JPH01148842A - Weft yarn density control apparatus - Google Patents

Abstract

PURPOSE: To obtain a woven fabric at a target weft yarn density by correcting and controlling the number of revolutions of a motor for driving a delivery beam according to a change in warp yarn tension and a winding control signal and suppressing the change in elongation of the warp yarn. CONSTITUTION: This controller is obtained by arranging a winding control circuit for outputting a control signal of the number of revolutions of a motor according to a target weaving density, a detector for warp yarn tension and a circuit for computing the deviation of the detected tension from the target tension and a gain compensator for outputting a multiplication signal of the gain according to the deviation and the detected tension. Furthermore, an adder for a signal in proportion to the tension deviation and a winding signal prepared by carrying out gain compensation and a control circuit for the number of revolutions of the delivery driving motor are installed to correct the number of revolutions of the delivery driving motor according to the warp yarn tension and the winding control signal and the delivery amount corresponding to the amount of the wound warp yarn according to the change in weaving density is determined to suppress the change in elongation of the yarn. Thereby, a woven fabric at the target weft yarn density is obtained.

Description

Detailed Description of the Invention [Technical Field of the Invention] The present invention provides a weft density control device for controlling the weft density of a woven fabric to various desired densities preset according to winding speed and warp tension. Regarding.

[Prior art]

Conventionally, the weft density, which is determined by the speed of the take-up table for winding the woven fabric during weaving, can be varied in various ways.
The winding diameter of the sending beam is detected by a winding diameter detector as shown in the figure, and the sending beam is driven according to the detected winding diameter of the sending beam and the speed command value of the motor that drives the take-up roller. There was a device (Japanese Utility Model Application Publication No. 16382/1982) that controlled the speed of a motor.

[Problem that the invention seeks to solve]

In conventional equipment, the delivery beam diameter is, for example, up to 8
The length varies greatly from 0.00 mm to a minimum of 200 mm, and the delivery beam made only of warp yarns has irregularities on its surface due to the twisting of the warp yarns, etc. In principle, it is difficult to accurately and stably measure the winding diameter of such a sending beam over the entire variation range and without being affected by the unevenness of the beam surface.

Therefore, even if the speed of the feed-out motor is controlled in accordance with the detected winding diameter, it is difficult to accurately match the warp winding speed and the feed-out speed.

[Purpose of the invention]

An object of the present invention is to set the warp delivery speed and winding speed to accurately match each other, regardless of changes in the delivery beam diameter, when the winding motor speed is changed to change the weft density during weaving. The purpose is to weave with various weft densities.

[Means for solving problems]

The configuration of the invention for solving the above problems is as shown in FIG. a winding control circuit I that outputs -, a tension detector II that detects the warp tension T of the woven fabric, and a deviation (T-T”) between the detected warp tension T and the set target tension value T*. ) and a tension deviation calculation circuit (■) which calculates and outputs the winding control signal ω1'', which multiplies the winding control signal ω1'' by a gain G1 corresponding to the deviation (T-T'') between the detected warp tension and the target tension command value. a gain compensator (2) that outputs a signal G (T-T"), a signal G2 proportional to the calculated tension deviation (T-T"), and a winding control signal whose gain has been compensated by the gain compensator. G, .(T-T"), and a send-out control signal ω? for controlling the rotational speed of the send-out motor that drives the send-out beam. and a feed-out control circuit V which outputs the following: The rotational speed of the feed-out motor is corrected and controlled in accordance with changes in warp tension and winding control signals.

[Action of the invention]

The winding control circuit (2) slows down the rotational speed of the winding motor M1 in accordance with the various desired weft density changes, that is, when the weft density is to be increased, the rotation speed of the winding motor M1 is slowed down, and when the weft density is to be decreased, the rotation speed of the winding motor M1 is controlled. A winding control signal ωbi which increases the speed is output to the winding motor drive circuit. The take-up motor M1 that drives the take-up roller R is controlled by a take-up motor drive circuit D1 to a rotational speed based on a control signal ω. Therefore, the woven fabric F is equal to the circumferential speed v,=r,・ω1 of the take-up roller R driven by the take-up motor M (where rl is the radius of the take-up roller, ω is the rotational speed of the two take-up rollers) It is wound up at the winding speed.

On the other hand, the gain compensator ■ responds to the deviation (T''-T) between the set target tension value T'' output from the tension deviation calculation circuit ■ and the warp tension value T detected by the tension detector ■. The winding control signal ω1''' is multiplied by the gain G, which is obtained by multiplying the winding control signal ω1''', and outputted.
ωt and a signal Gt proportional to the tension deviation (T''-T)
- The signal obtained by adding (T''-T) is output as the sending control signal ω? to the sending motor drive circuit D2.The sending motor M2 that drives the sending beam WB is controlled by the sending motor driving circuit D2. The rotation speed is controlled based on the signal ω2'.

Incidentally, the relationship between the winding and feeding speeds v1 and (2) and the warp tension T is expressed by the following equation.

Or here, E/L: constant representing the elongation characteristics of the weft, rl:
Radius of take-up roller R (constant), 018 Rotation speed of take-up roller, rt: Radius of sending beam WB, ω2
: Rotation speed of the sending beam.

According to equation (1), by keeping the winding speed and the sending speed always equal (v1=vz), the warp tension T does not change and becomes a constant value C regardless of the magnitude of the speed. Then, if this constant value C is made equal to the target tension value T0 as an initial condition, then the speed condition v,=v! Under this condition, the warp tension T can be made to match the target value T'' (see equation (2)).

〔Effect of the invention〕

The weft density control device of the present invention having the above-described configuration uses a winding control signal corresponding to a target weaving density, a signal obtained by adjusting the gain according to the deviation between the detected warp tension and the target tension, and the tension. Since the feed-out control signal is determined by adding the signal proportional to the deviation, the rotation speed of the feed-out motor is corrected and controlled according to changes in the warp tension and winding control signal, so that it can be adjusted according to changes in weaving density. By determining the feed-out amount in correspondence with the warp winding amount and suppressing changes in warp elongation, a woven fabric with a target weft density can be obtained.

Furthermore, even if the winding diameter of the sending beam changes,
Since the gain compensator adjusts the gain of the winding control signal according to the tension deviation and adds the signal, it is possible to eliminate the adverse effects caused by changes in the winding diameter.

[Description of implementation]

In the first embodiment, the gain compensator (2) is equipped with a gain change circuit that changes the magnitude of the gain depending on the polarity of the tension deviation, and the gain is changed based on a simple polarity determination, so it is easy to use. This has the advantage that stable operation can be obtained since there is no oscillation phenomenon in proportional control.

In other words, by focusing on the positive and negative polarities of the tension deviation (T''-T), for example, when the tension is in a slack state where (T''-T)=-(T-T''')〉0, the winding speed can be determined from equation (2) above. V,=r,
・With respect to ω1, the feeding speed v,=r2・ω, is larger. Therefore, by decreasing the feeding speed from the current value, the tension deviation (T'″-T) approaches zero and eventually It becomes zero.

In addition, when the tension state is (T"-T)=-(T-T")<O, by increasing the feeding speed vt from the current value, the tension deviation (T'-t) becomes zero, and the warp tension T matches the target tension T'''.

In a state where the tension deviation (T9-T) is zero, the warp tension T can be maintained equal to the target tension T'' by keeping the feed speed at the current value.

Furthermore, due to the decrease in the sending beam diameter as weaving progresses, even at a constant rotational speed ω2, the circumferential speed of the beam, that is, the sending speed v! =r, ·w2 decreases. Therefore, the warp tension is on the tight side, so the tension deviation (T
By increasing the rotational speed of the feed motor by controlling the speed when ``''-T) < O, the tension deviation (T''-T
) becomes zero, and the warp tension T can be made to match the target tension.

In the second embodiment, the winding control circuit has a circuit for outputting a winding control signal that takes into consideration the differential value of the detected warp tension and other fluctuation states, and the winding control circuit has a circuit for outputting a winding control signal that takes into consideration the differential value of the detected warp tension and other fluctuation states, and the Since the control is performed in consideration of the above, it is possible to perform control with excellent coordination and high precision without being affected by fluctuations in warp tension.

In a third embodiment, the take-up roller and the feed-off beam are configured such that the adder adds the gain-compensated take-up control signal according to the deviation between the detected warp tension and the target tension value. and the gain determined by the gain compensator.
The unwinding control signal is determined by considering the circumferential speed of the unwinding beam, and it compensates for the difference in response between the unwinding motor and the take-up motor, making the speed response of both motors the same, and producing the desired weft density weave. Allows you to get cloth.

〔Example〕

As shown in FIG. 3, the weft density control device of the first embodiment of the present invention includes a winding control circuit (1), a tension detector (1), a tension deviation calculation means (1), and a gain compensation circuit (1). It consists of containers 1 and 1 and a feed control circuit V1.

The winding control circuit II has a function that outputs a periodic function waveform obtained from a predetermined sine wave, triangular wave, rectangular wave, etc., and a combination or superposition of these waves based on the loom rotation speed, desired weft density, and its change pattern. generator 10;
It consists of a switch 11 that turns on and off the output of the function generator in conjunction with a starting switch S of the loom, and outputs a winding control signal ω etc. to a winding motor drive circuit D1 and a gain compensator (1) to be described later.

Tension detector 1 consists of a load cell that pulls one or more warp threads in a direction perpendicular to the warp direction and measures the tensile force, and detects the tension of the warp threads.

Tension deviation calculation means (1) includes a variable resistor 30 for setting a target tension value, the set target tension value signal T9, and a warp tension value signal T detected by the tension detector (1).
and a differential amplifier 31 which inputs the tension deviation signal (T''-T) and outputs the tension deviation signal (T''-T).

The gain compensator 1 includes variable resistors 40 and 41 that respectively set predetermined positive and negative DC voltages, and a tension deviation value (T” - Select and output the negative voltage of the variable resistor 41 when the tension deviation value is positive, and the positive voltage of the variable resistor 40 when the tension deviation value is negative. A selector 42, an integrator 43 which inputs the voltage selected by the sign selector 42 and outputs its integral value, and a small gain when the output of the integrator 43 is positive, and a small gain when the output of the integrator is negative. It consists of a variable gain amplifier 44 that amplifies the winding control signal ω- from the winding control circuit 1 which is input with a large gain. That is, the gain compensator (1) adjusts the winding control signal ω depending on the sign of the tension deviation value (T"-T), for example, when the warp tension T is smaller than the target tension T* and is in a slack state.
1 degree is amplified with a small gain and output.

The delivery control circuit V1 includes an amplifier 50 that manually multiplies the tension deviation signal (T''-T) from the tension deviation calculation means 3, multiplies it by a proportional gain Gt, and outputs the resultant signal, and an output from the amplifier 50 and the gain compensator. (2) An adder 51 that adds the gain-compensated take-up control signal from 1, and outputs a feed-out control signal ω? to the feed-out motor drive circuit D2.

The winding and feeding motor drive circuits D1 and D2 are
The take-up and feed-out control signals are input, respectively, and the speeds of the take-up and feed-out motors are controlled in a normal feedback manner.

The operation of the first embodiment having the above configuration is as follows.

First, the operator sets a periodic function waveform according to the weft density change pattern using the function generator 10, and then calculates the target tension deviation value T1 of the warp by taking into account the elongation characteristics of the warp and the quality of the woven fabric. It is set by the variable resistor 30 of circuit (1). After this, when the operator turns on the start switch S of the loom, switch 1 of the winding control circuit ■1
1 is turned on in conjunction, the signal from the function generator 10 is output as a winding control signal to the winding motor drive circuit D1, the speed of the winding motor M1 is controlled based on the weft density change pattern, and weaving begins. do.

On the other hand, in the feed control circuit V1, the tension deviation calculation circuit ■
1 outputs a signal obtained by multiplying the deviation value (T''-T) between the set target tension setting value T0 and the detected warp tension value T by the proportional gain Gt, and the signal output from the gain compensator ■l. Multiply the compensation gain GI according to the sign of the tension deviation value, add the combined winding and take-off control signal G, ·ω-, and send it to the feed motor drive circuit D2ω,"=G, ·ω-10 g. (T"-T). In other words, when the detected warp tension T is smaller than the tension setting value T1 and is in a slack state, the gain G1 of the variable gain amplifier 44 becomes small, and therefore the sending-out control signal The degree of contribution of the winding control signal becomes smaller and the feed-out speed decreases, and therefore the warp tension T increases and becomes equal to the tension setting value T0.On the other hand, the warp thread tension T is larger than the tension setting value T1 and is in a tensioned state. At some point, the gain of the variable gain amplifier 44 increases, and therefore the contribution of the winding control signal to the unwinding control signal increases, increasing the unwinding speed, which causes the warp tension T to decrease to the tension set value T*. When this tension deviation is zero, the gain of the variable gain amplifier 44 does not change, and the winding speed and the feeding speed match, so the warp tension T does not change and matches the tension setting value. is maintained.

By the way, along with weaving, the sending beam diameter r! In the above control method of matching the rotational speeds of the winding and unwinding motors, the unwinding speed will be slightly slower than the winding speed, and the warp tension will be in a tension state, that is, the tension deviation (T''-T) will be negative. However, as mentioned above, when the tension deviation (T''-T) is negative, the feed speed is increased and the tension deviation is controlled to zero, and as a result, even if the feed beam diameter decreases, the warp The tension can always be matched to the target tension.

The effects of the first embodiment, which performs the above operations, are as follows.

Since the speed control signal of the take-up motor M is added to the speed control signal of the feed-out motor Mt, even if the rotational speed of the take-up motor M1 is changed due to a change in weft density, the speed control signal of the take-up motor M , the rotational speeds of the warp threads change simultaneously, so that the warp winding speed and delivery speed can be controlled in a corresponding manner.

Furthermore, the tension deviation (
Depending on the polarity of T"-T), i.e. the tension deviation (T"-
When T) is in positive polarity, the compensation gain G is decreased, and when the tension deviation (T''-T) is in negative polarity, the compensation gain GI is increased, so the diameter of the sending beam decreases as weaving progresses. That is, in response to an increase in the warp tension T due to a decrease in the circumferential speed of the sending beam, the speed control signal of the take-up motor Ml is added to the speed control signal of the sending motor Mt by increasing the compensation gain GI. Therefore, the feed motor M.

is increased to make the warp tension T match the target tension value T1.

■12 Figure 4 is a block diagram showing the configuration of a second embodiment of the present invention. In this embodiment, the relationship between the loom LM and the weft density control device is exactly the same as in the first embodiment.

In FIG. 4, the weft density control device of the second embodiment is as follows:
A keyboard KB for inputting weaving conditions, a tension detector 1 for detecting warp tension, a system control computer 7 and a winding control computer 8 each comprising an interface circuit, a microprocessor (hereinafter referred to as CPU), and a memory. It consists of a sending control computer 9.

The system control computer 7 centrally controls the entire weft density control device of the second embodiment, and controls the weft density D, loom rotation speed N, warp tension setting value T 11 inputted via the keyboard KB, and weaving. start and stop command St,
The interface circuit 70 takes in the weaving conditions such as Sp, and the CPU 71 calculates the command speed of the take-up motor M from the input weft density and loom rotation speed N. Then, the winding motor control signal ω1' calculated from the interface circuit 70 is sent to the winding control computer 8.
Further, weaving start and stop signals St and Sp are output to the loom control computer CM, the winding control computer 8 and the sending-off control computer 9. The memory circuit 72 includes a random access memory (hereinafter referred to as RAM) 73 and a read-only memory (hereinafter referred to as ROM).
) 74, and the RAM 73 stores data related to weaving input from the interface circuit 70 and data used for calculations by the CPU 71. Further, a system control program to be described later based on a predetermined sequence is written in the ROM 74, and the CPU 71 performs a series of processes based on this program.

The system control program will be explained based on the flowchart of FIG. When the system control program is started (step 100), first, data communication elements of the interface circuit 70 are initialized in order to perform data communication with the winding control computer 8 and the feeding control computer 9 (step 101). . Next, the keyboard KB is scanned to check whether there is any key power (step 102), and if there is key power, it is the weaving start command S.
t or the weaving stop command Sp (step 103). When it is the weaving start command St, it is confirmed that the weaving data has been transferred (step 104).
), the weaving start command St is transferred to the winding and feeding control computer 8.9 and the loom control computer CM (step 105). If the weaving data has not been transferred in step 103, the weaving start command is ignored and the keyboard KB is pressed again to check whether there is any human power on the keys.
to scan. On the other hand, the key human power is the command to stop weaving S.
p, immediately send it to each computer 8 mentioned above.
．． 9. Transfer to CM Step 106), Keyboard K
B scanning is performed. When the weaving data determined in step 103 is the weft density and the loom rotation speed N (step 107), the winding motor speed ω is calculated from these data (step 108). Note that a plurality of weft densities may be input, and the speed of each winding motor is calculated according to them. The calculated speed of the winding motor M1 is determined by the winding control computer 8.
(step 109). Step 107
When the weaving data is the tension setting value T1, in step 110 the tension setting value T'' is set to the feed-out control computer 9.
will be forwarded to. When these series of data transfers are completed, the keyboard KB is scanned again.

The winding control computer 8 corresponds to the winding control circuit I of the present invention, and the interface circuit 80 receives the speed ω of the winding motor M calculated from the system control computer 7 and the weaving start and stop commands S.
t and Sp are input, and a rectangular Z-phase pulse which is output once per revolution of the loom crankshaft from a row encoder RE attached to the loom crankshaft (not shown) is input. Further, the interface circuit 80 outputs the winding motor speed signal ω- as an analog signal to the winding motor drive circuit and outputs it as a digital signal to the feed control computer 9, respectively. The memory circuit 82 consists of a RAM83 and a ROM84.
3 stores data such as the speed ω of the winding motor from the system control computer 7 and data used in calculations by the CPU 81. Further, a winding control program to be described later based on a predetermined sequence is written in the ROM 84, and the CPU 81 performs a series of processes based on this program.

The winding control program will be explained based on the flowchart shown in FIG. When the winding control program is started (step 200), first, the data communication elements of the interface circuit 80 are initialized (step 2).
01). Next, it is checked whether data is being transferred from the system control computer 7 (step 202), and if data is being transferred, it is determined whether it is the winding motor speed ω-, the weaving start command St or the weaving stop command Sp
(Step 204). When the transfer data is the winding motor speed ωr, it is sequentially stored in RAM8.
3, step 204), and if it is the weaving start command St, then the CPU 81 interrupt is permitted (step 20).
5), and when it is the weaving stop signal Sp, interrupts of the CPU 81 are prohibited (step 206). When the interrupt of the CPU 81 is permitted, the interrupt program is started (step 205-1), and the speed ω- of the winding motor stored in the RAM 83 is sequentially read out every time the Z-phase pulse from the low encoder RE is input. Step 20
5-2) and outputs it to the winding motor drive circuit D1 and the feed-out control computer 9 (step 205).
-3) Terminate the interrupt program (step 205)
-4) and returns to the winding control program.

In this way, the speed command ω- of the winding motor is changed every time the interrupt program is executed.

The feed-out control computer 9 includes a tension deviation calculation circuit ■, a gain compensator ■, and a feed-out control circuit ■ of the present invention.
The interface circuit 90 corresponds to a data communication element, digital/analog (hereinafter referred to as D/analog).
It consists of digital circuits such as an analog/digital (hereinafter referred to as A/D) converter and an analog/digital (hereinafter referred to as A/D) converter.
The weaving start and stop commands St and SP are input from the system control computer 7, and the speed ω- of the take-up motor is input from the take-up control computer 8, and the speed ω2 of the feed-out motor is calculated by the feed-out control program described later. ' is output to the sending motor drive circuit D2 via the D/A converter. memory circuit 92
consists of RAM93 and ROM94, RAM93
is the tension setting value T" from the system control computer 7.
and data used for calculations by the CPU 91 are stored. Further, a sending control program to be described later based on a predetermined sequence is written in the ROM 94, and the CPU 91 performs a series of processes based on this program.

The sending control program will be explained based on the flowchart shown in FIG. When the sending control program is started (step 300), first, the data communication element of the interface circuit 90 is initialized to enable input/output communication of the data, and the control flag in the RAM 93 is set to "°0". Further, a compensation gain G representing the winding diameter ratio of the beam sent out from the winding roller is set (step 301). Next, check whether the tension setting value T9 has been transferred from the system control computer 7 (
Step 302), when the value T'' has been transferred, it is stored in the RAM 93 (Step 303). Next, it is checked whether the weaving start command St or the weaving stop command Sp has been transferred (Step 304), Weaving start command St
When the weaving stop command Sp is being transferred, the control flag provided in the RAM 93 is set to "°1" (Step 305), and when the weaving stop command Sp is being transferred, the control flag is set to "0'" (Step 306). . In step 305, it is determined whether the control flag is "0'" or 1'°, and if the control flag is "0", the compensation calculation process described later is not performed, and in step 308, the tension set value TI and the A/D converter are Deviation from warp tension value T from digitally converted tension detector Ill (T''-T)
is calculated, and the proportional gain G2 is added to the deviation (T"-T).
The result of multiplying by is set as the speed command ω21 of the delivery motor. On the other hand, if the control flag is "1", the compensation calculation process described below is performed. First, the deviation (T ”-T) (step 309). Next, in step 310, the compensation gain G stored in the RAM 93 is
1 is read out, and when the polarity of the tension deviation (T''-T) is positive, that is, the tension setting value is larger than the detected warp tension value T, a certain value is subtracted from the compensation gain GI, and the deviation ( When the polarity of T''-T) is negative, a certain value is added to the compensation gain G1. Further, when the tension deviation (T" - T) is zero, the compensation gain GI is not changed.

Next, in step 311, the speed command ω for the winding motor from the winding control computer 8 is stored in the RAM 93. Note that the CPU 91 waits until the speed command ωt is transferred from the winding control computer 8.
The feed control computer 9 and the winding control computer 8 are synchronized. When the speed command ω- of the take-up motor is transferred, in step 312, the step 3
The compensation gain G calculated in step 10 is multiplied by the winding motor speed command ω, etc., and the result is calculated as the proportional gain G2.
and the tension deviation (T''-T) to obtain the speed command ω? of the feed motor (step 313).Then, in step 314, the calculated speed command ω? of the feed motor is D/A converted. It is transferred to the feed motor drive circuit via the device.

The operation of the second embodiment having the above configuration is as follows.

First, the operator inputs the weft density D, loom rotation speed N, and tension setting value T0 as weaving data from the keyboard KB. By inputting a plurality of weft density values, it is possible to form various weaving patterns such as a sine wave, a triangular wave, a rectangular wave, etc., and a combination or superposition of these waves. When the keyboard input is completed, the initial operation of the loom begins. Take-up motor speed command ω
1'F, the system control computer 7 sequentially calculates the input weft yarn density and m total rotation speed N and stores them in the RAM 83 of the winding control circuit 8. In addition, the input tension setting value T'' is stored in the RAM of the feed control computer 9.
93. and delivery control computer 9
Then, the speed command ω? of the feed-out motor is created from the deviation (T" - T) between the tension setting value T9 and the warp tension value T before the start of weaving from the tension detector III. This speed command ω?
The feed motor drive circuit D2 controls the rotation of the feed motor M2, and thereby the tension deviation (T''-T
) is zero, the warp threads W are sent out from the sending beam WB, or are wound up on the sending beam WB.

After the above initial operations, the operator next presses the keyboard K.
When the weaving start command St is input from B, the system control computer 7 transfers the weaving start command St to the loom control computer CM, the winding control computer 8 and the sending-off control computer 9. As a result, the loom control computer CM performs a weft insertion operation and a warp shedding operation, and the winding control computer 8 performs a weft insertion operation and a warp shedding operation.
When U81 allows an interrupt, the speed command ω- of the take-up motor stored in the RAM 83 is sequentially read out every time a Z-phase pulse is output from the low reel encoder RE as the loom crankshaft rotates, and the take-up motor is driven. Output to the circuit. - side, feed control computer 9
In this case, after the tension deviation (T''-T) is controlled to zero in the initial operation, the weaving start command SL is input, and in addition to the tension control based on the tension deviation, the control is performed to compensate for the influence of the warp winding speed. The compensation calculation process is performed to calculate the speed command ω? of the delivery motor, and the delivery motor drive circuit D2
Output to.

The winding and feeding motor drive circuits D1 and D2 each have a speed command ω1' of the winding and feeding motor.
,ω? The speeds of the take-up motor M1 and the feed-out motor M2 are controlled so as to match the speed.

As a result, the warp winding speed Vt and the sending-off speed v2 change in synchronization with the warp tension matching the tension setting value T'' in accordance with the change in the warp density, and a woven fabric with the desired weft density is obtained. It will be done.

The effects of the second embodiment, which performs the above operations, are as follows. As in the first embodiment, the warp winding speed and the sending-off speed are changed in a consistent manner, and the increase in the warp tension T due to the decrease in the sending-out beam diameter is compensated for, so that the target tension setting value T'' is always maintained. Therefore, a woven fabric with a desired weft density that varies variously with a constant tension can be obtained.

Furthermore, since the weft density is controlled by software, the configuration of the apparatus is simplified and it is possible to respond flexibly and accurately to changes in weaving conditions.

In addition, since the overall system control, winding control, and feeding control are performed by separate CPUs,
Since a plurality of control processes can be performed simultaneously and in parallel, the control cycle can be shortened and control accuracy can be increased.

The weft density control device of the third embodiment of the present invention enables compensation when the warp tension affects the winding speed. The same parts as in each of the above-mentioned embodiments are given the same reference numerals and the explanation thereof will be omitted, and the explanation will be given below focusing on the differences with reference to FIG.

The winding control circuit I2 of the third embodiment is obtained by a predetermined sine wave, triangular wave, rectangular wave, etc., and a combination or superposition of these waves from the loom rotation speed N, desired weft density, and its change pattern. A function generator 10 that outputs a periodic function waveform, a differentiator 12 that inputs the detected warp tension value T and performs differential calculation thereof, an amplifier 13 that receives the warp tension value from the differentiator 12, and a function generator 10 that outputs a periodic function waveform. Adder 14 inputs the output and the output of amplifier 13 and calculates the sum of both.
and a switch 11 that interlocks the input from the adder 14 with the start switch S of the loom and outputs it to the take-up motor drive circuit DI and the gain compensator 1.

That is, the winding control signal ω-, which is the output of the winding control circuit (2) and serves as a speed command for the winding motor, is the sum of the waveform representing the desired weft density pattern and the differential value of the warp tension.

The operation of the weft density control device of the third embodiment having the above configuration is as follows.

The warp winding speed V is controlled by a winding motor M that controls the rotational speed ω1 of the winding roller R. This winding motor M is a winding control circuit ■2
The speed is controlled by the take-up motor drive circuit D+ based on the speed command ω- from the take-up motor drive circuit D+. The speed control described above is performed by controlling the speed command ωt of the winding motor from the winding control circuit 2 and the winding motor M in the winding drive circuit.
.

This is done by controlling the current applied to the winding motor M1 so that the rotational speed signals of the winding motor M1 coincide with each other. therefore,
As the deviation between the speed command ωt and the speed signal increases, the motor current increases, and as the deviation decreases, the motor current decreases. Furthermore, when the take-up motor MI is rotating at a constant speed, a constant motor current flows in order to output torque that overcomes the load torque. The load torque here is mainly caused by the warp tension T, and as the warp tension T increases, the load torque increases, and as the warp tension T decreases, it decreases.

Therefore, when changing the weft density, a steady current flows through the winding motor based on the deviation between the speed command ωt and the speed signal (based on the transient current and the warp tension T).

When the warp tension T fluctuates due to disturbance, the warp tension signal T detected by the tension detector III fluctuates. Since the warp tension signal T is input to the differentiator 12, the differentiator 1
2, a differential output proportional to the magnitude of variation in the tension signal T is obtained. This differential output is amplified by the amplifier circuit 13 and then added by the adder 14 to the speed command of the winding motor based on the desired weft density change pattern, which is the output of the function generator 10. The added result is input to the take-up motor drive circuit via the switch 11 as a new take-up motor speed command ω1', and the motor current of the take-up motor M1 is changed. therefore,
When the warp tension T changes to the tension side and an output with a sign of 10 is obtained from the differentiator 12, that is, when the load torque due to the warp tension T increases, the speed command ω- of the winding motor increases. , which increases the motor current to compensate for the decrease in motor speed due to the increased load torque. On the other hand, the warp tension T fluctuates to the slack side, and the differentiator 1
When an output with a sign from 2 to - is obtained, that is, when the load torque due to the warp tension T decreases, the speed command ω1* of the winding motor decreases, thereby suppressing the increase in motor speed due to the decrease in the load torque. Compensate.

As described above, since the load torque fluctuation of the winding motor M1 due to the fluctuation of the warp tension T compensates for the influence on the motor speed fluctuation, the speed of the winding motor M1 is not affected by the fluctuation of the warp tension T. As a result, the warp winding speed v1 can be accurately controlled without being affected by disturbances, and a desired weft density can be obtained.

The weft density control device of the fourth embodiment enables compensation for different speed responses of the winding motor. The same parts as in each of the above-mentioned embodiments are given the same reference numerals, and the explanation thereof will be omitted, and the explanation will be given below focusing on the differences with reference to FIG. 9.

If the speed responses of the take-up motor M and the feed-out motor M2 are different, the speed commands ωbi and ω? of each motor are changed to change the weft density. When changing the speed, the time it takes for each motor to reach the specified rotational speed differs, and there is a difference in the amount of warp winding and warp delivery until the specified rotational speed is reached, causing tension fluctuations. . The effect of the difference in speed response becomes larger as the speed command change range ω becomes larger, that is, the weft density is changed more greatly.

Further, whether the tension fluctuation occurs on the tension side or on the slack side depends on which of the take-up motor M and the feed-out motor M2 has a faster speed response, and whether the speed is increased or decreased. In view of this, it is desirable to use motors with the same speed response as possible for the take-up motor M1 and the feed-out motor M2. The speed response of the motor can be changed by changing the servo gain G of the speed control system or the speed command ω- of the motor. When changing the servo gain G of the speed control system, the acceleration torque of the motor with respect to the deviation between the speed command and the motor speed changes, and the larger the servo gain, the larger the ratio of the acceleration torque of the motor with respect to the speed deviation.

Therefore, the larger the servo gain G is, the faster the speed response of the motor becomes. On the other hand, when increasing the speed command ω1 of the motor, a larger (smaller) speed command is given only when the speed is changed compared to the speed command that should originally be given. If the mechanical time constant of the motor is constant, by increasing the motor speed command only when the speed is changed, the speed change will be steep at the time the speed is changed. In the fourth embodiment, the difference in speed response between the take-up motor M and the feed-out motor M2 is compensated for by changing the speed command ω'' of the motor when the speed of the latter is changed.

FIG. 9 shows a delivery control circuit (2) including a motor characteristic compensation circuit for performing the above-mentioned compensation.

The motor characteristic compensation circuit includes F/V converters 56A, 56
B, two variable gain amplifiers 53, 55, a differential circuit 54, and a gate circuit 52, and the F/V converters 56A and 56B mechanically connect the winding motor and the feeding motor respectively on the input side. Installed encoder 5
Connected to 7A and 57B. F/V converter 56
The output side of B is connected to the input side of the variable gain amplifier 55. The F/V converters 56A, 56B are encoders 57A, 57B attached to the aforementioned customer motors.
The pulse signal from the voltage signal ω8, ω2 corresponding to the speed
Convert and output. The variable gain amplifier 55 is connected to the F/V converter 56B on the input side and the differential circuit 54 on the output side. A voltage signal ω2 corresponding to the speed of the delivery motor M2 obtained by the F/V converter 56B is input to the variable gain amplifier 55, and the result of multiplying the variable gain by 1 is outputted as ω2. For the variable gain 1 used for multiplication, the compensation gain G obtained by gain compensator 1 is used. For this reason, the variable gain amplifier 5
The integration result of the integrator 43 of the gain compensator 1 described above is input to the gain change terminal 5, and if the integration result is a voltage signal of 10, the variable gain of the variable gain amplifier 55 is increased. If the integration result is a negative voltage signal, variable gain K is applied.

Make smaller. Based on the above multiplication result, ω2 is determined by the differential circuit 5.
The input terminal is manually inputted to the - input terminal of the 4 input terminals.

On the other hand, the above-mentioned F/V
The winding motor M obtained by the converter 56A
A voltage signal ω corresponding to the speed of , is input. The differential circuit 54 calculates the difference (ω) between the voltage signals input to the two input terminals.

−, ・ω2), then transfer the result to the variable gain amplifier 5
Output to 3. The variable gain amplifier 53 is connected to a differential circuit 54 on the input side and a gate circuit 52 on the output side. The variable gain amplifier 53 multiplies the speed difference between the take-up motor M1 and the feed motor M2 obtained by the differential circuit 5.4 by the variable gain, and adds 2.(ω1- to 1.ω2) to the gate circuit 52. Output to. The variable gain 2 used for multiplication determines the strength of compensation when compensating for differences in speed response of the motor, and is determined in consideration of the influence of a decrease in the sending beam diameter r2. Therefore, the gain change terminal of the variable gain amplifier 53 is connected to the variable gain amplifier 53.
5, the output of the integrator 43 described above is connected. As a result, as the sending beam diameter r2 decreases,
The strength of compensation for the difference in speed response of the motor becomes stronger. The gate circuit 52 is connected to the variable gain amplifier 53 on the input side and to the adder 51 of the sending control circuit V2 on the output side.

Further, in order to open and close the gate, the gate circuit 52 receives a speed command ω of the winding motor M, which is an output of the winding control circuit 11, at an opening/closing signal input terminal.

The gate circuit 52 closes the gate for an arbitrary time only when the speed command ω1* of the winding motor M+ inputted to the opening/closing signal input terminal changes, and keeps the gate open at other times. Therefore, at any time after the speed command ω- of the winding motor M changes, the result of amplifying the speed difference between the winding motor M and the feed motor M2 is 2.
) is output to the adder 51. The adder 51 is the feed motor M determined by the feed control circuit V2.

Speed command ω? The speed command value that compensates the speed response of the take-up motor Mrk and the feed-out motor M2 is 2・(ω1−
After adding ・ω2) to , the result is ω2′″+Kt・
(1・ω2 to ω1−) is set as the new speed command value ω2° of the delivery motor M2, and the delivery motor drive circuit D2
output to the speed command input terminal.

In the fourth embodiment circuit, the rotational speeds of the take-up motor M1 and the feed-out motor M2 are converted into pulse train signals from rotary encoders 57A and 57B attached to the respective motor shafts by F/V converters 56A and 56B. obtained as a voltage signal. Among the obtained voltage signals representing the rotational speed of each motor, the voltage signal related to the sending motor M2 is corrected by a variable gain amplifier in consideration of the ratio of the diameter of the take-up roller R and the winding diameter of the sending beam WB. This correction is performed using the above-mentioned compensation gain Gl used in gain compensator (1).

Therefore, the output of the integrator 43 of the gain compensator (1) is input to the gain change terminal of the variable gain amplifier 53.

In the variable gain amplifier 53, the above-mentioned variable gain Kl,
A voltage signal corresponding to the speed of the delivery motor M2 determined by the F/V converter 56B is multiplied. The result of multiplication is
A voltage signal corresponding to the speed of the feed-out motor Mt is input to the differential circuit 54, and the speed difference between the take-up motor M1 and the feed-out motor M2 is determined. The determined speed difference is input to the variable gain amplifier 53. The variable gain amplifier 53 multiplies the variable gain representing the strength of compensating for the difference in speed response of the motor, which was determined in consideration of the reduction in the diameter of the emitted beam, by 2 and the speed difference between the manually operated motors, and the result is applied to the gate circuit. 52. The gate circuit 52 is normally open, but closes the gate for an arbitrary period of time only when the speed command ω11 of the winding motor M1 inputted to the opening/closing signal input terminal changes. The output terminal of the gate circuit 52 is connected to the input terminal of the adder 51, and the adder 51 constantly adds the output from the gate circuit 52 and the speed command ω2'' for the delivery motor from the delivery control circuit. Therefore, only when the speed command ω of the take-up motor changes, that is, only when the difference in speed response between the take-up motor M1 and the feed-out motor M2 becomes a problem, is the speed response of the take-up motor MI and the feed-out motor M2 changed for a certain period of time. A signal compensating for the difference is added to the delivery motor speed command ω2'.

As described above, a signal that compensates for the difference in speed response between the take-up motor M1 and the feed-out motor M2 is sent to the adder 51 for a certain period of time when the speed of the take-up motor, where the difference in speed response is a problem, is changed. Since it is added to the command ω2', even if the speed responses of the winding motor M1 and the sending-off motor M2 are different, the difference in speed response can be compensated for and the warp winding amount and warp sending-out amount can always be controlled to be constant.

Therefore, it is possible to prevent fluctuations in warp tension and obtain a woven fabric having the desired weft density.

Further, since the compensation is performed in consideration of the decrease in the diameter of the sending beam due to weaving, there is an advantage that it is not affected by the decrease in the diameter of the sending beam.

The present invention is not limited to the embodiments described above, and numerous design changes and additions can be made within the spirit of the claims.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the weft density control device of the present invention in relation to a loom. FIG. 2 is a diagram showing the configuration of the prior art. FIG. 3 is a block diagram showing a first embodiment of the present invention. FIG. 4 is a block diagram showing a second embodiment of the present invention, and FIGS. 5, 6, and 7 are respectively a system control program, a winding control program, and a feeding control program of the second embodiment. It is a flowchart. FIG. 8 is a block diagram showing a third embodiment of the present invention. FIG. 9 is a block diagram showing a fourth embodiment of the present invention. ■... Winding control circuit, ■... Tension detector, ■...
...Tension deviation calculation circuit, ■...Gain compensator, ■...
・Feeding control circuit, Dl, D, ... winding and feeding motor drive circuit,

Claims (4)

[Claims] (1) A winding control circuit I that outputs a winding control signal to control the rotation speed of the winding motor that drives the winding roller according to the target weaving density, and a tension that detects the warp tension of the woven fabric. a detector II; a tension deviation calculation circuit III that calculates and outputs the deviation between the detected warp tension and a set target tension value; A gain compensator IV outputs a signal multiplied by a gain according to the deviation from the command value, and a signal proportional to the calculated tension deviation is added to the winding control signal whose gain has been compensated by the gain compensator. The feed-out control circuit V is equipped with an adder and outputs a feed-out control signal for controlling the rotation speed of the feed-out motor that drives the feed beam. A weft density control device that performs correction control according to changes. (2) The weft density control device according to claim 1, wherein the gain compensator includes a gain changing circuit that changes the magnitude of the gain depending on the polarity of the tension deviation. (3) The winding control circuit includes a circuit that outputs a winding control signal according to the detected warp tension fluctuation value and a target weaving density. The weft density control device described in ). (4) Each of the winding roller and the sending beam for the adder to add to the winding control signal that has been gain compensated according to the deviation between the detected warp tension and the target tension value. The weft density control device according to claim 1, further comprising a circuit that outputs a signal based on the circumferential velocity of the weft yarn and the gain determined by the gain compensator.