JP3529126B2 - Feed motor controller for multicolor weft insertion - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention mainly controls the rotation speed of a feed motor of a length measuring and storing device corresponding to each weft in a constant-change multicolor weft insertion. Equipment related. The constant exchange means a weft insertion method in which a multicolor weft insertion selection order is regularly determined in advance, and weft insertion is performed in a state where the wefts are exchanged based on the selection order. 2. Description of the Related Art The technology disclosed in Japanese Patent Publication No.
The feed motor is continuously rotated at the reference rotation speed at the time of constant weft insertion, and a command signal output following the rotation of the main shaft of the loom is selected as a correction signal for the reference rotation speed signal at the time of selecting a weft. In detail, the up / down counter of the control system outputs the rotation amount signal A of the main shaft when the weft is selected.
Is input, and a rotation amount signal of the feed motor is always input, and a command signal C corresponding to a deviation of the rotation amount is output to the D / A converter. The D / A converter receives the command signal C
Is converted into a command signal C ′, and the command signal C ′ is output to an addition point for the reference rotation speed signal. According to the above technique, the command signal is always output as a correction signal for the reference rotation speed signal,
The rotation speed of the feed motor constantly changes. In particular, according to the control method in which the rotation amount signal of the main shaft is input only when the corresponding weft is selected as in the above-described conventional technology, only the rotation amount signal of the feed motor is input to the counter when the corresponding weft is not selected. Then, since the deviation of the rotation amount in the up / down counter becomes negative, the rotation speed of the motor rapidly decreases. Then, at the next selection of the corresponding weft, the rotation amount signal of the main shaft of the loom starts to be input, and at this time, since the rotation speed of the motor at the start of the selection becomes slow, the deviation of the rotation amount sharply increases. Turn to increase. Thereby, the rotation speed of the motor rapidly increases. Therefore, the winding tension around the storage drum becomes uneven, which tends to cause poor weft insertion. In addition, a sudden change in speed causes unnecessary heat generation in the motor. It is an object of the present invention to mainly maintain the rotation speed of a continuously rotating feed motor of each length measuring and storing device as constant as possible in a constant-change multicolor weft insertion, thereby achieving winding tension. To stabilize the weft insertion and suppress unnecessary heat generation from the motor. SUMMARY OF THE INVENTION In view of the above-mentioned object, the present invention relates to a plurality of length measuring storage devices for multi-color weft insertion, wherein the rotation speed of a feed motor of each length measuring storage device is controlled. A speed setting unit that outputs a signal of a reference speed of the feed motor, that is, a reference rotation speed, to an adder, and compares a rotation amount of a main shaft of a loom with a rotation amount of the feed motor, and controls the feed motor at a predetermined ratio. A tracking control unit that obtains a signal of a rotation amount deviation to follow the spindle and outputs the signal to the adder;
A feed control unit for multi-color weft insertion, comprising: a drive control unit for driving the feed motor based on the reference speed signal and the rotation amount deviation signal; The speed setting unit calculates the reference speed VB as the number of unwinds T, the number N of picks per repeat N, and the number of picks S for selection of the corresponding wefts per repeat VB = L × T × (S / N) And an output regulating unit which permits the output of the rotation amount deviation signal from the follow-up control unit to the adder only at the end of each repeat of multicolor weft insertion, by the follow-up control unit and the adder. And between them. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the concrete examples shown in FIGS. 1 to 5, the weft insertion pattern of two colors, that is, four cycles of one repeat of wefts a and b, inserts weft a for three consecutive cycles. Then, weft weft b is inserted in the remaining one cycle, the number of revolutions (rotation speed) of the main shaft of the loom is detected, and the reference speed of the feed motor is set using an average value of the detected values in one repeat. In addition, the signal of the rotation amount of the main shaft of the loom is input only when each weft is selected, the rotation amount of the feed motor is compared with the rotation amount of the main shaft, and the rotation amount of the feed motor is determined based on the rotation amount deviation. This is an example of driving. FIG. 1 shows an example in which a feed motor 3 of a drum type length measuring and storing device 1 for two colors of wefts a and b is driven by a feed motor control device 2. Each of the length measuring and storing devices 1 is provided with an arm 4
Are rotated, and the corresponding wefts a and b are
Is wound around the outer peripheral surface of the drum 5. It should be noted that the weft yarns a and b are preliminarily wound around each drum 5 for two picks (eight windings). The two feed motor control devices 2 have basically the same configuration, take in a pulse-like signal indicating the amount of rotation R from an encoder 7 connected to the main shaft 6 of the loom, and provide an internal speed setting unit 8. To the follow-up control unit 9 and the output control unit 15. FIG. 2 shows a specific example of the speed setting section 8. Reference speed calculator 14 inside speed setting unit 8
Is the rotation speed (rotation speed) of the main shaft 6 at the time of detection or the rotation speed (rotation speed) L of the past one repeat average as the output of the loom rotation speed detection circuit 10 which receives the signal of the rotation amount R of the main shaft 6 as an input. The number of unwinds per pick (the number of windings of the weft unwound from the drum in one pick) T set by the unwinding number setting unit 11 and one repeat calculated from the signal of the weft insertion pattern IP by the arithmetic unit 13 The reference speed VB is obtained by the calculation formula VB = L × T × (S / N) with the selected pick number ratio per hit (S / N) as an input, and a signal of the reference speed VB is output to the adder 16. Weft insertion pattern I
The signal P includes information on the number N of picks per repeat and the number S of selected picks of the corresponding wefts a and b per repeat. The reference speed VB is obtained by the feed motor control device 2 corresponding to each of the wefts a and b. The number of rotations (rotational speed) L and the number of unwindings T are the same for wefts a and b. Then, according to this specific example, the selection pick ratio (S / N) of the weft a is (3/4), and the selection pick ratio (S / N) of the weft b is (1/4). . Note that inside the speed setting unit 8, the weft insertion pattern setting unit 12 outputs a signal of the weft insertion pattern IP to the arithmetic unit 13 and outputs information of the weft insertion pattern IP to the output control unit 15. ing. Thus, the output control unit 15 determines 1 repeat = 4 cycles and recognizes the main shaft rotation angle, for example, 360 degrees in the fourth cycle, as the end timing of the weft insertion pattern visited every four cycles. The end timing TE is output from the loom control device (not shown) to the arithmetic unit 13 every time one repeat is completed.
Is output. As shown in FIG. 3, the loom rotation speed detecting circuit 10 operates in accordance with the loom operation signal F at each rotation angle of the predetermined loom (spindle 6), for example, every 45 degrees in each repeat. The rotation speed (rotation speed) L at the time of detection is detected using only the rotation speed detector 23, and the detected rotation speed L is directly output to the reference speed calculator 14, or the loom rotation speed detector 23 is used. In addition, the average value calculator 24 which starts the calculation by the timing signal TC output every one repeat
Is used to calculate an average number of rotations (rotational speed) L from a plurality of detected values in one repeat. The rotation speed (rotation speed) L at the time of detection is used in the repeat to which the detection time belongs, that is, in the current repeat, but the average rotation speed (rotation speed) L is used in the next repeat. Normally, the number of rotations (rotational speed) L uses an average value of a plurality of detected values in one repeat. When the rotation speed L at the time of detection is output to the reference speed calculator 14, the reference speed calculator 14 calculates the reference speed VB every time the value of the detected rotation speed L is input. During one repeat,
The rotation speed of the main shaft 6 of the loom fluctuates based on the fluctuation of the load of the shedding pattern. When the average value is output to the reference speed calculator 14, the reference speed is calculated for each repeat. As compared with the case where the calculation of the reference speed is performed again each time it is detected, the fluctuation of the reference speed can be minimized. Thus, the rotation of the feed motor 3 can be maintained more constant. A signal of the amount of rotation R is input to one input terminal of an AND gate 17 inside the tracking control unit 9, and a weft selection signal YS for selecting the weft a or the weft b is input to the other input terminal.
Is input, the AND gate 17 outputs the signal of the rotation amount R to the frequency divider 18 only when both signals are at the high level.
Output to For this reason, the frequency divider 18 inputs the signal of the rotation amount R of the main shaft 6 only when the corresponding wefts a and b are selected,
Frequency division is performed at a predetermined frequency division ratio K, and a frequency-divided signal Rk is sent to the plus input terminal of the deviation counter 19. The frequency dividing ratio K is determined by the number of pulses Ps per rotation of the main shaft, the number of pulses Pf per rotation of the feed motor,
Using the unwinding number T per pick, the equation K = (Pf · T) /
It is represented by Ps. In this manner, the division ratio K for the signal of the rotation amount R of the main shaft 6 is determined by the respective wefts a and b.
Corresponds to one color. The deviation counter 19 receives a frequency-divided signal Rk at a plus input terminal and a pulse Pm signal from a pulse generator 21 connected to the feed motor 3 at a minus input terminal, and receives the signal of the spindle 6 when the corresponding weft is selected. Rotation amount R and corresponding rotation amount of feed motor 3 for wefts a and b (pulse Pm)
, And a digital signal of the rotation amount deviation VP is generated from the difference therebetween, and is output to the D / A converter 20. The D / A converter 20 converts the digital signal of the rotation amount deviation VP into an analog signal of the rotation amount deviation VP, and sends the analog signal to the output regulating unit 15 continuously. Note that a signal of the pulse Pm from the pulse generator 21 is constantly output to the deviation counter 19. The output regulating unit 15 stores the signal of the rotation amount deviation VP as the output of the follow-up control unit 9 while sequentially updating the signal, and only when the end timing TE of the weft insertion pattern visited every four cycles is reached. , And outputs the signal of the current rotation amount deviation VP stored at that time to the adder 16. In other words, during periods other than the end timing TE of the weft insertion pattern, the output regulating unit 15
Output to is stopped. Not every four cycles,
By outputting the end timing signal of the weft insertion pattern every eight cycles, the output regulating unit 15 allows the rotation amount deviation VP
May be output to the adder 16 every eight cycles. At this time, one repeat is regarded as 4 × 2 = 8. As a result, the output VS of the adder 16 is given by the equation VS = VB + VP at the end timing TE of the weft insertion pattern.
Is represented by As described above, the rotation amount deviation VP from the follow-up controller 9 is output at each end timing TE of the weft insertion pattern, so that the output VS of the adder 16 is eventually obtained.
Will be kept constant during the next new weft insertion pattern. Here, the drive control unit 22 includes the adder 14
, The output VD is generated based on the output VS, and thereby the feed motor 3 is driven. Next, the rotation speed V of the feed motor 3 corresponding to the weft yarn a will be described as an example. If the rotation amount deviation VP at the end timing of the previous weft insertion pattern is zero, the signal of the rotation amount deviation VP is not output to the adder 16, so the output VS during one repeat of the current weft insertion pattern period is , VS = VB as seen in one repeat on the left side of FIG. If the rotation amount deviation VP at the end timing θ1 of the current weft insertion pattern is not zero, then in the next repeat shown on the left side of FIG. 4, VS = VB +
VP. At this time, the rotation speed of the feed motor 3 is stabilized after fluctuating by VP immediately after the start of the repeat. Here, the deviation counter 1 corresponding to the weft yarn a
The signal of the rotation amount deviation VP output from the control unit 9 will be described. Assuming that T = 4, N = 4, and S = 3 in FIG. 5, the reference speed VB = 3L. If the number of revolutions L of the main shaft 6 (the number of revolutions L is the average number of revolutions of the main shaft 6 of the loom in the previous one repeat) and the actual average number of revolutions L in the current repeat are the same value, The reference speed VB becomes an optimum value in the current repeat. That is, the region P1P2P3
The area of P4 matches the rotation amount of the feed motor 3 required for one repeat. Now, assuming that the rotation speed of the feed motor 3 is assumed to be a virtual rotation speed VK when it is assumed that the signal of the rotation amount deviation VP is constantly output to the adder 16, after the rotation angle θ0 of the loom, , The virtual rotation speed VK starts to increase from the speed V3 and approaches the speed V1. The speed V1 is a value corresponding to 4 turns / 1 cycle. Since the signal of the rotation amount R is not input during the rotation angle θ2 from the end of the three cycles (rotation angle θ1), the feed motor 3 is rapidly decelerated. If the reference speed VB is the optimum value in the repeat, S2 = S1 + S3, and the deviation = 0 at the rotation angle θ2. However, the above S1 is the area P
5P2P8 area, S2 is area P8P6P9 area, S
3 is the area of the region P9P3P7. If the reference speed deviates from the optimum value, S2
≠ S1 + S3, and at the time of the rotation angle θ2, S2-
A deviation occurs by an amount corresponding to (S1 + S3) = ΔS.
VP in FIG. 4 can be said to be a deviation corresponding to ΔS. At this time, in the repeat corresponding to the rotation angle θ0 to the rotation angle θ2, an error occurs in the length measurement amount by the deviation, but the reference speed VB is set based on the rotation speed L of the loom. There is no substantial problem with the amount of weft storage. In the length measuring and storing apparatus 1 corresponding to the weft yarn b, the number of picks N per repeat, the number of picks S for selection of the corresponding weft per repeat, the number of rotations L of the main shaft of the loom,
Specifically, based on the number of unwindings T per pick, N =
4, S = 1, T = 4, the reference speed VB is calculated by the formula VB =
It is set by L × T × (S / N). 6 and 7 show the detection of the rotational speed L simultaneously with the generation of the loom stop command, in other words, simultaneously with the turning off of the output of the loom operation signal, in order to improve the follow-up performance at the time of starting. , The rotation speed L during deceleration is not detected, and when the loom is started, it is inoperable for a predetermined period (time or number of picks) from the start and the loom is stopped before the loom stop command is issued. It starts at the reference speed VB based on the detected value of the number of rotations L, and the tracking control unit 9 always outputs the signal of the rotation amount R of the main shaft 6 to the frequency divider 18 regardless of whether the weft is selected or not. Is compared with the amount of rotation R and the amount of rotation of the feed motor 3. At this time, the frequency division ratio K set in the frequency divider 18 is represented by the number of pulses Ps per rotation of the main shaft, the number of pulses Pf per rotation of the feed motor, the number of unwinds per pick T, and the number of picks per repeat. N, using the selected pick number S of the corresponding weft per repeat, the equation K = (Pf · T) / Ps (N
/ S). The loom speed detector 23 is provided with an AND gate 2.
While the operation signal from 5 is ON, the signal of the rotation amount R of the main shaft 6 is input, and the rotation speed L of the loom is detected at every predetermined rotation angle of the main shaft 6, for example, 45 degrees. When the loom operation signal F is turned on at the time of starting the loom, the operation signal from the AND gate 25 is turned off, and the loom speed detector 23 becomes inactive. The two inputs of the AND gate 25 are those for directly inputting the loom operation signal F and those for inputting via the delay circuit 26. As a result, the reference speed VB based on the rotation speed L detected immediately before the stop command of the loom is generated is maintained. When the loom operation signal F is turned on, the delay circuit 26
Outputs a high-level signal after a predetermined time t (greater than the time required for the loom to reach the steady speed). Until then, the loom speed detector 23 is in a non-operating state. Also, when the loom stop command signal is output, that is, when the loom operation signal F is turned off, the loom rotation speed detector 23 is in an inactive state. Is not detected. As mentioned above,
When the loom is accelerated and decelerated, the rotation speed L is not detected, and the feed motor 3 is started based on the reference speed VB before the stop command is issued. Absent. In each of the above embodiments, the reference speed VB may be based on a predetermined loom rotation speed L0 instead of the detected value. Alternatively, the number of revolutions of the loom may be detected a plurality of times during one repeat, and the reference speed VB may be calculated and set each time. As described above, according to the present invention, the rotation amount deviation signal is output only every time one repeat is completed.
Fluctuations in the rotation speed of the feed motor can be reduced. Further, since the reference speed is set based on the rotation speed (rotation speed) of the loom, even if an error occurs in the length measurement amount, this does not substantially hinder the measurement.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a feed motor control device of the present invention. FIG. 2 is a block diagram of a speed setting unit. FIG. 3 is a block diagram of a loom rotation speed detection circuit. FIG. 4 is a graph showing a rotation speed on a loom rotation angle. FIG. 5 is a graph of a virtual rotation speed on a loom cycle. FIG. 6 is a block diagram of a feed motor control device of the present invention. FIG. 7 is a block diagram of a loom rotation speed detection circuit. [Description of Signs] 1 Measurement and storage device 2 Feed motor control device 3 Feed motor 4 Arm 5 Drum 6 Main shaft 7 of loom 7 Encoder 8 Speed setting unit 9 Follow-up control unit 10 Loom rotation speed detection circuit 11 Unwinding number setting device 12 Input pattern setting unit 13 Computing unit 14 Reference speed computing unit 15 Output regulating unit 16 Adder 17 AND gate 18 Divider 19 Deviation counter 20 D / A converter 21 Pulse generator 22 Drive control unit 23 Loom rotation detector 24 Average Value calculator 25 AND gate 26 Delay circuit

Claims (1)

(57) [Claims] [Claim 1] A plurality of length measuring storage devices for multicolor weft insertion,
In order to control the rotation speed of the feed motor of each length storage device, a speed setting unit that outputs a signal of the reference speed of the feed motor to the adder, the rotation amount of the main shaft of the loom, the rotation amount of the feed motor, And a follow-up control unit that obtains a rotation amount deviation signal to cause the feed motor to follow the main shaft at a predetermined ratio and outputs the signal to the adder, and a reference speed signal and a rotation amount deviation signal. Based on
A feed motor control device for multicolor weft insertion, comprising a drive control unit for driving the feed motor, wherein the number of rotations L of the main shaft of the loom, the number of unwinds per pick T, the number of picks N per repeat N, The reference speed VB is set in the speed setting unit by the calculation formula VB = L × T × (S / N) as the selection pick number S of the corresponding weft per repeat, and the rotation amount deviation from the following control unit is set. Characterized in that an output restricting unit which permits the output of the signal of (1) to the adder only at the end of one repeat of multicolor weft insertion is provided between the follow-up control unit and the adder. Feed motor control device for loading.