JP3542748B2 - Loom delivery control device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a delivery control device for a loom that can stably achieve good controllability even when the rotation speed of the loom fluctuates.
[0002]
[Prior art]
The delivery control device of the loom drives and controls the warp beam via the delivery motor so as to maintain a predetermined warp tension. On the other hand, since the warp tension pulsates greatly during one revolution of the main shaft of the loom, if a simple feedback control system is constructed and a large integration time constant is inserted into the warp tension detection system, the overall responsiveness will be remarkable. There is a situation that it is difficult to realize predetermined controllability due to deterioration.
[0003]
Therefore, while calculating the basic speed of the delivery motor based on the rotation speed of the loom and the winding diameter of the warp beam, the warp tension is detected for each specific rotation angle (hereinafter referred to as crank angle) during one rotation of the main shaft. A transmission control device has been proposed which calculates a speed correction amount of a sending motor based on the moving average value, and controls the speed of the sending motor based on a basic speed corrected by the speed correction amount (Japanese Patent Application Laid-Open (JP-A) No. 2002-110630). Sho 59-157354). The controller that calculates the speed correction amount has proportional, integral, and differential control elements, and calculates the speed correction amount every time the moving average value of the warp tension is calculated. Therefore, in this device, it is not necessary to insert a large integration time constant into the warp tension detection system, and the correction control by the feedback control system based on the moving average value of the warp tension is used together with the feedforward control system based on the basic speed. By doing so, good controllability can be realized.
[0004]
[Problems to be solved by the invention]
According to this conventional technique, the controller for calculating the speed correction amount calculates the speed correction amount every time the moving average value of the warp tension is calculated, that is, for each rotation of the main shaft of the loom. If the number fluctuates, the sampling time fluctuates, and substantial control parameters fluctuate, so that it is difficult to maintain good controllability.
[0005]
Therefore, an object of the present invention is to solve the problem of the related art by making the operation cycle of the controller for calculating the speed correction amount independent of the calculation cycle of the average tension, so that even if the rotation speed of the loom varies, It is an object of the present invention to provide a loom delivery control device capable of stably achieving good controllability.
[0006]
A second object of the present invention is to provide an auto-tuning circuit to automatically set optimal control parameters for a controller for calculating a speed correction amount, thereby easily realizing good controllability. And to provide a delivery control device for a loom.
[0007]
[Means for Solving the Problems]
A configuration of the present invention for achieving the above object includes a basic speed calculator for calculating a basic speed of a delivery motor,It works every rotation of the loom,An average tension calculator that moves and averages the warp tension for each specific crank angle over one or more arbitrary picks, and a speed correction amount of the motor that is sent out based on a deviation of the average tension from the average tension calculator with respect to the target tension. A controller for calculating, a basic speed from a basic speed calculator, a control amplifier for controlling the speed of the motor to be sent based on a speed correction amount from the controller, the controller includes:Integral control element, for a fixed timeThe gist is to operate every cycle.
[0008]
The controller can be operated at intervals shorter than the operation cycle of the average tension calculator.
[0009]
Further, it is possible to add a correction calculator for correcting the speed correction amount from the controller based on the diameter of the transmitted beam.
[0010]
Further, a switch for stopping the controller according to the tuning command and an auto-tuning circuit for updating the control parameters of the controller according to the tuning command may be additionally provided.
[0011]
However, the auto-tuning circuit includes a proportional controller that generates a drive signal for the sending motor based on a deviation of the warp tension from the target tension, and a tension data detector that grasps a change in the warp tension due to the drive signal from the proportional controller. Or a signal generator for generating a drive signal for the delivery motor, and a regression analyzer for regression analysis of a change in warp tension due to the drive signal from the signal generator.
[0012]
In addition, a compensation circuit for improving the response to the target tension can be added.
[0013]
[Action]
According to the configuration of the present invention, the average tension calculator moves and averages the warp tension for each specific crank angle over a plurality of picks to calculate the average tension. That is, the average tension calculator detects the warp tension at each specific crank angle during one rotation of the main shaft of the loom, and applies the detected warp tension to the moving average of one or more latest arbitrary rotations of the main shaft. Therefore, the operation cycle of the average tension calculator at this time is completely synchronized with the rotation of the main shaft. On the other hand, the controller is independent of the operation cycle of the average tension calculator.Fixed timeSince the operation is performed in each cycle, there is no possibility that the sampling time of the loom changes or the actual control parameters fluctuate even if the rotational speed of the loom changes. The controller at this time is operated by a clock signal independent of the rotation speed of the loom, for example, and may include all of the proportional, integral, and differential control elements, or may include only the former two. May be.
[0014]
The controller can respond to the fluctuation of the average tension without delay by operating the controller every cycle shorter than the operation cycle of the average tension calculator, that is, the rotation cycle of the main shaft of the loom.
[0015]
If the correction arithmetic unit is provided, the correction arithmetic unit corrects the speed correction amount from the controller based on the winding diameter of the transmitted beam, and can maintain good controllability. If the diameter of the delivery beam varies, the transfer function of the mechanical system from the delivery motor to the warp tension varies, but the correction arithmetic unit can appropriately compensate for it.
[0016]
When a switch and an auto-tuning circuit are provided, the switch can stop the controller according to a tuning command, and the auto-tuning circuit can automatically update the control parameters of the controller according to the tuning command. it can. That is, when the controller is stopped via the switching device, the auto-tuning circuit supplies an appropriate drive signal to the delivery motor, and recognizes the time-dependent change in the warp tension due to the drive signal, thereby obtaining the delivery. It is possible to find a transfer function of a control target of a mechanical system from a motor to a warp tension, determine an optimal control parameter for the transfer function, and automatically set the control parameter in a controller. The switching device may stop the controller and hold the speed correction amount from the controller to zero, or may substantially stop the controller by opening the output side of the controller. However, the tuning command is generated manually or by appropriate automatic means while the loom is stopped.
[0017]
The auto-tuning circuit includes a proportional controller and a tension data detector, finds a step response of a feedback system by the proportional controller and the control target via the tension data detector, and obtains step response data at this time. By performing the analysis, it is possible to determine the transfer function of the control target and find the optimal control parameter.
[0018]
The auto-tuning circuit includes a signal generator and a regression analyzer, and performs a regression analysis of a temporal change of the warp tension via the regression analyzer when a drive signal from the signal generator is sent to the motor. By using the analysis result, the transfer function of the control target can be determined, and the optimum control parameter can be found. At this time, the drive signal from the signal generator may be transmitted to the motor by transmitting a constant value over a predetermined time so as to obtain an appropriate temporal change of the warp tension.
[0019]
If a compensation circuit is provided, the compensation circuit improves the response to the target tension, forms a so-called two-degree-of-freedom control system together with the controller, and has a response to a change in the target tension in addition to the response to the disturbance. It can be set optimally.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the invention will be described with reference to the drawings.
[0021]
A delivery control device (hereinafter, simply referred to as a control device) 10 of the loom mainly includes a basic speed calculator 11, a controller 14, a control amplifier 17, and an average tension calculator 18 (FIG. 1). The output of the control device 10 is connected to the delivery motor M.
[0022]
The delivery motor M is connected to the warp beam WB via a reduction gear unit GD. The warp W from the warp beam WB is pulled out via a tension roller TR and is opened to an upper thread W1 and a lower thread W2 via a heald (not shown). Note that a detector LD such as a load cell is attached to the tension roller TR, and the detector LD can detect the warp tension Y applied to the tension roller TR in real time. Further, a winding diameter sensor DS is attached to the warp beam WB, and the winding diameter sensor DS can detect the winding diameter D of the warp beam WB.
[0023]
The basic speed calculator 11 receives the weft density A of the woven fabric, the gear ratio m of the reduction gear unit GD, the number of revolutions N of the loom, and the winding diameter D from the winding diameter sensor DS. However, the weft density A and the gear ratio m are set by a setting device not shown, and the rotation speed N of the loom uses the output of a rotation speed detector not shown.
[0024]
The output of the target tension setter 12 is connected to the controller 14 via the addition point 13. The output of the controller 14 is sent to a motor M via a correction calculator 15, a summing point 16, and a control amplifier 17. The output of the average tension calculator 18 and the output of the basic speed calculator 11 are connected to the subtraction terminal of the addition point 13 and the addition terminal of the addition point 16, respectively. The output of the tachogenerator TG directly connected to M is fed back. Further, a clock signal Sc 2 from a clock generator (not shown) is input to the controller 14, and the winding diameter D from the winding diameter sensor DS is also branched and input to the correction calculator 15.
[0025]
A dog MS1 is attached to the main shaft MS of the loom, and a proximity switch DT is provided so as to face the dog MS1. The output of the proximity switch DT is connected to the average tension calculator 18 to which the warp tension Y from the detector LD is input.
[0026]
When the loom is operating normally, the basic speed calculator 11 calculates the basic speed Vo (rpm) of the delivery motor M. That is,
Vo = (25.4m / π) · N / (AD)
However, it is the weft density A (pick / inch).
[0027]
On the other hand, the proximity switch DT detects a specific crank angle θ = θo during one rotation of the main shaft MS and operates the average tension calculator 18. Therefore, the average tension calculator 18 detects the warp tension Y at a specific crank angle θo, and performs a moving average of the warp tensions Y = Y1, Y2... Yn for the latest n rotations (n ≧ 1) of the spindle MS, and averages The tension Ya = avg (Y1, Y2... Yn) can be sent to the subtraction terminal of the addition point 13. Here, n indicates the rotation amount of the main shaft MS for calculating the average tension Ya, and Y1, Y2,... Yn indicate the warp tension Y at the crank angle θo for each rotation of the main shaft MS. Avg (Y1, Y2... Yn) is an average value of the warp tensions Y = Y1, Y2. Therefore, the summing point 13 calculates the deviation ΔYa = Yo−Ya using the target tension Yo from the target tension setter 12 and the average tension Ya from the average tension calculator 18, and sends it to the controller 14. Can be.
[0028]
The controller 14 has, for example, proportional, integral, and differential control elements, and operates periodically according to the clock signal Sc to calculate the speed correction amount Vc based on the deviation ΔYa. However, the controller 14 executes the sampling control operation according to the clock signal Sc, and the control parameters of the respective control elements, that is, the proportional gain, the integration time constant, and the differentiation time constant are different from the maximum winding diameter Do of the warp beam WB. Optimal settings.
[0029]
The correction calculator 15 corrects the speed correction amount Vc from the controller 14 to the speed correction amount Vc1 based on the winding diameter D of the warp beam WB. That is,
Vc1 = Vc (D / Do)
[0030]
Therefore, the summing point 16 and the control amplifier 17 send out based on the basic speed Vo from the basic speed calculator 11 and the speed correction amount Vc from the controller 14, that is, the speed correction amount Vc1 from the correction calculator 15. By controlling the speed of the motor M, the warp beam WB can be driven so that the average tension Ya = Yo. The tachogenerator TG forms a speed minor loop by detecting the rotation speed Vm of the sending motor M and feeding it back to the control amplifier 17.
[0031]
The average tension calculator 18 operates every rotation of the spindle MS via the dog MS1 and the proximity switch DT. On the other hand, the controller 14 operates every cycle independent of the operation cycle of the average tension calculator 18 by the clock signal Sc, and therefore, there is no possibility that a substantial control parameter fluctuates depending on the rotation speed N of the loom. The clock frequency of the clock signal Sc is preferably set so that the operation cycle of the controller 14 is shorter than the operation cycle of the average tension calculator 18 determined by the rotation speed N of the loom.
[0032]
[Other embodiments]
The control device 10 can be provided with a switch 19 and an auto-tuning circuit 20 (FIGS. 2 and 3).
[0033]
The switch 19 is interposed between the correction calculator 15 and the summing point 16. In addition, a tuning command St from a loom control circuit (not shown) is input to the auto tuning circuit 20, and the tuning command St is also guided to the correction calculator 15 and the switch 19.
[0034]
The simulated target tension Ys from a step signal generator (not shown) is input to the proportional controller 21 of the auto tuning circuit 20 in addition to the warp tension Y, and the output of the proportional controller 21 is added as the drive signal Sd. It is input to the addition terminal at point 16. Further, the warp tension Y is also branched and input to the tension data detector 22 of the auto-tuning circuit 20, and the output of the tension data detector 22 is transmitted via the transfer function calculator 23 and the parameter setting unit 24 to the control device 10. Is connected to the controller 14. Note that a tuning command St 1 is branched and input to the proportional controller 21 and the tension data detector 22.
[0035]
When the tuning command St is generated while the loom is stopped, the switching unit 19 opens the space between the correction computing unit 15 and the addition point 16 to substantially stop the controller 14. At this time, the proportional controller 21 can output the drive signal Sd based on the deviation ΔY = Ys−Y of the warp tension Y with respect to the simulated target tension Ys and drive the motor M to detect the tension data. The device 22 can grasp the temporal change of the warp tension Y due to the drive signal Sd. At this time, since the rotation speed N of the loom is zero, the basic speed Vo from the basic speed calculator 11 is zero.
[0036]
Therefore, the proportional controller 21 at this time forms a feedback control system of a direct connection type with respect to the control target from the delivery motor M to the warp tension Y (FIG. 4). However, in the figure, g is the proportional gain of the proportional controller 21, F (s) is the transfer function of the controlled object, and s is the Laplace operator.
[0037]
In FIG. 4, as a transfer function F (s) of a controlled object,
F (s) = β / (s²  + Αs)
= (1 / s) (β / (s + α))
, The transfer function G (s) from the simulated target tension Ys to the warp tension Y is
G (s) = a1 / (s)²  + A1 s + a2)
It is. Here, α and β are constants, and a1 = α and a2 = βg.
[0038]
Thus, the step response of the control system in FIG. 4 is shown as a change in the warp tension Y at time t ≧ T1 in FIG. However, in FIG. 5, T1 is a time delay included in the actual control target, and the warp tension Y rises after the time delay T1 with respect to the step-like simulated target tension Ys given at time t = 0. Over the time T2, the peak value rises from the initial value Y = Y1 to the peak value Y = Ym, and then settles to the set value Y = Y2. At this time, the proportional gain g of the proportional controller 21 is appropriately set so that the warp tension Y indicates a clear peak value Ym and the set value Y2 does not diverge. .
[0039]
The step response y (t) of the transfer function G (s) is given by:
y (t) = 1- (2e^{− (A1 / 2) t}a2^1/2/ R) cos Q
However,
R = (4a2-a1²)^1/2
Q = Rt / 2-tan^-1  (A1 / R)
It becomes. Then, when the step response y (t) is made to correspond to the time t ≧ T1 of the curve in FIG.
a1 = 21n ((Ym−Y2) / Y2) / T2 = α (1)
a2 = (π²  + Ln ((Ym-Y2) / Y2)) / T2²= Βg (2)
The transfer function G (s) can be specified as
α = a1 (3)
β = a2 / g (4)
The transfer function F (s) can be specified as Here, ln is a natural logarithmic symbol.
[0040]
Here, the transfer function F (s) includes an integral element F1 (s) = D / s corresponding to a rotation system from the delivery motor M to the rotation amount of the warp beam WB. The transfer function F2 (s) of the mechanical system leading to the warp tension Y is
F2 (s) = β / (s + α)
= (Β / α) (1 / (1+ (1 / α) s))
It is. Therefore, the transfer function Fo (s) of the actual controlled object is defined as a first-order delay system of a time constant T with a delay time T1.
Fo (s) = Ko e^-ST1(1 / (1 + Ts))
And transfer functions F2 (s) and Fo (s) are compared.
Ko = β / α (5)
T = 1 / α (6)
The transfer function Fo (s) of the actual control target can be specified as
[0041]
Further, with respect to the transfer function Fo (s) of the actual control target specified in this way, the optimum control parameter PD of the controller 14 including each control element of proportional, integral, and derivative is a proportional gain Kp, an integral As time constant Ti and differential time constant Td, for example,
Kp = (0.9-1.2) T / (Ko T1) (7a)
Ti = (2.4 to 2) T1 (7b)
Td = (0.4 to 0.42) T1 (7c)
Or
Kp = (0.6 to 0.95) T / (Ko T1) (8a)
Ti = (1-1.35) T1 (8b)
Td = (0.5 to 0.47) T1 (8c)
Can be calculated as However, the expressions (7a) to (7c) optimize the disturbance response, and the expressions (8a) to (8c) optimize the target value response.
[0042]
That is, when the tuning command St is generated and the controller 14 stops via the switch 19, a step-like simulated target tension Ys is applied to the proportional controller 21 (time t = 0 in FIG. 5), and the proportional The controller 21 generates a drive signal Sd for the delivery motor M. At this time, the tension data detector 22 collects the change data of the warp tension Y by the drive signal Sd at the time t ≧ 0, and detects the delay time T1, the rise time T2, the peak value Ym of the warp tension Y, and the set value Y2. It is sent to the transfer function calculator 23. Therefore, the transfer function calculator 23 specifies the transfer function F (s) based on the equations (1), (2), (3), and (4), and furthermore, Based on this, the transfer function Fo (s) can be specified.
[0043]
Further, the parameter setting unit 24 calculates an optimal control parameter PD for the transfer function Fo (s) based on, for example, the equations (7a) to (7c) or the equations (8a) to (8c). Settings can be updated. Therefore, the operation of the controller 14 may be restarted by resetting the tuning command St and closing the switch 19. The delay time T1 from the tension data detector 22 is transmitted to the parameter setting device 24.
[0044]
However, since the optimal control parameter PD updated in this way is calculated for the control target including the integral element F1 (s) = D / s, the speed correction amount Vc from the controller 14 is corrected. The correction by the winding diameter D of the warp beam WB is performed by the calculator 15. That is, in FIG. 2, the correction arithmetic unit 15 uses the winding diameter D = D1 at the time when the tuning command St 1 is generated, or when the tuning command St 2 is reset and the correction control by the controller 14 is restarted, and As the correction amount Vc1
Vc1 = Vc (D / D1)
Is calculated.
[0045]
The auto tuning circuit 20 can include a signal generator 25 and a regression analyzer 26 instead of the proportional controller 21 and the tension data detector 22 (FIG. 6). In addition, the warp tension Y is input to the regression analyzer 26, and the output of the signal generator 25 is guided to the summing point 16 as a drive signal Sd for the sending motor M, and is transmitted to the transfer function calculator 23. Has also been branched. A tuning command St is branched and input to the regression analyzer 26 and the signal generator 25, and an output of the regression analyzer 26 is connected to the transfer function calculator 23.
[0046]
Generally, a step-like input having a constant magnitude V = V1 for a fixed time τ at a time t = 0 is given to a control target having a transfer function F (s) = (1 / s) (β / (s + α)). And the temporal change Y (t) of the output Y is
Y = B (αX1 -1 + e^{− α X1}  − (ΑX2 -1 + e^{− α X2}  ))... Given by (9). However,
Y = Y (t)
X1 = t
X2 = t−τ
B = βV1 / α²
When X2 <0, X2 = 0. Then, by adding a nonlinear regression analysis using the independent variables X1 and X2 to the equation (9), the parameters α and B can be specified, and β = α²  The parameter β can be specified as B / V1.
[0047]
When the transfer function F (s) is specified in this manner, the transfer function Fo (s) of the actual control target including the delay time T1 is specified based on the equations (5) and (6). For example, the optimal control parameter PD of the controller 14 with respect to the transfer function Fo (s) can be calculated based on the equations (7a) to (7c) or the equations (8a) to (8c).
[0048]
That is, when the tuning command St is generated and the switch 19 is opened, the signal generator 25 generates a drive signal Sd of a fixed magnitude V = V1 for a fixed time τ (time t in FIG. 7). = 0), the regression analyzer 26 collects the change data of the warp tension Y by the drive signal Sd, and in addition to the delay time T1, the warp tension Y changes from the initial value Y3 to the final value Y4 at the time t = T1 to τ-T1. The parameters α and B are specified by performing a regression analysis on the time-dependent change curve changing up to. However, the regression analyzer 26 eliminates the influence of the delay time T1 by setting τ = τ−T1 in equation (9). The solid line in FIG. 7 shows an example of an actual change curve of the warp tension Y, and the dotted line shows a plot example of the equation (9) obtained by regression analysis. In the same figure, the magnitude V = V1 and the signal length τ of the drive signal Sd are such that the warp beam WB is rotated in the forward direction by the sending motor M, and the warp tension Y is changed from the initial value Y3 to the final value Y4 ≠ 0. It should be set appropriately so as to change smoothly up to each.
[0049]
Thus, the transfer function calculator 23 specifies the parameter β using the parameters α and B from the regression analyzer 26 and the magnitude V = V1 of the drive signal Sd from the signal generator 25, Based on the equations (5) and (6), it is possible to specify the actual transfer function Fo (s) of the controlled object including the delay time T1. However, the delay time T1 can be obtained from the regression analyzer 26 as a part of the change data of the warp tension Y (FIG. 7). Therefore, the parameter setting unit 24 may calculate the optimum control parameter PD of the controller 14 in exactly the same manner as described above and update the setting of the controller 14, and the controller 14 resets the tuning command St to switch the switching unit St. The operation may be resumed as soon as 19 is closed.
[0050]
In the above description, the tuning command St may be generated manually or by appropriate automatic means. For example, one or two or more parameters that may affect the delivery control, such as the winding diameter D of the warp beam WB and the deviation ΔYa of the warp tension Y, are monitored, and when these parameters greatly change over time, retuning is performed. The tuning command St can be automatically generated upon determining that it is necessary.
[0051]
1 and 2, a compensation circuit 31 can be interposed between the target tension setter 12 and the adding point 13 (FIG. 8). The compensation circuit 31 forms a two-degree-of-freedom control system together with the controller 14. That is, when optimizing the disturbance response of the controller 14 according to, for example, the equations (7a) to (7c), the compensation circuit 31 performs the same proportional gain Kp and the same proportional and differential as the controller 14 with the differential time constant Td. By including the control element, the responsiveness to the target tension Yo can be improved, and the target value response can be optimized together.
[0052]
【The invention's effect】
As described above, according to the present invention, a loom is provided by including a basic speed calculator, an average tension calculator, a controller, and a control amplifier, and making the operation cycle of the controller independent of that of the average tension calculator. Even if the rotation speed of the controller fluctuates, the operation cycle of the controller does not fluctuate, and there is no possibility that the substantial control parameters of the controller fluctuate. Therefore, excellent controllability can always be realized stably. Has an effect.
[0053]
Further, if an auto-tuning circuit is additionally provided, optimal control parameters can be automatically set for the controller, and good controllability can be easily realized.
[Brief description of the drawings]
FIG. 1 is a block diagram of the overall configuration.
FIG. 2 is a main block diagram showing another embodiment (1).
FIG. 3 is a detailed block system diagram (1) of a main part of FIG. 2;
FIG. 4 is an equivalent block system diagram
FIG. 5 is an operation explanatory diagram (1).
FIG. 6 is a detailed block system diagram (2) of a main part of FIG. 2;
FIG. 7 is an operation explanatory diagram (2).
FIG. 8 is a main part block diagram showing another embodiment (2).
[Explanation of symbols]
M… Sending motor
WB: warp beam
D: winding diameter
Y: Warp tension
Yo ... target tension
Ya ... average tension
ΔYa, ΔY ... deviation
Vo: Basic speed
Vc: Speed correction amount
θ ... Crank angle
St: Tuning command
Sd: drive signal
11 Basic speed calculator
14 ... Controller
15 Correction arithmetic unit
17 ... Control amplifier
18 Average tension calculator
19 ... Switch
20 ... Auto tuning circuit
21 ... Proportional controller
22 ... tension data detector
25 ... Signal generator
26 ... Regression analyzer
31 ... Compensation circuit

Claims (7)

A basic speed calculator for calculating the basic speed of the delivery motor, an average tension calculator that operates every rotation of the loom and moves and averages the warp tension for each specific crank angle over one or more arbitrary picks; A controller for calculating a speed correction amount of the sending motor based on a deviation of the average tension from the average tension calculator with respect to a target tension; a base speed from the basic speed calculator; a speed correction amount from the controller; And a control amplifier for controlling the speed of the delivery motor based on the control signal, wherein the controller includes an integral control element and operates at regular time intervals. 2. The delivery control device for a loom according to claim 1, wherein the controller operates every cycle shorter than an operation cycle of the average tension calculator. 3. 3. The delivery control device for a loom according to claim 1, further comprising a correction calculator for correcting a speed correction amount from the controller based on a diameter of the delivery beam. The loom according to any one of claims 1 to 3, further comprising: a switching device that stops the controller according to a tuning command; and an auto-tuning circuit that updates a control parameter of the controller according to the tuning command. Of sending control device. The auto-tuning circuit includes a proportional controller that generates a drive signal for a delivery motor based on a deviation of the warp tension from a target tension, and a tension data detector that grasps a change in the warp tension due to the drive signal from the proportional controller. The delivery control device for a loom according to claim 4, comprising: The auto-tuning circuit includes a signal generator that generates a drive signal for a delivery motor, and a regression analyzer that performs a regression analysis on a change in warp tension caused by the drive signal from the signal generator. 5. The delivery control device for a loom according to 4. The delivery control device for a loom according to any one of claims 1 to 6, further comprising a compensation circuit for improving response to a target tension.

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