number reaches the “set number”. The time when the deviation signal Δθ is output from the comparator 34 is the time when the set period (0.5 msec) has elapsed from the time when the drive shaft 22 has reached the reference angle as described above, and the corrector 36 At the time when the drive shaft rotation amount at that time is obtained (then, at the time when the target rotation amount of the main shaft 12 is obtained based on the drive shaft rotation amount and when the rotation command signal Rc is generated and output) It is.

  The corrector 36 is configured to calculate the corrected rotation amount based on the average deviation every time the average deviation is obtained as described above. Specifically, in the present embodiment, a plurality of corrected rotation amounts corresponding to a plurality of assumed deviations are set in advance in the corrector 36 in accordance with the magnitude of the deviation. Selects a correction rotation amount according to the magnitude of the deviation average value obtained above. By the way, when the deviation average value> 0, the rotation of the main shaft 12 is delayed with respect to the rotation of the drive shaft 22, so that the value of the target rotation amount is increased. It is assumed that a rotation amount that satisfies> 0 has been set. On the other hand, when the deviation average value is smaller than 0, the rotation of the main shaft 12 is advanced with respect to the rotation of the drive shaft 22. Therefore, the value of the target rotation amount is reduced, that is, the rotation that satisfies the correction rotation amount <0 It is assumed that the amount has been set. However, when the average deviation value = 0, it is assumed that the value of the target rotation amount is not increased / decreased, that is, the correction rotation amount = 0 is set. Then, the corrector 36 sends the correction signal C corresponding to the corrected rotation amount thus obtained to the rotation amount calculator 35 every time the corrected rotation amount is obtained (every time the average deviation value is calculated). ).

  When the correction signal C is output from the corrector 36, the rotation amount calculator 35 corrects the target rotation amount of the spindle 12 determined at that time based on the correction rotation amount indicated by the correction signal C. Have been. That is, the rotation amount calculator 35 calculates the deviation average value as described above at the time when the correction rotation amount is obtained by the corrector 36, that is, when the comparator 34 outputs the deviation signal Δθ at the set number of times. Is obtained, the rotation command signal Rc output at that time is output as a value corresponding to the rotation amount obtained by adding the corrected rotation amount of the value corresponding to the deviation average value to the target rotation amount. It is configured as follows.

  Therefore, when the average deviation value is greater than 0, that is, when the rotation of the main shaft 12 is delayed with respect to the rotation of the drive shaft 22, the corrected rotation amount is greater than 0. And outputs a rotation command signal Rc corresponding to a new target rotation amount obtained by increasing the value of the target rotation amount (a rotation amount twice the drive shaft rotation amount). When the average deviation value is smaller than 0, that is, when the rotation of the main shaft 12 is advanced with respect to the rotation of the drive shaft 22, the corrected rotation amount is smaller than 0. And outputs a rotation command signal Rc corresponding to a new target rotation amount obtained by reducing the value of the target rotation amount. Further, when the average deviation value = 0, that is, when there is no deviation in the rotation amount between the drive shaft 22 and the main shaft 12, the corrected rotation amount = 0, and therefore the rotation amount calculator 35 A rotation command signal Rc corresponding to the target rotation amount is output.

  In this embodiment, the synchronization control device 3 may be a device in which each component is a circuit configured by a circuit element having each function, or the function of each component is programmed. A computer may operate as the synchronization control device 3. Further, the synchronous control device 3, the spindle control device 14, the opening control device 24, and the input setting device 16 may be independent devices (including a computer that operates as a device), or one computer may be used. It may operate as a plurality of devices.

  The operation of the loom provided with the synchronization control device 3 according to the present embodiment as described above is as follows (1) to (8).

  (1) When the operation button (not shown) is operated at the start of the operation of the loom, the driving of the opening motor 23 by the opening control device 24 in the jacquard opening device 2 is started. Then, the rotation of the drive shaft 22 is started accordingly. The driving of the opening motor 23 is performed such that the drive shaft 22 is driven to rotate at a rotation speed of １ ／ of a rotation speed set in advance as a weaving condition.

  (2) When the rotation of the drive shaft 22 is started, the opening-side encoder 25 detects the rotation amount, and accordingly, the opening-side detection signal Rd corresponding to the rotation amount is sent from the opening-side encoder 25 to the synchronous control device 3. Is output to

  (3) Then, in the synchronous control device 3, the opening-side detection signal Rd from the opening-side encoder 25 every time the set period (0.5 msec) elapses after the rotation of the drive shaft 22 is started as described above. , The rotation amount calculator 35 in the calculator 31 calculates the drive shaft rotation amount in the immediately preceding set period.

  (4) Further, in the calculator 31 (rotation amount calculator 35) in the synchronous control device 3, each time the drive shaft rotation amount is determined (that is, for each set period), the calculated drive is calculated. Based on the shaft rotation amount, the target rotation amount of the main shaft 12 is obtained as described above. When the target rotation amount of the spindle 12 is obtained in this manner, a rotation command signal Rc corresponding to the target rotation amount is output from the rotation amount calculator 35 to the spindle control device 14 in the weaving apparatus 1.

  (5) With the output of the rotation command signal Rc, the spindle control device 14 rotates the spindle 12 by the target rotation amount represented by the rotation command signal Rc during the set period from that time. The drive of the spindle motor 13 is controlled. As a result, in the loom, the main shaft 12 is rotationally driven to follow the rotation of the drive shaft 22 with a delay of the set period (0.5 msec). That is, the loom is in a state where the main shaft 12 is rotationally driven in synchronization with the rotation of the drive shaft 22.

  (6) As described above, according to the loom described above, the drive shaft 22 of the jacquard shedding device 2 is driven to rotate based on the set rotation speed, and the main shaft 12 of the weaving device 1 is rotated by the drive shaft 22. Since the rotary drive is performed in a synchronous (following) manner, compared with a conventional loom in which the drive shaft 22 is rotationally driven so as to be synchronized with the rotation of the main shaft 12, the conventional expensive loom as the shedding motor 23 is used. Inexpensive induction motors can be used instead of motors. In addition, since the spindle motor 13 can be an inexpensive synchronous motor with a small output in consideration of the load acting on the spindle 12, the cost of the loom as a whole can be reduced.

  (7) As described above, after the drive of the main shaft motor 13 is controlled so that the main shaft 12 is driven to rotate in synchronization with the rotation of the drive shaft 22, the loom of the present embodiment is driven. Control for correcting the target rotation amount of the main shaft 12 at a predetermined point in time is performed as necessary so that the state in which the rotation of the main shaft 12 is more accurately synchronized with the rotation of the shaft 22 is maintained. The details are as follows.

  In the loom of the present embodiment, the setting period is assumed from the time when the crank angle is expected to reach the set angle (360 ° (0 °)), that is, the time when the rotation angle of the drive shaft 22 reaches the reference angle. At the time when (0.5 msec) has elapsed, the reference signal T0 is output from the discriminator 32 to the angle detector 33 in the synchronization control device 3.

  Accordingly, the angle detector 33 obtains the current crank angle (actual crank angle) based on the main shaft side detection signal Rm output from the main shaft side encoder 15 and corresponds to the obtained actual crank angle. Is output to the comparator 34.

  The comparator 34 compares the obtained actual crank angle with the set angle (0 °) at which the crank angle is expected to reach at the time when the reference signal T0 is output. Is required. Then, a deviation signal Δθ corresponding to the obtained deviation is output from the comparator 34 to the corrector 36 in the calculator 31.

  In the corrector 36, as described above, a deviation average value is obtained from the deviation signals Δθ for the set number of times, and a correction signal C corresponding to the correction rotation amount obtained based on the deviation average value is calculated by the calculator 31. Is output to the rotation amount calculator 35 at.

  Then, the rotation amount calculator 35 corrects the target rotation amount of the main shaft 12 based on the corrected rotation amount. The correction is performed on the target rotation amount of the main shaft 12 obtained at the time when the average deviation value is calculated (when the deviation signal Δθ at the set number of times is output from the comparator 34). Then, a rotation command signal Rc corresponding to the corrected target rotation amount of the spindle 12 is output from the rotation amount calculator 35 to the spindle control device 14, and the target rotation amount of the spindle 12 corrected by the spindle control device 14. The spindle motor 13 is driven on the basis of.

  (8) Therefore, according to the weaving machine of this embodiment, even if the rotation amount is deviated between the drive shaft 22 and the main shaft 12 due to some cause as described above, according to the loom of this embodiment, At this time, since the synchronous control device 3 performs the correction control for correcting the rotation amount of the main shaft 12 so as to eliminate the deviation, the rotation of the main shaft 12 is more accurately synchronized with the rotation of the drive shaft 22. Can be maintained.

  It should be noted that the present invention is not limited to the above-described embodiments (the above-described embodiments), and can be implemented in modified embodiments such as the following (1) to (9).

  (1) In the above embodiment, the state of the jacquard shedding apparatus corresponding to the state where the crank angle of the weaving apparatus (the loom main body) is 0 ° is defined as the state where the rotation angle of the drive shaft is 0 ° (360 °) or 180 °. Assuming that weaving is performed, the drive control of the main shaft motor is performed based on the drive shaft rotation amount.

  The above-described premise is that the heald is driven so that the jacquard opening device is closed at the rotation angle of the drive shaft = 0 ° (360 °) or 180 °, and the reed with the crank angle = 0 °. This is based on the fact that weaving is performed under the weaving conditions in which the warp yarn is closed at the time of hitting. However, in the weaving of the loom (not limited to the loom of the present invention), the weaving is performed by matching the crank angle = 0 ° which is the crank angle (beating angle) at the time of the beating with the cross timing at which the warp is closed. Depending on the weaving conditions, the weaving may be performed with the cross timing set at a time point when the crank angle becomes 300 ° before the crank angle becomes 0 °, for example.

  The present invention relates to the relationship between the beating angle and the cross timing, not limited to the case where weaving is performed by matching both as in the above-described embodiment, and weaving is performed by making both different as described above. It is also applicable when it is done. Specifically, as described above, the jacquard shedding device is configured so that the warp is closed when the rotation angle of the drive shaft is 0 ° (360 °) or 180 °. When the weaving is performed so that the warp yarn is closed by the jacquard opening device when the crank angle is 300 °, the rotation angle of the drive shaft reaches 0 ° (360 °) or 180 ° beforehand. After the set period has elapsed (after 0.5 msec in the above embodiment), the drive control of the spindle motor is performed so that the crank angle reaches 300 °.

  (2) In the embodiment, for the set angle determined during one revolution of the main shaft, the rotation angle based on the actual crank angle obtained from the reference angle of the drive shaft corresponding to the set angle and the set angle Are compared with each other, and the target rotation amount of the spindle is corrected based on the deviation (average deviation) obtained as a result of the comparison. Then, in the embodiment, the set angle is set to 0 °.

  However, in the present invention, the set angle is not limited to 0 °, and may be a rotation angle other than 0 °. However, if the target rotation amount of the spindle is corrected during the weft insertion operation, there is a possibility that the weft insertion will be affected. Therefore, the set angle is set to the rotation angle at which the weft insertion operation is not performed (the weft insertion operation). (Rotation angle during the period from the end to the start of the next weft insertion operation).

  If the set angle is a rotation angle other than 0 °, the reference angle of the drive shaft naturally corresponds to the set angle other than 0 °. Specifically, when the set angle is set to 20 °, in a loom in which weaving is performed by matching the cross timing with the beating angle as in the embodiment, the reference angle is set to 10 ° (20 °). ° / 2) and 190 ° (20 ° / 2 + 180 °).

  Further, in a loom in which weaving is performed by making the cross timing and the beating angle different from each other (by providing an angle difference between the cross timing and the beating angle), the reference angle is the angle. It depends on the difference. Specifically, for example, in a loom in which the crank angle corresponding to the rotation angle of the drive shaft of 0 ° is set to 300 °, the rotation of the drive shaft advances by 30 ° (60 ° in crank angle) with respect to the rotation of the main shaft. Therefore, when the set angle is 20 °, the reference angles are 40 ° (10 ° + 30 °) and 220 ° (190 ° + 30 °).

  (3) In the above embodiment, the correction of the target rotation amount of the main spindle (hereinafter, also simply referred to as “correction”) is performed at the time when the deviation of the preset number of times is obtained as described above. ing. In addition, in the above embodiment, the set number is set to 10 times.

  However, in the present invention, the set number of times is not limited to the ten times, and may be another number (for example, 30 times). Note that the number of times set in the present invention is not limited to a plurality of times as described above, and may be one. In such a case, the correction is performed every time a deviation is obtained, that is, for each rotation of the main shaft. Further, even when the set number of times is set to a plurality of times, the correction is not limited to be performed based on the average deviation value as in the above-described embodiment, but is obtained at the set number of times. It may be performed based on (one) deviation.

  (4) In the above embodiment, the deviation average value is calculated for each rotation of the spindle, and at the time when the deviation of the set number of times is obtained, the deviation average value is calculated based on the deviation of the set number of times. Is calculated.

  However, the present invention is not limited to such a calculation method, and an average deviation value may be obtained from the average value of the actual crank angles for the set number of times and the set value of the set angle. In that case, the angle detector in the synchronous control device may have a function of obtaining the average value. Specifically, the angle detector stores the actual crank angle obtained for each rotation of the main shaft, and averages the crank angle based on the stored actual number of crank angles at the set number of times. May be obtained and output to the comparator. Then, the comparator may calculate the deviation (average deviation) based on the average value of the actual crank angle output from the angle detector and the set value of the set angle.

  (5) In the embodiment, a step of obtaining a deviation based on the set angle and the actual crank angle (first step), a step of obtaining a corrected rotation amount based on the deviation (second step), and The control related to the correction is performed in such a manner that the correction is completed through three steps (a third step) of correcting the target rotation amount with the obtained corrected rotation amount. In addition, in the above-described embodiment, these three processes are performed continuously (at the same point in control). Specifically, the time when the reference signal is output, that is, the time when the crank angle is expected to reach the set angle (the time when the set period elapses from the time when the rotation angle of the drive shaft reaches the reference angle) ), The first step, the second step, and the third step are performed (three steps are sequentially performed, but the time required for the three steps is longer than the set period). Therefore, the three steps can be considered to take place at the same time.)

  However, in the present invention, those three steps do not necessarily have to be performed at the same time, and may be performed at different times. For example, the first step and the second step are performed when the reference signal is output, and the third step is performed n times (n ≧ 1) after the reference signal is output. May be performed at the point in time when the set period has elapsed. Since the target rotation amount is obtained every time the set period elapses as described above, the target rotation amount to be corrected is determined by the target rotation amount obtained at the time when the third process is performed. The amount of rotation. Alternatively, in the above, instead of performing the first step and the second step at the same time, the second step may be performed at the same time as the third step.

  (6) In the embodiment, the correction is performed by a correction rotation amount according to the obtained deviation (deviation average value).

  However, in the present invention, the correction rotation amount in the correction is not limited to a value corresponding to the deviation obtained as in the above embodiment, and may be a preset fixed value (fixed rotation amount). good. In this case, as a result of calculating the deviation (deviation average value) in the comparator, it is determined whether the deviation is a positive deviation or a negative deviation, and accordingly, the deviation is calculated from the comparator. Is output to the arithmetic unit (corrector). Then, the correction is performed so as to add or subtract a correction rotation amount, which is a preset positive fixed value, from the target rotation amount in accordance with the sign of the deviation indicated by the deviation signal. Specifically, when the deviation signal output from the comparator indicates a positive deviation, that is, when the rotation of the main shaft is delayed with respect to the rotation of the drive shaft, the fixed rotation amount is different from the target rotation amount. When the deviation signal indicates a negative deviation, that is, when the rotation of the main shaft is advanced with respect to the rotation of the drive shaft, a fixed rotation amount with respect to the target rotation amount is added. Is corrected so as to subtract.

  (7) In the example described above, the synchronous control device is configured so that the correction eliminates the deviation (deviation) of the rotation amount between the main shaft and the drive shaft. It is configured to have such a correction function.

  However, in the present invention, the synchronous control device is not limited to one having such a correction function, and has a function of outputting an alarm signal to the loom main body when the deviation occurs. It may be configured as follows. In this case, when a slight deviation of the rotation amount is allowed, the synchronization control device is configured to output the alarm signal when the deviation exceeds a preset allowable value. May be. Then, when the alarm signal is output from the synchronization control device for the loom main body, a synchronization shift occurs between the shedding device and the weaving device on a display device such as the input setting device in the above-described embodiment. The message may be displayed. Further, the loom main body may be configured to perform a stop operation in addition to (or instead of) the display of the message when the alarm signal is output.

  (8) As described above, in the present invention, the drive of the spindle motor is controlled such that the spindle follows the rotation of the drive shaft.

  Incidentally, the jacquard opening device is generally used for weaving a woven fabric having a complicated woven pattern. The opening pattern is set as one repeat including a plurality of weaving cycles, and weaving is performed by repeatedly driving the heald according to the opening pattern. Further, when weaving a woven fabric having the above-mentioned complicated weave pattern, the number of upper and lower warp yarns in each weaving cycle in the opening pattern 1 repeat is greatly different from each other in each weaving cycle. An opening pattern may be set.

  In the jacquard opening device, each heald is mechanically urged to one side (generally downward) in the vertical direction, and is displaced toward the other side by the jacquard main body (drive mechanism). Therefore, when the heald is displaced as described above, a load acts on the drive shaft, and the magnitude of the load is proportional to the number of healds displaced toward the other.

  By the way, according to the present invention, as described above, an inexpensive induction motor can be used as the opening motor, but in that case, depending on the magnitude of the load acting on the drive shaft, the rotation of the drive shaft affects the influence. May receive.

  Of course, the influence of the rotation of the drive shaft is greatly affected as the load increases, and the rotation speed changes depending on the magnitude of the load. However, as described above, the magnitude of the load is proportional to the number of healds displaced toward the other side, but the number of healds displaced toward the other side is determined by each weaving set in the opening pattern. It is determined by the relationship between the vertical position of each warp at the maximum opening in the cycle and the vertical position of each warp at the maximum opening in the next weaving cycle of each weaving cycle. Then, the warp set at the one position at the maximum opening of each weaving cycle and the warp set at the other position at the maximum opening of the next weaving cycle starts displacing toward the other position. Is near the middle of the next weaving cycle.

  Therefore, as described above, when the opening pattern is set so that the number of upper and lower warps in each weaving cycle is significantly different for each weaving cycle, the opening pattern 1 repeat In one or more specific weaving cycles, the rotation speed of the drive shaft changes near the middle. In such a case, when the drive control of the spindle motor is performed so that the rotation of the spindle follows the rotation of the drive shaft as described above, the drive control causes the rotational speed of the spindle motor to increase rapidly near the middle of the weaving cycle. Therefore, the load on the spindle motor increases as a result.

  Whether or not the rotation speed changes near the middle of the weaving cycle can be grasped from the opening pattern based on the weaving conditions at that time. Therefore, when such a change in the rotational speed is grasped in advance, it is conceivable to change the control parameters used for the drive control of the spindle motor in the spindle control device (for example, to lower the control gain). Can be By doing so, the rotation fluctuation of the spindle motor can be suppressed by reducing the followability of the spindle motor, and as a result, the load on the spindle motor can be suppressed.

  However, in this case, even in a weaving cycle in which the rotation speed of the drive shaft does not change, the followability of the spindle motor is reduced, so that the synchronization between the drive shaft and the spindle is shifted, and in the weaving cycle, weft insertion is performed. May be affected.

  Therefore, in the present invention, the synchronous control device changes the control parameters used for controlling the spindle motor according to the magnitude of the load acting on the drive shaft. Specifically, each weaving during the opening pattern 1 repeat The control parameters in the cycle may be changed based on the opening pattern. As a component for that purpose, the synchronous control device includes a parameter changer. Hereinafter, the configuration will be described in detail with reference to FIG. In FIG. 3, the same components as those in the above embodiment are denoted by the same reference numerals.

  First, it is assumed that the spindle control device 14 is configured to change control parameters used for drive control of the spindle motor 13 according to the output from the synchronous control device 3. Here, it is assumed that the control parameter is a control gain. Incidentally, the control gain is a control parameter for changing the followability of the spindle motor 13, and the followability of the spindle motor 13 can be reduced by lowering the control gain.

  Generally, the opening pattern stored in the opening control device 24 is set so as to include a weaving step (1 weaving step = 1 weaving cycle) in one repeat of the opening pattern. Therefore, the opening control device 24 grasps the current weaving step based on the opening side detection signal Rd from the opening side encoder 25, and outputs a step signal S indicating the step number when the weaving step is updated. It is assumed to be configured to

  As shown in FIG. 3, the synchronization control device 3 includes a parameter changer 37 in addition to the configuration of the embodiment. The parameter changer 37 is connected at its input end to the opening control device 24 and the input setting device 16 of the weaving device 1, and at its output end to the spindle control device 14. In addition, a plurality of control gains are set (stored) in advance in the parameter changer 37 in a manner corresponding to each weaving cycle (weaving step) of the opening pattern 1 repeat.

  Regarding the control gain, specifically, first, the drive shaft 22 accompanying the load (and the main shaft motor 13 whose drive is controlled so that the main shaft 12 follows the rotation of the drive shaft 22). A reference control gain considered appropriate in the control when the change in the rotation speed does not occur is determined. In addition, for a weaving step (weaving cycle) in which a change in the rotational speed of the drive shaft 22 is expected to occur based on the opening pattern, the control gain is made smaller than the reference control gain in a manner corresponding to the step number. A lower control gain is set. On the other hand, for other weaving steps, the reference control gain is set in a manner corresponding to the step number. Incidentally, the control gain is input and set by the input setting device 16. Then, the set control gain is transmitted to the parameter changer 37 and stored in the parameter changer 37.

  When the step signal S is output from the aperture control device 24, the parameter changer 37 selects the value of the control gain corresponding to the step number indicated by the step signal S, and outputs the gain signal G indicating the value. It is configured to output to the spindle control device 14.

  In the spindle control device 14, when the gain signal G is output from the parameter changer 37, the value of the control gain used for drive control of the spindle 12 is indicated by the gain signal G based on the gain signal G. The value is changed to a value according to the control gain.

  According to the synchronous control device 3 configured as described above, the drive control of the spindle motor 13 in each weaving cycle during the opening pattern 1 repeat corresponds to the weaving cycle (weaving step) set as described above. This is performed using the control gain. As a result, in a weaving cycle in which the load acting on the drive shaft 22 is large, the followability of the main shaft motor 13 is reduced, so that the rotation fluctuation of the main shaft motor 13 is suppressed, and as a result, the load on the main shaft motor 13 is reduced. Further, in a weaving cycle in which the load acting on the drive shaft 22 is small, the followability of the spindle motor 13 is not reduced, so that it is possible to prevent a shift in synchronization between the drive shaft 22 and the spindle 12.

  In the above description, the control parameter is the control gain. However, the control parameter is not limited to the control gain, and may be another control parameter such as a time constant related to the response of the spindle motor 13.

  Further, in the above, the control parameter is changed by a method of selecting from a plurality of control gains set in advance. However, the method for changing the control parameter is not limited to such a method. For example, the control parameter may be changed by a method of calculating the control gain based on the magnitude of the load acting on the drive shaft 22. In this case, the magnitude of the load acting on the drive shaft 22 may be calculated based on the opening pattern (specifically, the number of healds displaced in each weaving cycle).

  (9) The example in which the present invention is applied to the loom including the jacquard opening device as the opening device has been described. However, regarding the loom to which the present invention is applied, the shedding device is not limited to the jacquard shedding device as described above, and a so-called rotary drive type dobby shedding device for vertically displacing the heald frame with a single drive shaft. Alternatively, the drive shaft may be a dobby shedding device that is rotationally driven by a shedding motor independent of the main shaft motor of the loom. That is, the present invention is also applicable to a loom equipped with such a dobby shedding device.

  Note that the present invention is not limited to the above embodiment, and can be appropriately changed without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Weaving apparatus 11 Loom main body 12 Main shaft 13 Main shaft motor 14 Main shaft control device 15 Main shaft side encoder 16 Input setting device 17 Drive transmission mechanism 2 Jacquard opening device 21 Jacquard main body 22 Drive shaft 23 Opening motor 24 Opening control device 25 Opening side encoder Reference Signs List 26 Drive transmission mechanism 3 Synchronous control device 31 Computing device 32 Discriminator 33 Angle detector 34 Comparator 35 Rotation amount computing device 36 Corrector 37 Parameter changer Rm Main shaft side detection signal Rd Opening side detection signal Rc Rotation command signal T0 Reference signal θ Angle signal Δθ Deviation signal C Correction signal S Step signal G Gain signal

Claims (6)

An opening motor independent of the main shaft motor of the loom is provided as a drive source, and an opening device for displacing each heald in the vertical direction by driving a single drive shaft common to all healds by the opening motor is provided. On a loom
At least during the normal operation of the loom, the amount of rotation of the drive shaft during each loom cycle is detected, and the drive of the main shaft motor is controlled such that the main shaft of the loom is rotated in synchronization with the drive shaft in accordance with the detection signal. A synchronous control method in a loom. The control of the drive of the spindle motor is performed in the set period from the time when the target rotation amount is obtained by the target rotation amount obtained based on the rotation amount of the drive shaft detected every preset setting period. Is performed such that the main shaft is rotated,
Detecting the actual rotation angle of the main shaft at a time when the rotation angle of the main shaft is expected to reach a set angle that is a predetermined rotation angle of the main shaft,
Comparing the detected actual rotation angle and the set angle to determine a deviation of the actual rotation angle with respect to the set angle,
The loom according to claim 1, wherein at a time when the deviation is obtained a predetermined number of times, the target rotation amount obtained for the set period after that time is corrected based on the deviation. Synchronous control method. The synchronous control according to claim 1 or 2, wherein a control parameter used for controlling the spindle motor is changed according to a load acting on the drive shaft in accordance with the displacement of the heald. Method. An opening device comprising an opening motor independent of a main shaft motor of a loom as a driving source, wherein a single drive shaft common to all healds is driven by the opening motor to displace each of the healds in the vertical direction. Device, a loom including a spindle control device for controlling the drive of the spindle motor,
A rotation detecting device that detects the amount of rotation of the drive shaft during each loom cycle at least during steady operation of the loom,
A synchronous control device for determining a rotation amount of the main shaft so that a main shaft of a loom is synchronized with the drive shaft according to a detection signal output from the rotation detection device, wherein a rotation command based on the determined rotation amount of the main shaft is provided. A synchronous control device for outputting a signal to the spindle control device. The synchronous control device is a target rotation amount obtained based on the rotation amount of the drive shaft detected for each preset setting period, and the target rotation amount in the setting period from the time when the target rotation amount is obtained. An arithmetic unit for calculating a target rotation amount at which the main shaft is rotated,
Further, the synchronous control device is an angle detector that determines an actual rotation angle of the main shaft at a time when the rotation angle of the main shaft is expected to reach a set angle that is a predetermined rotation angle of the main shaft. And a comparator for comparing the actual rotation angle obtained by the angle detector and the set angle to obtain a deviation of the actual rotation angle with respect to the set angle,
The arithmetic unit includes a corrector that corrects the target rotation amount obtained for the set period after the predetermined number of times the deviation is obtained based on the deviation at a time when the deviation is obtained a predetermined number of times. The loom according to claim 4, wherein 5. The synchronous control device according to claim 4, wherein the synchronous control device has a function of changing a control parameter used for controlling the spindle motor in accordance with a load acting on the drive shaft in accordance with the displacement of the heald. 6. 5. The loom according to 5.

Images