JP2775483B2 - Jet loom weft insertion control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION (Industrial Application Field) The present invention relates to a device for controlling weft insertion such as an air jet loom or a water jet loom, and more particularly, to a jet loom provided with an actuator for controlling weft insertion. It relates to a setting control device.

(Prior Art) In a jet loom, it is desired to keep the weft flight conditions, particularly the arrival time of the weft at a predetermined position relative to the rotation angle of the main shaft, that is, the arrival timing constant. Factors that change the arrival timing include, in general, the thickness of the weft, the tension of the weft, the type of the weft, the number of twists of the weft, the number of filaments constituting the weft, the surface condition of the weft, and the supply of the wound weft. There are a diameter of a thread body, a heating temperature at the time of weft production, a winding speed at the time of weft production, and the like.

The above factors are related to each other: 1: the arrival timing of the weft becomes faster or slower as the diameter of the yarn feeder decreases; 2: the average arrival timing of the weft differs greatly from yarn feeder to yarn feeder. 3: The arrival timing of the weft suddenly changes in a certain part of the yarn feeder. This is expressed as a difference in the so-called weft insertion characteristics for each weft.

Therefore, in order to keep the arrival timing of the weft constant, after accurately grasping the weft insertion characteristics,
It is preferable to correct control parameters such as the pressure of the weft insertion fluid and the ejection period of the weft insertion fluid to appropriate values.

However, since the relative relationship between the weft insertion characteristics of the weft and each of the above factors has not been elucidated yet, the weft insertion characteristics cannot be numerically grasped by associating them with the above factors.

For this reason, in an actual weaving factory, without measuring the weft insertion characteristics and grasping numerically, at the start of weft insertion, the pressure of the weft insertion fluid, The control parameters such as the ejection period are corrected to appropriate values. However, this known correction method requires a long time to determine the optimum value of the control parameter, which greatly hinders the improvement of productivity such as a reduction in a machine change time.

As one of the methods for automatically controlling the weft insertion, there is, for example, a method described in JP-A-60-162839.
This known control method includes a weft physical property value representing the physical property of the weft, such as the thickness of the weft, a weft state value representing the state of the weft, such as the tension of the weft, and a weft state, such as the pressure of the weft insertion fluid. Detecting the weft flight condition value, the arrival timing of the weft, etc., representing the flight conditions, comparing these detected values with a preset target value, and automatically correcting the control parameter according to the result. .

(Problem to be Solved) However, as described above, since the relative relationship between the weft insertion characteristics and each factor is unknown, as in a known control method,
Even if the control parameters were modified based on the weft physical property value, the weft state value, and the weft flight condition value, the weft insertion characteristics were not taken into account, and the arrival timing varied greatly.

According to the present invention, the arrival timing of the weft can be corrected in consideration of the weft insertion characteristics. An object of the present invention is to provide a jet loom weft insertion control device.

(Means for Solving the Problems, Functions and Effects of the Invention) A weft insertion control device for a jet loom provided with an actuator for weft insertion according to the present invention is a setting means for setting a tendency regarding a timing at which a weft reaches a predetermined position. Detecting means for detecting that the weft has arrived at a predetermined location and generating an electrical signal to that effect, and a tendency set in the setting means and an output signal of the detecting means, Control means for inferring, by fuzzy inference, a correction value of a control parameter used for the control of the shift, and controlling the actuator based on the inferred correction value.

As the tendency related to the arrival timing of the weft, for example, a general tendency obtained from past experience, a tendency obtained from a result of inserting wefts of several yarns in advance, and the like can be used. The tendency can be set, for example, in a setting means such as a variable resistor, such as large or small, by setting the weft insertion characteristic as an operator's intuitive value.

When the loom is operating, an electric signal corresponding to the arrival timing such as the angle of the main shaft when the weft reaches a predetermined position is supplied from the detection means to the control means every one or several picks. Thereby, the control means infers a correction value of the weft insertion control control parameter by fuzzy inference based on the tendency set in the setting means and the input signal from the detection means, and based on the inferred correction value. Drive the actuator.

According to the present invention, since the correction value is inferred by fuzzy inference based on the tendency regarding the arrival timing of the weft, control can be performed in consideration of the weft insertion characteristics, and the weft insertion characteristics are set as intuitive values. can do. Therefore, even the inexperienced person can reduce the variation of the weft arrival timing.

As the tendency, the magnitude of the change in the arrival timing due to the change in the diameter of the yarn supply on which the weft is wound, the magnitude of the change in the arrival timing for each yarn supply, or the arrival timing in a part of the yarn supply The magnitude of the sudden change in can be used.

As the control parameters, the start of the weft ejection, the ejection period of the weft insertion fluid, or the pressure of the weft insertion fluid can be used.

The control means calculates a difference between a target value and an actual value of the arrival timing based on an output signal of the detection means, and a calculated value and a value set in the setting means. A fuzzy inference circuit for inferring the correction value to obtain a new control parameter, and a controller for controlling the actuator based on the new control parameter output from the fuzzy inference circuit may be included.

It is preferable that a membership function and a control rule used for the fuzzy inference are stored in a memory card, the information stored in the memory card is read by a reading mechanism, and the read information is provided to the inference circuit. Thereby, the membership function and the control rule written in the memory card are corrected to a new membership function and a new control rule, or the memory card is changed to a new membership function and a new control rule. By changing to a stored memory card, membership functions and control rules used for fuzzy inference can be easily changed.

Furthermore, a seam detecting means for detecting a seam of the weft is provided,
It is preferable that the control unit returns the control parameter to an initial set value according to a detection signal of the seam detection unit.

(Embodiment) Referring to FIG. 1, a loom 10 is an air jet loom, and a rotary length measuring and storing device 14 for a weft 12.
including. The weft 12 is divided and wound around a plurality of yarn supplying bodies 16. The weft yarn 12 is also supplied from the yarn supplying body 16 to the known weft insertion device 18 via the length measurement storage device 14, and is inserted into the opening 22 of the warp 20 by the weft insertion device. The weft wound on the yarn supplying body 16 acts as a single weft, that is, from the weft wound on one yarn supplying body to the length measuring and storing device.
They are tied together so that they can be pulled out one after the other by 14.

At the time of length measurement, the weft 12 has an electromagnetic solenoid 24
In a state pressed against the outer peripheral surface of the length measuring and storing drum 28 by the bin 26 operated by the above, the yarn is wound around the outer peripheral surface of the length measuring and storing drum 28 by a rotation of the yarn guide 30 and stored. .

On the other hand, at the time of weft insertion, the weft 12 is unwound from the bin 26, is injected with the fluid from the main nozzle 32 of the weft insertion device 18, enters the opening 22 of the warp 20, and is then cut. The weft insertion device 18 includes a plurality of sub-nozzles 34 for ejecting a fluid that advances the weft yarn 12 in a predetermined direction during weft insertion.

The working fluid of the pressure source 36 is supplied to the main nozzle 32 via the pressure regulator 38 and the on-off valve 40. In contrast,
The working fluid of the pressure source 36 is supplied to each sub-nozzle 34 by a pressure regulator.
It is supplied via 42 and a corresponding on-off valve 44.

The loom 10 also includes a motor 48 for the spindle 46 for driving the reed.
including. The rotation of the motor 48 is transmitted to the main shaft 46 by the coupling mechanism 50. The main shaft 46 is connected to an encoder 52 that generates a rotation angle signal corresponding to the rotation angle of the main shaft, and an electromagnetic brake 54 for the main shaft 46. Measurement storage device 14
And the weft insertion device 18 is driven in synchronization with the rotation of the main shaft 46 together with a heddle, a reed and the like.

The weft insertion control device for the loom 10 includes one or more trends regarding the arrival timing of the weft, one or more information regarding the actual arrival timing of the weft, a plurality of membership functions,
Also, a fuzzy inference circuit 56 for inferring the optimum value of the control parameter by fuzzy inference using a plurality of fuzzy control rules is included.

The tendency regarding the arrival timing of the weft yarn 12 for fuzzy inference is, for example, whether the change in the arrival timing due to the change in the diameter of the yarn supplying body is large (T) or the change in the arrival timing for each yarn supplying body is large (D The sudden change in the arrival timing at a part of the yarn supplying body is large or at least one of (M) can be used.

The information on the actual arrival timing of the weft for fuzzy inference includes, for example, the difference between the average value of the actual arrival timing and its target value, that is, the average value error μ, the deviation of the actual arrival timing and the target value. Difference or variation error σ Difference between the maximum or minimum value of the actual arrival timing and its target value At least one of the difference between the average value of the maximum or minimum value of the actual arrival timing and its target value is used be able to. In the following description, the average value error μ or the variation error σ is used.

Control parameters for adjusting the arrival timing of the weft 12 to a target value include, for example, at the start of weft insertion, that is, at the start of launch of the weft 12 S, the pressure of the weft insertion fluid P, the ejection period of the weft insertion fluid from the sub nozzle 34 At least one of d can be used.

The weft insertion control device also includes a storage unit 58 that stores a plurality of membership functions and a plurality of fuzzy control rules used for fuzzy inference in the fuzzy inference circuit 56;
An input unit 60 including a plurality of setting units 60a to 60f for setting a plurality of trends and a plurality of other pieces of information regarding the arrival timing of the weft yarn 12, and pressure regulators 38, 42 based on signals supplied from a fuzzy inference circuit 56. Controlling the pressure controller 6
2, and a timing controller 64 for operating the on-off valves 40, 44 and the electromagnetic solenoid 24 based on a signal supplied from the fuzzy inference circuit 56.

As shown in FIG. 2, the membership functions stored in the storage device 58 include the tendencies T, D, M, the average value error μ, the variation error σ, the start time S of weft launch, and The fluid pressure P and the fluid ejection period d from the sub nozzle 34 are stored.

The membership functions PB, PS and ZE shown in FIGS. 2 (A), (B) and (C) correspond to the corresponding trends T, D and M, respectively.
Correspond to the languages “large”, “slightly large” and “almost no”, and represent the likelihood that the corresponding tendencies T, D, and M belong to a set of languages. The membership functions PB, PS, and ZE are used to infer how much the set tendency T, D, M matches the antecedent part of the fuzzy control rule, which will be described later, that is, the degree of conformity. Membership function P
B, PS and ZE may be commonly used for each tendency.

Membership functions PB, P shown in FIGS. 2 (D), (E)
S, ZE, NS and NB are the corresponding errors μ and σ, respectively.
But "very large on the positive side", "slightly large on the positive side", "almost none (not large or small)", "slightly large on the negative side" and "very large on the negative side And expresses the likelihood that the corresponding errors μ and σ belong to a set of languages. The membership functions PB, PS, ZE, NS, and NB are also used to infer the degree of conformity of the corresponding errors μ, σ to the antecedent of the fuzzy control rule described later. Membership function
PB, PS, ZE, NS, and NB may also be used in common for both errors.

In the above membership functions PB, PS, ZE, NS, and NB of the error μ, the fact that the error μ is large on the positive side means that the arrival timing is late, and that the error μ is large on the negative side. Means that the arrival timing is early. The membership functions PB, PS, ZE, NS, and NB shown in FIGS. 2 (F), (G), and (H) are, for example, if the control parameters are S at the start of the launch, Corresponds to the language of "significantly slow", "slightly slow", "almost unchanged", "slightly fast" and "slightly fast". If the pressure P of the weft insertion fluid, the pressure P Ejection period d corresponds to languages such as "increase greatly", "increase slightly", "change little", "decrease slightly" and "decrease greatly".
If so, the language corresponds to the language of "extend greatly", "extend slightly", "change almost", "decrease slightly", and "decrease greatly". These express the likelihood that a control parameter to be increased or decreased belongs to a set of languages, and is used when inferring the consequent part of a fuzzy control rule described later based on the degree of matching.

As the storage device 58, a storage circuit such as an IC memory can be used. However, a card type IC memory capable of writing and reading information, that is, a memory 58a,
It is preferable to use a writing and reading mechanism 58b for writing and reading information to and from the memory card. Such a memory card 58a and a write / read mechanism 58b
Is used, the membership function and fuzzy control rules used for fuzzy inference can be easily modified or changed.

The trends T, D and M are setters 60a, 60b and
60c is set as an operator's intuitive value. Trend T,
D and M are, for example, “0” when there is no change in the corresponding arrival timing, “5” when it cannot be said that there is a change, and “10” when the change is large,
It can be set with any value from "0" to "10". As such setting devices 60a to 60c, variable resistors, digital switches and the like can be used.

In the setting devices 60d and 60e, a target value A of arrival timing and a target value B of variation in arrival timing are set, respectively. In the setting unit 60f, the number of weft insertions k used when calculating the average value and the variation of the arrival timing is set. Digital switches can be used as these setting devices.

Although not shown, the input unit 60 includes a setting device that presets initial setting values of the ejection start time S, the pressure P, and the ejection period d.

The pressure controller 62 controls the pressure of the fluid ejected from the main nozzle 32 and the sub-nozzle 34 by a fuzzy inference circuit 56.
The pressure regulators 38 and 42 are controlled so as to be the value P supplied from. In contrast, the timing controller 64
At the start of the ejection of the fluid and the start of the operation of the electromagnetic solenoid 24, the value supplied from the fuzzy inference circuit 56 is obtained, and
The on-off valves 40 and 44 and the electromagnetic solenoid 24 are operated such that the ejection period from the sub nozzle 34 becomes the value supplied from the fuzzy inference circuit 56.

The control device for the loom 10 further includes a first detector 66 for detecting that the weft yarn 12 has been wefted to a predetermined position.
And a second detector 68 for detecting the movement of the connection portion of the weft wound on the adjacent yarn supplying body, that is, the knot. The first detector 66 is arranged on the side opposite to the main nozzle 32 with respect to the warp yarn 20. As the first and second detectors 66 and 68, an optical sensor using a photoelectric converter can be used.

The output signal of the first detector 66 is supplied to a detection circuit 70 for detecting the arrival timing of the weft. The detection circuit 70 detects the rotation angle signal supplied from the encoder 52 and the first detector.
Based on the output signal of the first detector 66, the leading end of the weft 12 is
Is detected as the value indicating the arrival timing at each weft insertion, and the detected arrival timing is output to the two calculators 72 and 74. The arrival timing can be, for example, the rotation angle of the main shaft when the output signal of the first detector 66 is supplied to the detection circuit 70.

The calculator 72 is an average value calculator that calculates the average value of the arrival timing during the number of weft insertions k set in the setting device 60f, and outputs the calculated average value to the comparator 76. On the other hand, the calculator 74 calculates the number of weft insertions k set in the setter 60f.
This is a variation calculator that calculates the variation in the arrival timing during the period, and outputs the calculated variation to the comparator 78.
The magnitude of the variation is quantitatively represented by a variance, standard deviation, range, or the like known in statistics.

The comparator 76 calculates a difference between the average value of the arrival timing calculated by the average value calculator 72 and the target value A set in the setting unit 60d, and uses the difference as an average value error μ as a fuzzy inference circuit.
Supply to 56. The comparator 78 calculates a difference between the variation of the arrival timing calculated by the variation calculator 74 and the target value B set in the setting section 60e, and supplies the difference to the fuzzy inference circuit 56 as a variation error σ.

The output signal of the second detector 68 is supplied to a counting circuit 80 for counting the number of weft insertions for each yarn supplying body 16. The counting circuit 80
For example, the number of rotations of the main shaft 46 is counted based on the rotation angle signal supplied from the encoder 52, and the counted value is supplied to the fuzzy inference circuit 56. The count value of the counting circuit 80 is calculated by the second detector
Cleared by the 68 output signal.

The output signal of the second detector 68 is also a fuzzy signal indicating that the weft 12 to be inserted has been switched from the weft of one yarn supply 16 to the weft of another yarn supply 16. It is supplied to the inference circuit 56.

Although not shown, a digital-analog converter or an analog-digital converter is arranged at a connection portion between a digital circuit for processing information digitally and an analog circuit for processing information analogly. .

Next, with reference to FIG. 3, a description will be given of an embodiment in which the weft launch start time S is controlled using the change T in the arrival timing due to the change in the diameter of the yarn supplying body and the average value error μ.

In this case, for example, the following fuzzy control rules R1 to R15
Are stored in the storage device 58.

R1: If the change T in the arrival timing due to the change in the diameter of the yarn supplying body is large (PB) and the average value error μ is very large on the plus side (PB), the start-up S at the start of driving is greatly increased. (NB) R2: If the change T in the arrival timing due to the change in the diameter of the yarn supplying body is large (PB) and the average value error μ is slightly large on the positive side (PS), the starting start time S is slightly reduced. To be quick.
(NS) R3: The change T in the arrival timing due to the change in the diameter of the yarn supplying body is large (PB), and the average value error μ is almost zero (Z
E) If so, hardly change S at the start of the ejection (ZE) R4: The change T in the arrival timing due to the change in the diameter of the yarn feeder is large (PB), and the average value error μ is slightly negative. If it is large (NS), slightly delay S at the start of driving (PS). R5: The change T in the arrival timing due to the change in the diameter of the yarn feeder is large (PB), and the average value error μ is negative. If it is very large (NB), the launch start time S is greatly delayed (PB). R6: The change T in the arrival timing due to the change in the diameter of the yarn supplying body is slightly large (PS), and the average value error μ Is very large on the positive side (PB), the starting time of the launching is slightly advanced (NS). R7: The change T in the arrival timing due to the change in the diameter of the yarn supplying body is slightly large (PS), and If the average value error μ is slightly larger to the plus side (PS), S at the start of the launch is hardly changed ( ZE) R8: If the change T in the arrival timing due to the change in the diameter of the yarn supplying body is slightly large (PS) and there is almost no average value error μ (ZE), the starting time S is hardly changed (Z).
E) R9: If the change T in the arrival timing due to the change in the diameter of the yarn supplying body is slightly large (PS) and the average value error μ is slightly large on the negative side (NS), almost the time S at the start of the launching is reduced. Do not change (ZE) R10: If the change T in the arrival timing due to the change in the diameter of the yarn supplying body is slightly large (PS) and the average value error μ is very large on the negative side (NB), start the launch. If the time S is slightly delayed (PS) R11: If there is almost no change T in the arrival timing due to the change in the diameter of the yarn supplying body (ZE) and the average error μ is very large on the positive side (PB) R12: There is almost no change T in the arrival timing due to a change in the diameter of the yarn feeder (ZE), and the average value error μ is slightly larger on the positive side (PS). ), The S is hardly changed at the start of the ejection (ZE) R13: Due to the change in the diameter of the yarn feeder If there is almost no change T in the arrival timing (ZE) and there is almost no mean value error μ (ZE), the start time S is hardly changed (ZE). If there is almost no change T in the timing (ZE) and the average value error μ is slightly large on the negative side (NS), the S at the start of the ejection is hardly changed (ZE). If there is almost no change T in the arrival timing due to the change (ZE) and the average value error μ is very large on the minus side (NB), the starting time S at the time of launching is slightly delayed (PS). As shown, the fuzzy inference circuit 56 includes a setting device.
The value T set to 60a, the average value error μ output from the comparator 76, and the values stored in the storage device 58 in FIG.
The membership functions shown in FIGS.
And the fuzzy control rules R1 to R15 stored in

Next, the fuzzy inference circuit 56 calculates a value for the antecedent part of the fuzzy control rules R1 to R15 based on the value T, the average value error μ, and the membership functions shown in FIGS. The degree of agreement between T and the average error μ, that is, the degree of fit w1
To w15 for each fuzzy control rule R1 to R15.

Next, the fuzzy inference circuit 56 obtains the determined fitness levels w1 to w1.
5 and the membership function shown in FIG. 2 (F), the consequent part of the fuzzy control rules R1 to R15, ie, the function u1
~ U15 is obtained for each fuzzy control rule.

The fitness levels w1 to w15 and the functions u1 to u15 are obtained as shown in FIGS. 4 (1) to 4 (3). For example, for the fuzzy control rule R1, see FIG.
As shown in (R1), the degree of conformity between the value T and the average error μ, and the membership functions PB and PB set in the antecedent corresponding to the value T and the average error μ, respectively, A common part of the fitness levels, that is, the smallest fitness level is defined as the fitness level w1 corresponding to the antecedent part of the fuzzy control rule. After that, the membership function NB of the consequent part of the fuzzy control rule R1 is cut (cut down) at the determined fitness, and the minimum value of the determined fitness and the membership function NB (the common part; (Indicated by oblique lines). Thus, the function u1 in the fuzzy control rule R1 is inferred.
Hereinafter, the functions u2 to u15 in the fuzzy control rules R2 to R15 are similarly inferred, respectively. When the fitness w is zero, the corresponding function u is also zero.

Next, the fuzzy inference circuit 56 superimposes the obtained functions u1 to u15 as shown in FIG.
After obtaining (u), the value S _O of the center of gravity of the fuzzy set is obtained. The value of the center of gravity is a value on the horizontal axis that halves the area of the composite membership function, and is the value of the fuzzy inference circuit 56.
Is a fixed value of the inference result of the whole fuzzy control rules R1 to R15, that is, a correction value S to be increased or decreased at the time of launch.
_Set to _O.

Next, the fuzzy inference circuit 56 calculates a new launch start time S by adding the correction value S _O at the present launch start time. At the start of a new launch S is the correction value S _O
If it is positive, it will be later than the current launch start, and if it is negative, it will be earlier.

Next, the fuzzy inference circuit 56 sets the new launch start time S as the next launch start time, and
At the same time, a preset fluid pressure P and ejection period d are supplied to the controller 62 and the timing controller 64. Thereby, the pressure controller 62
Controls the pressure regulators 38 and 42 so that the pressure becomes the pressure supplied from the fuzzy inference circuit 56, and the timing controller 64 makes the ejection start time S and the ejection period d supplied from the fuzzy inference circuit 56. The on / off valves 40 and 44 and the electromagnetic solenoid 24 are controlled. The unwinding of the weft yarn 12 by the bin 26, the start of the ejection of the fluid from the main nozzle 32, and the start of the ejection of the fluid from the sub-nozzle 34 are controlled in conjunction.

The pressure P and the ejection period d supplied from the fuzzy inference circuit 56 to the pressure controller 62 and the timing controller 64 can be set to initial values set in the input unit 60 in advance. However, the new pressure P and the ejection period d are obtained by the same method as described above, and the new pressure P
The ejection period d may be supplied from the fuzzy inference winding 56 to the pressure controller 62 and the timing controller 64.

Instead of calculating a new launch start time S in the fuzzy inference circuit 56, the correction value S _O is supplied from the fuzzy inference circuit 56 to the timing controller 64, and the timing controller 64 calculates a new launch start time S. It may be.

The above correction at the start of launching is performed every n (where n is an integer of 1 or more) weft insertions. As a result, at the time of the start of the driving, the correction is gradually performed until the weft insertion of the weft of one yarn feeder is completed.

When the detection signal (big tail signal) of the second detector 68 is supplied to the fuzzy inference circuit 56, that is, when the yarn feeder used for weft insertion is switched, at the start of the driving, the loom is set in advance for each loom. After returning to the set default value,
It is corrected again by the above method.

The following control can be performed by the same fuzzy inference method as described above.

a: a change T in the arrival timing due to a change in the diameter of the yarn supplying body;
Using the average value error μ (or variation error σ),
Control of the pressure P of the weft insertion fluid or the ejection period d. B: The change D in the arrival timing for each yarn feeder and the average error μ.
(Or variation error σ) to control the start S of weft launch, the pressure P of the weft insertion fluid, or the ejection period d. The actual arrival timing of the weft is controlled by combining the above controls. You may.

A change T in the arrival timing due to a change in the diameter of the yarn supplying body;
An example of one of the fuzzy control rules (corresponding to the fuzzy control rule R1) when controlling the pressure P of the weft insertion fluid using the variation error σ is as follows.

aR1: If the change T in the arrival timing due to the change in the diameter of the yarn supplying body is large (PB) and the variation error σ is very large on the positive side (PB), the pressure P is greatly increased (PB). A change T in arrival timing due to a change in body diameter;
An example of one of the fuzzy control rules (corresponding to the fuzzy control rule R1) when controlling the pressure P of the weft insertion fluid or the ejection period d using the average value error σ is as follows.

bR1: If the change T in the arrival timing due to the change in the diameter of the yarn supplying body is large (PB) and the average value error μ is very large on the positive side (PB), the pressure P is greatly increased (PB).
Alternatively, the ejection period d is greatly lengthened (PB). The variation D of the arrival timing for each yarn supplying body and the average value error μ
(Or variation error σ), one of the fuzzy control rules (fuzzy control rule) for controlling the launch start time S, the weft insertion fluid pressure P, or the ejection period d.
(Corresponding to R1) is as follows.

cR1: The change D in the arrival timing for each yarn feeder is large (P
B) and mean value error μ (or variation error σ)
Is very large on the positive side (PB), S is slightly increased at the start of the ejection (NS), and the pressure P is increased slightly (P
S) or slightly lengthening the ejection period d (PS) In addition to the above fuzzy control rules, when the value of the newly calculated control parameter exceeds an allowable range, a control rule for controlling other control parameters Is preferably added to provide double control. An example of such a control rule is shown below.

Ra: If the start of the new launch is greater than (or too slow to) the positive side tolerance limit, lower the fluid pressure P instead of correcting the start of the launch. Rb: Start a new launch. If the time is less than the negative tolerance limit (too early) or the same, the fluid pressure P is increased (or the fluid ejection period is increased) instead of correcting the start of ejection. And Rb are examples of controlling the launch start time S, but the fluid pressure P or the fluid ejection period d
Can be controlled in the same manner.

The fluid pressure P and the ejection period d, in particular, the sub-nozzle 34
The change in the pressure P of the fluid from and the ejection period d greatly affects the arrival timing of the weft. Thus, instead of using the above fuzzy control rules, the pressure P and the ejection period d can be controlled using the following fuzzy control rules.

★: If the dispersion error σ is very large on the plus side (PB), the ejection period d is greatly lengthened (PB), and the fluid pressure P is slightly increased (PS). ★: The dispersion error σ is slightly on the plus side. If it is large (P
S), the ejection period d is slightly lengthened (PS) ★: If there is little variation error σ (ZE), the ejection period d is hardly changed (ZE) ★: If the variation error σ is slightly smaller on the minus side (N
S), slightly shorten the ejection period d (NS) ★: If the variation error σ is extremely small on the negative side (NB), greatly shorten the ejection period d (NB) and slightly decrease the pressure P (NS). When the weft insertion to be inserted is switched, if the initial setting values are used as the start time S of weft ejection, the pressure P of the fluid, and the ejection period d, the arrival timing may greatly change. In such a case, since the pigtail signal is supplied from the second detector 68 to the fuzzy inference circuit 56, during a predetermined plurality of weft insertions, the average value μ or the variation error σ causes It is preferable to correct the ejection start time S, the weft insertion fluid pressure P, or the ejection period d. An example of a fuzzy control rule used for such control is shown below.

★ 1: The change D in the arrival timing for each yarn feeder is large (P
B), mean value error μ is very large on the positive side (PB)
Then, at the start of launching, make S much earlier (NB) and set pressure P
(PB) ★ 2: The change D in the arrival timing for each yarn feeder is large (PB).
B) If the average value error μ is slightly larger on the positive side (PS), S is slightly increased at the start of the ejection (NS) and the pressure P is increased slightly (PS). The change D in the timing is large (P
B) If there is almost no average value error μ (ZE), the starting time S and the pressure P are hardly changed (ZE). ★ 4: The change D in the arrival timing for each yarn feeder is large (P
B), average value error μ is slightly larger on the negative side (NS)
Then, at the start of the ejection, slightly delay S (PS) and slightly decrease the pressure P (NS). * 5: The change D in the arrival timing for each yarn feeder is large (P
B), the average error μ is very large on the negative side (N
If it is B), the launching start time S is greatly delayed (PB) and the pressure P is greatly reduced (NB). ★ 6: The change D in the arrival timing for each yarn feeder is slightly large (PS), and the average value error μ Is very large on the positive side (P
If it is B), at the start of the ejection, the S is slightly advanced (NS) and the pressure P is slightly increased (PS). * 7: The change D in the arrival timing for each yarn feeder is slightly large (PS), and the average value error μ Is slightly larger on the positive side (PS)
Then, at the start of the ejection, slightly advance S (NS) and slightly increase the pressure P (PS). ★ 8: The change D in the arrival timing for each yarn feeder is slightly large (PS) and the average value error μ is almost zero. If not (ZE), little change in S and pressure P at the start of ejection (ZE) ★ 9: Change in arrival timing D for each yarn feeder is slightly large (PS), and average value error μ is negative. A little larger (N
If it is S), at the start of the ejection, the S is slightly delayed (PS) and the pressure P is slightly lowered (NS). ★ 10: The change D in the arrival timing for each yarn feeder is slightly large (PS), and the average value error μ Is very large on the minus side (NB), the start time S of the ejection is slightly delayed (PB), and the pressure P is slightly lowered (NS). No (ZE), and if the average value error μ is very large on the positive side (PB), slightly increase S (NS) and slightly increase pressure P (PS) at the start of launch. There is almost no change D in the arrival timing for each (ZE), and the average value error μ is slightly larger on the plus side (P
If it is S), at the start of the ejection, S is slightly advanced (NS) and pressure P is slightly increased (PS). * 13: There is almost no change D in the arrival timing for each yarn feeder (ZE), and the average value error μ If there is almost no (ZE)
S and pressure P are hardly changed at the start of ejection (ZE) ★ 14: If there is almost no change D in arrival timing for each yarn feeder (ZE), and the average value error μ is slightly large on the minus side (NS) For example, at the start of the ejection, S is slightly delayed (PS), and the pressure P is slightly reduced (NS). ★ 15: There is almost no change D in the arrival timing for each yarn feeder (ZE), and the average value error μ is negative. If it is very large on the side (NB), the starting time of the launching is slightly delayed (PB) and the pressure P is lowered slightly (NS). An example of the control rule is shown below.

*: The change D in the arrival timing for each yarn feeder is large (P
B), the dispersion error σ is very large on the positive side (P
B), the pressure is greatly increased (PB) *: The change D in the arrival timing for each yarn feeder is large (PB).
B), the dispersion error σ is slightly larger on the positive side (PS)
Then, slightly increase the pressure (PS) *: The change D in the arrival timing for each yarn feeder is large (P
B), there is almost no variation error σ on the positive side (Z
E), the pressure is hardly changed (ZE) *: The change D in the arrival timing for each yarn feeder is large (P
B), the dispersion error σ is slightly larger on the negative side (N
If S), lower the pressure slightly (ZE) *: The change D in the arrival timing for each yarn feeder is large (P
B), the variation error σ is very large on the negative side (N
If B), the pressure is greatly reduced (NB) Sudden change M in the arrival timing in a part of the yarn supply
Can be used together with the average value error μ (or variation error σ) to control the start time S of weft ejection, the pressure P of the weft insertion fluid, or the ejection period d. One example of such a fuzzy control rule (corresponding to the fuzzy control rule R1) is as follows.

★: If the sudden change M of the arrival timing in a part of the yarn supplying body is large (PB) and the average value error μ (or the variation error σ) is very large on the positive side (PB), the driving is performed. The start time S is greatly increased (NB), the pressure P is increased greatly (PB), or the ejection period d is greatly increased (PB). However, the magnitude of the sudden change M in the arrival timing in a part of the yarn supplying body is as follows. , The average value error μ or the variation error σ, that is, the number of weft insertions k. An example of a control rule for this is shown below.

★: If the sudden change M of the arrival timing in a part of the yarn feeder is large (PB), the weft insertion frequency k is greatly reduced (NB) ★: The sudden change M of the arrival timing in a part of the yarn feeder is If it is slightly large (PS), slightly reduce the number of weft insertions k (NS) ★: If there is almost no sudden change M in the arrival timing at a part of the yarn feeder (ZE), change the number of weft insertions k almost No (ZE) As shown in FIG. 1, a third detector 82 is provided for detecting the breakage of the weft yarn 12 and based on the output signal of the third detector, it is determined that the weft yarn 12 is broken. At this time, the weft insertion start time S, the pressure P, or the ejection period d may be controlled.

[Brief description of the drawings]

FIG. 1 is a diagram showing an embodiment of a loom equipped with a control device of the present invention, FIG. 2 is a diagram showing an embodiment of a membership function, FIG. 3 is a diagram showing a flowchart of a fuzzy control circuit, FIG. 4 (1), (2) and (3) are diagrams for explaining fuzzy inference. 10: loom, 12: weft, 16: yarn feeder, 20: warp, 22: shed, 24:
Electromagnetic solenoid, 32: Main nozzle, 34: Sub nozzle, 3
6: pressure source, 38, 42: pressure regulator, 40, 44: open / close valve, 46: spindle, 52: encoder, 56: fuzzy inference circuit, 58: storage, 58a: memory card, 58b: writing / reading mechanism, 60:
Input unit 62: pressure controller, 64: timing controller, 66, 68: detector, 70: arrival timing detection circuit, 72: average value calculator, 74: variation calculator, 76: comparator for calculating average value error, 78, Comparator for calculating variation error.

Claims (6)

(57) [Claims] 1. A jet loom weft insertion control device comprising an actuator for weft insertion, comprising: setting means for setting a tendency regarding arrival timing at which a weft reaches a predetermined location; Detecting means for detecting the arrival and generating an electrical signal to that effect, and correcting a control parameter used for weft insertion control based on a tendency set in the setting means and an output signal of the detecting means. Control means for inferring a value by fuzzy inference and controlling the actuator based on the inferred correction value. 2. The method according to claim 1, wherein the setting means determines a magnitude of a change in arrival timing due to a change in a diameter of the yarn supplying body on which the weft is wound;
The means for setting at least one of a magnitude of a change in arrival timing for each yarn supplying body and a magnitude of a sudden change in arrival timing in a part of the yarn supplying body as the tendency. The weft insertion control device for a jet loom according to Claim 1. 3. The control parameter according to claim 1, wherein the control parameter is at least one of the following: a time at which the weft is launched, a period during which the weft insertion fluid is ejected, and a pressure of the weft insertion fluid.
The weft insertion control device for a jet loom according to Claim 1. 4. The control means includes: a calculator for calculating a difference between a target value and an actual value of the arrival timing based on an output signal of the detection means; and a calculator configured to set the calculated value and the setting means. A fuzzy inference circuit that infers the correction value based on the tendency to obtain a new control parameter, and a controller that controls the actuator based on the new control parameter output from the fuzzy inference circuit. Item (1): the jet loom weft insertion control device. 5. The memory according to claim 4, wherein said control means further includes a memory card storing membership functions and control rules used for said fuzzy inference, and a reading mechanism for reading information from said memory card. Jet room weft insertion control device. 6. A seam detection means for detecting a seam of a weft, wherein the control means receives a detection signal of the seam detection means, and receives the detection signal, thereby setting the control parameter to an initial set value. The weft insertion control device for a jet loom according to claim 1, wherein the weft insertion control device returns to the above.