JP2715113B2 - Optimal control method of loom speed - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to a method for controlling a loom to be controlled by automatically increasing the number of revolutions of a loom during operation of a loom to be controlled, for example, in consideration of a margin of an operating state. The present invention relates to a method for optimally controlling the number of revolutions of a loom in increasing control.

Related Art According to the invention of Japanese Patent Application No. 63-143109, when the operating state of a loom to be controlled has a margin, the patent applicant automatically increases the rotation speed of the loom to increase the production amount of the woven fabric. The proposed optimal control method is proposed.

Such optimal control is performed independently by the rotation control system of each loom, and is executed in real time for each loom by a central control computer.

By the way, automatic control systems other than the rotation control system, such as the pressure control system and the timing control system of the weft insertion device, the control system of the feeding device, and the control system of the winding speed, are mechanical operation parts and signal transmission systems. And the like include a time delay element, and also include a time delay element due to the elastic properties of the warp and the weft to be controlled. More specifically,
Optimal weft insertion conditions corresponding to the setting of the loom rotation speed, that is, the weft insertion control system in which the injection pressure of the weft insertion nozzle, the injection timing of the weft insertion nozzle, and the locking timing of the locking pin are appropriately set, and the set warp tension. And a winding system for controlling the winding speed of the woven fabric in synchronism with the rotation of the loom. Although all of these control systems are known, the loop gain of these control systems is relatively low, and therefore, the response speed of these automatic control systems is lower than that of the rotation speed control system. .

For this reason, even if the rotation control system of the loom is realized with a faster response speed than the other automatic control systems, the other automatic control systems cannot follow the faster response speed. This is because these other automatic control systems have response speeds that can appropriately control the object without affecting the operation of the loom, and are related to the acceleration and deceleration of the loom rotation speed. It is. In other words, each of these other automatic control systems has an acceleration / deceleration gradient (acceleration / deceleration adjustment amount per unit time) of the loom rotation speed which does not affect the operation of the loom when the loom is accelerated / decelerated. ing.

Therefore, when the acceleration / deceleration gradient of the loom rotation speed is set to exceed the gradient of the response speed, in the process of adjusting the loom rotation speed, the settling of the control system is delayed due to the influence of the above-mentioned time delay element. Transient troubles such as warp breakage, warp yarn loosening, length measurement error, and weaving step occur.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to harmonize the control operation of a rotation control system with the responsiveness (response speed) of another control system, and to eliminate transient defects in the process of changing the rotation speed. .

Means for Solving the Problems Under the above objects, the present invention adjusts the rotation speed of a loom to a target rotation speed, and performs at least one of a weft insertion control system and a warp feed control system of the loom along with the adjustment.
In the optimal control device for the loom rotation speed for changing the control conditions of the two, when changing the rotation speed of the loom to the target rotation speed, the acceleration / deceleration gradient of the rotation speed is controlled by the most important control of the two automatic control systems. The response speed of one of the response speed of the system and the response speed of the control system having the slowest response speed is set to be equal to or lower than the gradient of one of the response speeds so that the response of the control system is harmonized. Here, the adjustment amount of the rotation speed during acceleration / deceleration is set so as to have a damped vibration characteristic linearly, stepwise, or near the target rotation speed under a predetermined acceleration / deceleration gradient. To change the loom speed. According to such control, all the control systems of the loom operate in a harmonious state, so that transient troubles are eliminated.

First, FIG. 1 shows a configuration of a control system of a loom.

The optimal control method of the loom speed according to the present invention is executed by the optimal controller 1. This optimal controller 1
Is connected on the input side to an input unit 2 for setting a plurality of reference values (STDs), and is connected on the output side to a driving motor 5 of a loom via a rotation control unit 3 and an inverter 4. Of course, the driving motor 5 is connected to the main shaft 6 of the loom, and by driving the driving motor 5, imparts a rotational force necessary for the weaving motion.

The optimum controller 1 is connected to a loom controller 7. The loom controller 7 is necessary for the warp feed control for controlling the warp feed speed under the set warp tension, the winding control for winding the woven cloth in synchronization with the main shaft of the loom, the start / stop control, and the automatic restoration control. This is a part that performs a simple sequence, and is connected to the optimum controller 1 and the display monitor 9 via the operation monitor 8 and is connected to the main shaft 6 by, for example, an electromagnetic brake 10.
Is also connected. The display monitor 9 is also connected to the input unit 2 to display the set reference value.

Further, the optimal controller 1 is connected to the pressure control unit 11 and the timing control unit 12 for the insertion control on the output side. The pressure control unit 11 adjusts the pressure regulating valves 15 and 16 in the pipe line 14 connected to the pressure source 13 to generate a pressure necessary for weft insertion, and a main nozzle 19 for weft insertion via an on-off valve 17. And a plurality of auxiliary nozzles 20 for weft conveyance via a plurality of on-off valves 18. Further, the timing control unit 12 detects the rotation angle of the main shaft 6 by the rotation detector 21 connected to the main shaft 6, and opens the on-off valves 17, 18 at the timing set by the optimal controller 1, The main nozzle 19 sends the pressure fluid from the pressure source 13
Then, the weft yarn 22 is injected from the auxiliary nozzle 20 and the weft yarn 22 is inserted into the opening 24 of the warp yarn 23. The weft yarn 22 is supplied from the yarn feeder 25, and is measured by, for example, a drum-type length measuring and storing device 26 by an amount necessary for weft insertion of one pick, and is locked by a locking pin 27 until the weft insertion timing. Is being stored. This locking pin 27 is also driven by a solenoid 28 under the control of the timing control unit 12.

The rotation detector 21 is connected to the rotation control unit 3, the loom controller 7, and the display monitor 9 via an average processing unit 29 for feedback in addition to the timing control unit 12. The averaging unit 29 determines the average rotation speed of the loom using the cycle of the load fluctuation of the loom as a sampling period, and feeds back the average rotation speed to the rotation control unit 3 and the like. Therefore, the rotation control unit 3 compares the target value set by the optimal controller 1 with the actual average rotation speed without being affected by the rotation fluctuation due to the load fluctuation of the loom, and according to the deviation, the inverter 4 Will be driven. Incidentally, the optimal controller 1 and the loom controller 7 can be assembled by a computer or a sequencer dedicated to each loom, or can be assembled as a part of a central control computer.

Content of Optimum Control Method of Loom Rotation Speed The optimum control method of the loom rotation speed of the present invention is executed by the optimum controller 1.

Before starting the loom, the operator operates the input unit 2 to set the standard value (STD), for example, the number of picks per unit (PPM), the adjustment of the number of picks (Δ), the operating rate (Eff), 10 Number of stops per million picks (S / cmpx), 1
The maximum number of picks per minute (MaxPPM), the acceleration / deceleration gradient (a), the step time (Δt), and the step speed (Δn) are input to the optimal controller 1, and if necessary,
It can be visually confirmed by the display monitor 9.
The number of picks is used as a synonym for the number of rotations (N) of the loom because there is always one weft insertion during one rotation of the main shaft 6.

Thereafter, based on the operator's instruction, the loom controller 7 activates the optimum controller 1, drives the inverter 4 and rotates the driving motor 5 according to the initial rotation speed, thereby bringing the loom into an operating state. .
During this time, the loom controller 7 calculates the number of picks per minute (PPM), the number of times the loom stops (S / cmpx), and the like.
In addition to sending the data to the operation monitor 8 and displaying it on the display monitor 9, the operation rate (Eff) is obtained from them, and the number of stops (S / cmpx) and the number of picks (PPM) are also sent to the optimal controller 1.

The optimal controller 1 executes the control program of FIG. 2 for each unit time or for each unit number of picks, and in the step, the current operation rate (Eff) and the standard operation rate (STD
Eff) is compared. When the current operation rate (Eff) is larger than the standard operation rate (STD Eff), the current number of stops per 100,000 picks (S / cm
px) and the standard stop count (STD S / cmpx).
Here, the standard number of stops (STD S / cmpx) is set based on the work efficiency of the weaver. Current number of stops (S / cmp
x) is smaller than the standard number of stops (STD S / cmpx), and the number of picks per minute (PP
M) is less than the maximum number of picks (Max PPM)
Add the number of adjustments (Δ) to the current number of picks per minute (PPM) and add a new number of picks per minute (PP
M) is set, and in this step, a change command is given to the rotation control unit 3 to drive the driving motor 5 at an optimum rotation speed (N) corresponding to the changed pick number (PPM). As described above, if there is a margin in the operating state of the loom and the working time of the weaving machine, the control is automatically performed in the direction of increasing the rotation speed of the loom.

If the current number of stops (S / cmpx) is not smaller than the standard number of stops (STD S / cmpx) in step, it is determined that there is not enough time for the weaver, and the number of picks per minute (PPM ), The optimal controller 1 interrupts the control for increasing the rotation speed (N) of the loom, and ends a series of controls.

Here, when the rotation speed (N) of the loom is interrupted, not only is the current pick number (PPM) maintained, but also the pick number of the adjustment amount (Δ) is reduced from the current pick number (PPM). You may.

In another step, the current number of picks (PPM) is the maximum number of picks (Max PPM) that regulates the upper limit rotation speed (N)
Even if it is not smaller, the optimal controller 1 interrupts the control for increasing the rotation speed (N) of the loom, and ends a series of controls.

In the step, when the operation rate (Eff) is not equal to or larger than the reference operation rate (STD Eff), the number of picks per minute (PP
M) is greater than the standard number of picks (STD PPM), and then in the step, is the number of stops per 100,000 picks (S / cmpx) equal to the standard number of stops (STD S / cmpx)? End the series of programs after confirming that the total number of picks (NO. Of Picks) that indicates the production amount of the woven fabric in the step is smaller than the standard number of picks (STD Picks) However, when this condition is not satisfied in the steps (1) and (2), a control change command is issued in the direction (2) to decrease the number of picks per minute in the steps (2) and (3), contrary to the steps (1) and (2). , End a series of controls. Further, if the number of picks per minute (PPM) is not larger than the reference number of picks (STD PPM) in the step, the optimal controller 1 determines that the state is abnormal, and generates an alarm output in the step. This is sent to the loom controller 7 and displayed on the display monitor 9 as necessary. Here, the reference pick number (STD Picks) is obtained by the following equation.

STD picks≡STD Eff × Total Minutes × STD PPM In addition, when the number of picks per minute (PPM) is changed in the steps and, the pressure values of the main nozzle 19 and the auxiliary nozzle 20 are simultaneously changed. A change command is issued to the pressure control unit 11 for setting, and the timing control unit is adjusted to adjust their on / off timing.
A change command is issued to 12, and a command for changing the warp tension and changing the stop rotation angle is also output to the loom controller 7.

Here, the change in the acceleration direction or the deceleration direction of the rotation speed (N) of the loom is executed in a state where the acceleration / deceleration gradient of the rotation speed is in harmony with the response speed of another automatic control system of the loom. That is,
The rotational speed (N) before the change is, as shown in FIG. 3, the target rotational speed (No) after the change so as to absorb the deviation in another automatic control system at a preset acceleration / deceleration gradient (a). Is set to

Here, the acceleration / deceleration gradient (a) is made to correspond to the most important control system, for example, the horizontal insertion control system, or to the slowest control system.

Therefore, in the process of changing the rotation speed, other automatic control systems other than the rotation speed control system of the loom, that is, the pressure control unit of the weft insertion.
11, at least one of a weft insertion control system such as a timing control unit 12 and a warp sending control system for sending out a warp is substantially equal to the acceleration / deceleration gradient (a) of the rotation speed (N) of the rotation speed control system; Alternatively, a response is made in a state having a gradient larger than the acceleration / deceleration gradient (a), that is, a response speed. Therefore, the warp can be sent out without affecting the operation of the loom in response to the set warp tension changed in response to the change in the rotation speed in the transitional process when the rotation speed of the loom changes. , Warp breaks,
The warp can be prevented from loosening, and the weft insertion is changed by changing the weft insertion pressure and the weft insertion timing in response to the similarly changed weft insertion conditions. This makes it possible to prevent misplacement and further generation of a weaving step.

In the above-described embodiment, the adjustment amount of the rotation speed is linearly changed at a predetermined acceleration / deceleration gradient (a). However, in the embodiment of FIG. 4, the step rotation speed (Δt) is reduced during a minute step time (Δt). The speed is changed stepwise for each Δn) to match the target rotation speed (No). When the rotation speed (N) changes continuously and linearly, the control target tends to be temporarily unstable. However, in this embodiment, the rotation speed (N) is temporarily fixed during the adjustment process. The unstable state of the control system during the adjustment process
Can be reliably suppressed.

Further, the embodiment of FIG. 5 is an example in which damping vibration characteristics are given to the adjustment amount of the rotation speed (N) in the stepwise adjustment process.

As described above, if the speed is changed stepwise at a constant step speed (Δn), the changed speed (N) repeats hunting steadily at the target speed (No). In order to eliminate the steady-state deviation near the changed target rotation speed (No), the rotation control unit 3 actively changes the overshoot amount as shown in FIG. .

That is, in the process of adding the step speed (Δn) to the current speed (N), the optimal controller 1 changes the adjusted speed (N + Δn) to the changed target speed (No).
Is exceeded, the direction of the adjustment amount is reversed, and the step rotation speed (Δn) is reduced by half to approach the changed target rotation speed (No) again. When the rotation speed (N-Δn / 2) exceeds the changed target rotation speed (No), the adjustment direction is reversed again, and 1/2, 1/4, 1/8.
The same adjustment is repeated in the geometric progression of (1) to finally match the optimum target rotational speed (No). According to such control, the rotation speed (N) of the loom will coincide with the optimum target rotation speed (No) within a short settling time. Each of the embodiments is an example in which the number of revolutions (N) is increased, but the example in which the number of rotations (N) is decreased is executed in the same manner.

Note that the number of stops may be the number of integrated stops during operation instead of the number of stops per unit. Also, when the loom is equipped with an automatic repair device, even if the loom stops,
This does not impose a burden on the weaver, since the loom is automatically ready for restart. Therefore, the number of stops that can be automatically repaired is excluded from the number of stops for this control.

In the above-described embodiment, the number of stops per unit is used as an evaluation item. This evaluation item is at least one of the quality information of the fabric and the energy consumption of the driving motor 5 in addition to the number of stops. These evaluation items may be selectively combined as needed.

Incidentally, as the quality information of the woven fabric, the A reciprocity of the woven fabric can be used. The A rejection rate is determined by connecting an on-machine inspection device to the loom and taking in the data or feeding back the inspection result at the inspection field, as in the invention of Japanese Patent Application Laid-Open No. 60-185846. Alternatively, a weaver or the like may find a defect on a loom and input the defect using a keyboard. Here, when feeding back the inspection result in the inspection field, the value of the A repulsion rate itself can be captured, but in other cases, the limit value of the penalty point per fixed length is input in advance. Every
Based on this, a rating of A or B may be made. Also, when weavers find defects and enter them,
The score itself corresponding to the defect may be input, or only the type of the defect may be input, and the score may be automatically added by referring to a cable stored in advance.

Although the above embodiment has been described based on the above-mentioned Japanese Patent Application No. 63-143109, the present invention is not limited to this, and controls the change of the rotation speed of the loom to the target rotation speed. If so, it can be applied to anything.

According to the present invention, in the process of adjusting the rotation speed of the loom, the acceleration / deceleration gradient of the rotation speed is set to one of the response speed and the response speed of the most important automatic control system of the weft insertion control system or the warp feed control system. Since the response speed of one of the slowest automatic control systems is set to be less than the gradient of the response speed, the set warp tension is changed in accordance with the rotational speed in the transitional process when the rotational speed of the loom is changed. The warp yarn can be sent out at an appropriate speed in response to the warp, and the warp yarn can be sent out without affecting the operation of the loom, so that warp yarn breakage and warp yarn loosening can be prevented. However, the weft insertion pressure and the weft insertion timing are changed in response to the similarly changed weft insertion conditions, and the weft insertion is performed. In addition to this, the settling time of the automatic control system can be shortened.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control system, FIG. 2 is a flowchart of a method for optimizing a loom speed of the present invention, and FIGS. 3, 4, and 5 are characteristic diagrams of a process of changing the speed. . 1 ... Optimal controller, 2 ... Input unit, 3 ...
Rotation control unit, 5 ... motor, 7 ... loom controller, 11 ... pressure control unit, 12 ... timing control unit, 21 ...
... Rotation detector.

Claims (4)

(57) [Claims] An automatic control system for automatically adjusting a rotation speed of a loom to a target rotation speed and at least one of a weft insertion control system and a warp feed control system of the loom in accordance with the adjustment of the rotation speed of the loom. In the optimal control device for the loom rotation speed for changing the control conditions, when adjusting the rotation speed of the loom to the target rotation speed, the acceleration / deceleration gradient of the rotation speed is the most important automatic control system of the two automatic control systems. And a response speed of one of the response speeds of the automatic control system having the lowest response speed. 2. The method according to claim 1, wherein the number of revolutions during acceleration / deceleration is linearly changed in the adjusting step.
Optimum control method of the loom speed described in the item. 3. The method according to claim 1, wherein the number of revolutions at the time of acceleration / deceleration is changed stepwise during the adjusting process.
Optimum control method of the loom speed described in the item. 4. The optimum rotation speed of a loom according to claim 2, wherein the change in rotation speed during acceleration / deceleration has a damping vibration characteristic near a target rotation speed. Control method