JPH04222255A - Motion mechanism control unit of loom - Google Patents

Abstract

PURPOSE:To automatically synchronize a driving motor with the main shaft of a loom, when the opening motion mechanism, etc., of the loom is rotated and controlled with an exclusive driving motor to drive the loom. CONSTITUTION:When the crank angle theta of a loom is inputted, a position- commander 10 determines an objective rotation number P0 and outputs the rotation number into a position controller 20. The position controller 20 controls the rotation of the driving motor M so that the rotation number Pf of a driving motor M is fed back to eliminate an deviation DELTAP. When the loom is driven, a synchronous control means 40 determines the movement-controlling amount Ps of the driving motor M is response to a motion pattern K and a crank angle theta, and driving motor M is automatically synchronized through an OR-gate 10a and the position controller 20.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] This invention provides a method for driving each movement mechanism of a loom, such as shedding, weft insertion, and reed beating, by a dedicated drive motor without using the main shaft of the loom as a drive source. The present invention relates to a loom motion mechanism control device for automatically synchronizing a loom main shaft and a drive motor.

0002

2. Description of the Related Art In a loom, there is a known method or device for driving each movement mechanism such as shedding, weft inserting, and beating by a dedicated drive motor without using the main shaft of the loom as a drive source (for example, Special Publication No. 63-58940,
JP-A-53-106865, JP-A-59-199
Publication No. 841).

[0003] If the shedding movement mechanism is made into a dedicated motor, the cam will be able to handle changes in the weaving structure and shedding pattern (referring to the shedding stroke pattern of the heald frame within one cycle of the loom, hereinafter the same) depending on the yarn type. It has the advantage of not requiring replacement of mechanical parts such as. In addition, if the weft inserting movement mechanism is made into a dedicated motor, the moment of inertia of the entire mechanism can be reduced and high-speed movement can be easily achieved.If the shingling movement mechanism is made into a dedicated motor, a simple mechanism can be used.
Any desired beating characteristics can be realized.

On the other hand, each of these movement mechanisms must operate in strict synchronization with the main shaft of the loom. Therefore, when each movement mechanism is driven by a dedicated drive motor,
In order to prevent out-of-synchronization with the loom main shaft, it is preferable that the drive motor is rotated by position control by controlling the amount of rotation with respect to the rotation angle (hereinafter referred to as crank angle) of the loom main shaft.

[0005]

According to this prior art, the amount of rotation of the drive motor is controlled according to a predetermined movement pattern with respect to the crank angle during operation of the loom, so that the drive motor has a synchronous relationship with the main shaft of the loom. However, when the loom stops, in order to repair the cause of the stoppage, it is necessary to disconnect the synchronous relationship with the loom main shaft and rotate only the loom main shaft or only the drive motor. Therefore, when restarting the loom, it is essential to synchronize the two, and this operation is extremely complicated and troublesome. Furthermore, if a power outage or the like occurs while the loom is operating, the amount of inertia rotation between the loom main shaft and the drive motor will be different, making it impossible to maintain a synchronized relationship between the two, and a similar synchronization operation will be required. In particular, in this case, it is necessary to synchronize all the machines in the factory, which requires an enormous amount of labor.

In view of the actual state of the prior art, an object of the present invention is to provide a synchronization adjustment means when each movement mechanism of a loom is driven by a dedicated drive motor, and when starting the loom, the current crank An object of the present invention is to provide a motion mechanism control device for a loom, which can automatically synchronize a drive motor with respect to a main shaft of a loom by adjusting and driving the drive motor to a predetermined rotational position corresponding to a corner.

[0007]

[Means for Solving the Problems] The structure of the present invention to achieve the above object is to specify a motion pattern that stores a motion pattern of a driven object when driving a motion mechanism of a loom through a dedicated drive motor. and a position command section that defines a target rotation amount of the drive motor according to a crank angle according to the movement pattern from the movement pattern specifying means;
The synchronous adjustment means includes a position control section that controls the rotation of the drive motor according to the target rotation amount from the position command section, and a synchronous adjustment means that outputs a synchronous adjustment signal to the position control section when starting the loom. The gist thereof is to determine the adjustment movement amount of the drive motor based on the movement pattern from the specifying means and the current crank angle.

The position control unit includes a correction control unit that generates a correction amount based on the deviation between the target rotation amount in the position control unit and the rotation amount of the drive motor, and the correction control unit is configured to control the speed control loop of the position control unit or A correction amount may be output to at least one of the current control loops to perform feedforward control.

[0009]

[Operation] With this configuration, the position control section can control the rotation amount of the drive motor so as to follow the target rotation amount given from the position command section while the loom is operating. The target rotation amount at this time follows the movement pattern from the movement pattern specifying means. Therefore, the driven object can be driven according to a predetermined movement pattern in synchronization with the main shaft of the loom. On the other hand, the synchronization adjustment means can output a synchronization adjustment signal to the position control section when starting the loom, and can automatically synchronize the drive motor and the main shaft of the loom.

Generally, the object to be driven by the drive motor is a shedding motion mechanism, a rapier motion mechanism, or a beating motion mechanism, so the amount of rotation of the drive motor with respect to the crank angle is:
The shedding pattern of the heald frame, the running pattern of the rapier, and the back and forth movement pattern of the reed must be followed, and each of these movement patterns may be different from cycle to cycle of the loom. Therefore, the synchronization adjustment means, based on the movement pattern from the movement pattern designation means and the current crank angle,
By determining the amount of adjustment movement of the drive motor so that it matches a predetermined rotational position corresponding to the current crank angle, and using this amount of adjustment movement to adjust and drive the drive motor, it is possible to drive the drive motor regardless of the type of drive target. Therefore, synchronization can be achieved.

[0011] When the position control section includes a correction control section,
The correction control section generates a correction amount based on the deviation of the position control section, and feedforward control can be applied to the position control section, so that the response delay of the drive motor during operation can be minimized and the drive motor can be adjusted according to a predetermined movement pattern. This makes it possible to realize good drive control.

0012

[Embodiment] An embodiment will be explained below with reference to the drawings.

The motion mechanism control device of the loom includes a position command section 1
0, a position control section 20, a motion pattern designation means 30, and a synchronization adjustment means 40 (FIG. 1).

A pulse train signal S1 indicating a crank angle θ is input to the position command unit 10 from an encoder E1 connected to the main shaft A of the loom. The output of the position command section 10 is sent to the position control section 2 via the OR gate 10a as a pulse train signal S2 indicating the target rotation amount Po of the drive motor M.
0 is input to the deviation detection unit 20a.

The position control section 20 includes a deviation detection section 20a, a speed control loop 20b, and a current control loop 20c connected in series, and the output of the position control section 20 is connected to a drive motor M. The rotation amount Pf of the drive motor M is detected by the encoder E2 and is expressed as a pulse train signal S3.
It is fed back to the deviation detection section 20a and the speed control loop 20b. However, the pulse train signal S3 is used for the speed control loop 20b as an indicator of the rotational speed of the drive motor M based on its pulse frequency. Further, the current Im of the drive motor M is fed back to the current control loop 20c via a current detector CT interposed between the current control loop 20c and the drive motor M.

Note that the drive motor M is connected to a cam mechanism CM via a gear mechanism G. The cam mechanism CM is used as a movement mechanism of a loom to drive a heald frame, a rapier for a carrier of a rapier loom, a rapier for an insert, or a reed.

The crank angle θ is determined by the movement pattern specifying means 3.
0, and is also branched into the synchronization adjustment means 40. Also,
The movement pattern specifying means 30 receives a power loss signal S4 from a loom control circuit (not shown), and the synchronization adjustment means 40 receives an operation command signal S5 and an origin signal S6. However, the power loss signal S4 can be generated not only when the loom is stopped but also during a power outage by using, for example, the output of a low voltage relay inserted into the power line of the main motor. Further, the operation command signal S5 is output from the loom control circuit and indicates the timing at which the synchronization adjustment means 40 should be operated, and the origin signal S6
is output from the origin detection switch SW incorporated in the drive system of the drive motor M, and indicates the origin position of each movement mechanism that is driven by the drive motor M.

The motion pattern specifying means 30 outputs, for each cycle of the loom, a motion pattern K of the drive motor M;
The base speed Vo of the drive motor M is determined by the speed control loop 20b of the position command unit 10 and the position control unit 20, respectively.
and is output. Here, the movement pattern K is the rotation amount by which the drive motor M should operate with respect to the crank angle θ at a specific cycle number n in one repeat consisting of a plurality of cycles, according to the texture pattern of the woven fabric being woven. The base speed Vo is
It shows the period and speed at which the drive motor M should rotate with respect to the crank angle θ when following the movement pattern K.

Further, the synchronization adjustment means 40 outputs a synchronization adjustment signal S7 to the OR gate 10a. The synchronization adjustment signal S7 is a pulse train signal indicating the adjustment movement amount Ps.

Now, the case where the drive motor M is connected to the cam mechanism CM for driving the heald frame will be described below (FIG. 2). However, although a plurality of heald frames are generally used in combination, only one heald frame is illustrated here.

The movement pattern specifying means 30 includes an aperture selection pattern generator 31 and an aperture pattern setter 32.

The shedding selection pattern generator 31 generates a shedding selection pattern (a pattern of the operation order of the heald frame for each cycle according to the texture pattern of the woven fabric; the same applies hereinafter) Kp.
The output thereof is branched into an aperture pattern setter 32 and a memory 33. A power loss signal S4 is also input to the memory 33, and its output is connected to the aperture pattern setting device 32.

The shedding pattern setting device 32 determines the shedding pattern Ksi (i=1, 2, . . . ) of the heald frame for each cycle of the loom.
). Depending on the weaving structure, it is necessary to change the shedding pattern Ks of the heald frame for each cycle of the loom, so a plurality of different shedding patterns Ksi are set and stored in the shedding pattern setter 32. The shedding pattern Ksi from the shedding pattern setter 32 is output to the position command unit 10 as a movement pattern K for the heald frame. Further, another output of the aperture pattern setter 32 is connected to an adjustment movement amount setter 41 of the synchronization adjustment means 40.

A base speed setting device 34 is connected to the aperture pattern setting device 32 . The aperture pattern Ksi and the crank angle θ are input to the base speed setter 34, and its output is outputted to the position control unit 20 as the base speed Vo.

The synchronization adjustment means 40 includes an adjustment movement amount setting device 4
1 and a pulse oscillator 42 are connected in series, and the crank angle θ is input to the former, and the origin signal S6 is input to the latter. Further, an operation command signal S5 is commonly input to both of them, and the output of the pulse oscillator 42 is input to the OR gate 10a as a synchronization adjustment signal S7 (FIG. 1).

Assuming that the loom is now in steady operation,
As the loom main shaft A rotates, the encoder E1 outputs a pulse train signal S1 indicating the crank angle θ, which is input to the shedding selection pattern generator 31 of the movement pattern designating means 30. Therefore, the aperture selection pattern generator 31
1 repeat T of specified tissue pattern from crank angle θ
The cycle number n (n=1, 2, . . . ) can be specified and output as an aperture selection pattern Kp (FIG. 3). Since the aperture selection pattern Kp is sent to the aperture pattern setter 32, the aperture pattern setter 32 selects a specific aperture pattern Ksi corresponding to the cycle number n specified by the aperture pattern Kp, and issues a position command. Part 1
0, can be sent to the base speed setter 34.

The position command unit 10 can refer to the crank angle θ from the encoder E1 and the aperture pattern Ksi from the movement pattern specifying means 30 to generate a pulse train signal S2 indicating the target rotation amount Po. here,
The pulse train signal S2 is a pulse train that is sparse and dense depending on the target rotation amount Po, and is dense when the drive motor M rotates at high speed, becomes sparse when the drive motor M rotates at low speed, and does not generate pulses when the drive motor M is stopped. For example, in FIG. 3, among the four cycles forming one repeat T of the tissue pattern, n=2
The aperture pattern Ksi specified by the cycle of Ksi
=Ks2. At this time, at the beginning of the cycle, the drive motor M continues to be driven at a constant speed at a low speed v1 from the cycle n=1, and then stops, and for a dwell period t
After d has elapsed, it is activated in the latter half of the cycle and driven at a constant speed of high speed v2, continuing into n=3 cycles.

On the other hand, the base speed setter 34 compares the opening pattern Ksi with the current crank angle θ, and sets the base speed Vo to the speed control loop 20b of the position control section 20.
can be output to. However, the base speed Vo is the drive motor M instructed by the shedding pattern Ksi.
Constant values v1, v2 (v1 < v
2).

The target rotation amount Po from the position command section 10 is input to the deviation detection section 20a of the position control section 20 via the OR gate 10a. On the other hand, the deviation detection section 20a has
Since the rotation amount Pf of the drive motor M is fed back, the deviation detection unit 20a detects the rotation amount P with respect to the target rotation amount Po.
The deviation ΔP=Po−Pf of f can be calculated and output.

Since the deviation ΔP is input to the speed control loop 20b, the drive motor M is controlled by the speed control loop 20b,
Via the current control loop 20c, the motor is driven in a direction in which the deviation ΔP is eliminated, and the rotation amount Pf is controlled so as to follow the target rotation amount Po. That is, the position control section 20
can control the rotation of the drive motor M according to the target rotation amount Po. At this time, the rotation speed of the drive motor M basically follows the base speed Vo from the base speed setting device 34, and the rotation amount Pf is
The crank angle θ follows a predetermined opening pattern Ksi in that cycle. Note that here, the deviation detection section 20a detects the pulse train signals S2 and S3.
In order to handle this, the deviation ΔP=Po −Pf shall be calculated digitally, and the speed control loops 20b, 20
c is the base speed Vo, which is an analog quantity, and the current Im
In order to handle this, it is better to use an analog control loop.

As described above, the drive motor M is rotationally driven according to the target rotation amount Po, and the heald frame connected to the drive motor M can continue the shedding operation according to the predetermined shedding pattern Ksi.

When a power outage occurs while the loom is in steady operation, a power loss signal S4 is generated in the loom control circuit. The power loss signal S4 is transmitted to the movement pattern specifying means 30.
Therefore, the memory 33 can store the cycle number n=x at the time of the power failure occurrence from the aperture selection pattern Kp at that time. Also, at this time, the deviation ΔP from the deviation detection section 20a is forcibly cleared, and the base speed Vo from the base speed setting device 34 is forcibly cleared.
is forcibly held at zero level, and therefore, the position control unit 20 stops its function. Further, the drive motor M may operate an appropriate brake mechanism in order to minimize the amount of inertial rotation thereof.

[0033] Once the loom has been stopped in this way,
Generally, the main motor and the drive motor M do not have the same amount of inertia rotation, so a synchronous relationship is not maintained, and it is necessary to synchronize the two after the power is restored.

Therefore, when the power is restored, the function of the position control section 20 is first restored, and the loom control circuit
Generates an operation command signal S5. However, at this time,
The base speed setter 34 remains inactive, and the base speed Vo is held at zero level. Since the operation command signal S5 is input to the pulse oscillator 42 of the synchronization adjustment means 40, the pulse oscillator 42
A synchronization adjustment signal S7 can be sent to the position control section 20 via the OR gate 10a. Thereby, the drive motor M can rotate at a low speed to follow the pulse train of the synchronization adjustment signal S7, and can generate the origin signal S6 at the origin position of the drive system.

On the other hand, in response to the operation command signal S5, the adjustment movement amount setter 41 can refer to the current crank angle θ and specify the rotational position of the drive motor M corresponding to the crank angle θ. That is, since the cycle number x at the time of the power outage occurrence is stored in the storage device 33, the shedding pattern setter 32 selects the shedding pattern Ksx corresponding to this cycle number x, and sends it to the adjustment movement amount setter 41. It is outputting. Therefore, the adjustment movement amount setter 41 can determine the desired rotational position of the drive motor M when following the shedding pattern Ksx by comparing the shedding pattern Ksx with the current crank angle θ. This can be output to the pulse oscillator 42 as the movement adjustment amount Ps. However, the movement adjustment amount Ps is defined as the amount of rotation of the drive motor M from the origin position.

After receiving the origin signal S6, the pulse oscillator 42 continues to output the synchronization adjustment signal S7. At this time, if the pulse oscillator 42 outputs a number of pulse train signals corresponding to the movement adjustment amount Ps as the synchronization adjustment signal S7 after the generation of the origin signal S6, the drive motor M outputs the number of pulse train signals corresponding to the movement adjustment amount Ps. After, movement adjustment amount P
It rotates by the amount corresponding to s and stops. That is, the drive motor M can be adjusted and driven to a rotational position that accurately corresponds to the current crank angle θ according to the shedding pattern Ksx, and can be synchronized with the loom main shaft A.

On the other hand, since the shedding pattern setter 32 outputs the shedding pattern Ksi=Ksx to the position command unit 10, from now on, when the main motor rotates the loom main shaft A, the drive motor M will rotate the loom main shaft. A, the heald frame can be driven so as to follow the shedding pattern Ksx before the power outage. Therefore, the loom main shaft A can be moved to an arbitrary starting crank angle θ, and the loom can be started from there. It can be restarted. In addition, the base speed setting device 34
The function shall be restored at the same time as the loom is started.

In the above explanation, when synchronizing the drive motor M, the cycle number x at the time of the power outage,
The corresponding aperture pattern Ksx is referred to as follows.
This is to make the texture pattern of the woven fabric continuous before and after the power outage. However, at cycle number It is best to start the loom after rotating the main shaft A one revolution. This is because the weft insertion at cycle number x may not be carried out normally due to the occurrence of a power outage. In addition, when a power outage occurs, there is generally little need to drive the loom main shaft A and the drive motor M independently of each other when restarting the loom, so the operation command signal S5 at this time is used when the power is restored. It is sufficient to generate it immediately after.

Furthermore, the above explanation can be applied as is to restarting the loom when it has stopped due to any cause of stoppage other than the occurrence of a power outage. However, in this case, since the power supply is healthy, the aperture selection pattern generator 31 does not lose its function. Therefore, instead of storing the cycle number Ksk
It is also possible to synchronize the drive motor M based on the current crank angle θ.

[0040]

[Other Embodiments] The position control section 20 may be provided with a correction control section 50 comprising a correction amount function calculator 51 and correction amount generators 52 and 53 (FIG. 4).

The correction amount function calculator 51 includes a deviation detection section 2.
The deviation ΔP from 0a, the shedding selection pattern Kp from the shedding selection pattern generator 31, the crank angle θ, and another command signal S8 from the loom control circuit are input. Further, the output of the correction amount function calculator 51 is the correction amount function F
v1 and Fi1 are individually input to the correction amount generators 52 and 53, and each output of the correction amount generators 52 and 53 is as follows.
As the correction amounts Fv and Fi, the position control unit 2
0 speed control loop 20b and current control loop 20c. The crank angle θ is also input to the correction amount generators 52 and 53.

Now, when the correction amount function calculator 51 is activated in response to the command signal S8, the correction amount function calculator 51 measures the deviation ΔP and calculates each cycle number n( For each n=1, 2...),
The deviation ΔP can be stored as a function of the crank angle θ. The correction amount function calculator 51 then calculates correction amount functions Fv1 and Fi1 for compensating for the deviation ΔP by feedforward control, based on the deviation ΔP stored in this manner. However, the correction amount function Fv1
, Fi1 are also expressed as a function of the crank angle θ for each cycle number n. Generally, the deviation ΔP is caused by the response delay of the drive motor M, so the correction amount functions Fv1 and Fi1 for compensating for this are as follows:
It has the same sign as the deviation ΔP and precedes the deviation ΔP in terms of phase.

The correction amount generators 52 and 53 generate a correction amount function F
According to v1 and Fi1, correction amounts Fv and Fi are generated corresponding to the crank angle θ. The correction amounts Fv and Fi are
In the speed control loop 20b and the current control loop 20c, it is used as a feedforward amount by adding it to each target value of these minor control loops,
The response delay of the drive motor M can be compensated for.

Note that instead of using both of the correction amounts Fv and Fi, only one of them may be used. Further, the command signal S8 may be generated manually, or may be generated repeatedly at appropriate time intervals. Furthermore, the correction amount functions Fv1 and Fi1 are calculated separately for the cycle immediately after startup and the cycle after steady operation, focusing on the fact that the deviation ΔP varies depending on the operating rotation speed of the loom. Both may be used separately.

In the above description, the object to be driven by the drive motor M may be a rapier or a reed in addition to the heald frame. Unlike the heald frame, it is generally sufficient for the rapier and reed to move according to the same movement pattern K during all cycles of the loom. Therefore, in this case, the movement pattern specifying means 30 omits the shedding selection pattern generator 31, and the shedding pattern setting device 32 generates a single movement pattern K corresponding to the crank angle θ during one cycle of the loom. It is sufficient to set and memorize. In this case, the correction amount function calculator 51 of the correction control unit 50 also calculates correction amount functions Fv1 and Fi1 common to all cycles,
All you have to do is output it.

[0046]

[Effects of the Invention] As explained above, according to the present invention, when the motion mechanism of a loom is driven by a dedicated drive motor, when starting the loom, the synchronization adjustment means adjusts the speed to correspond to the current crank angle. By accurately adjusting and driving the drive motor to a predetermined rotational position, the drive motor can automatically synchronize with the loom main shaft at any crank angle, eliminating the need for complicated and troublesome manual synchronization operations. This has the excellent effect of making it unnecessary and achieving a large labor-saving effect.

[Brief explanation of the drawing]

[Figure 1] Overall schematic block system diagram

[Figure 2] Detailed block system diagram of main parts when applied to opening movement mechanism

[Figure 3] Operation explanation diagram

[Figure 4] Main part block system diagram showing another embodiment

[Explanation of symbols]

M...Drive motor θ…Crank angle K...movement pattern Po...Target rotation amount ΔP…deviation Ps...Adjustment movement amount S7...Synchronization adjustment signal Fv, Fi...correction amount 10...Position command unit 20...Position control section 20b...Speed control loop 20c...Current control loop 30...Motor pattern designation means 40...Synchronization adjustment means 50...Correction control section

Claims (2)

[Claims] 1. A motion mechanism control device for a loom that drives a motion mechanism of a loom via a dedicated drive motor, comprising motion pattern designation means for storing a motion pattern of a driven object, and a motion pattern outputted from the motion pattern designation means. in accordance with
a position command section that defines a target rotation amount of the drive motor based on the crank angle; a position control section that controls the rotation of the drive motor according to the target rotation amount from the position command section; synchronous adjustment means for outputting a synchronous adjustment signal, the synchronous adjustment means determining an adjustment movement amount of the drive motor based on the movement pattern from the movement pattern designation means and the current crank angle. A motion mechanism control device for a loom, characterized by: 2. The position control section includes a correction control section that generates a correction amount based on a deviation between a target rotation amount in the position control section and a rotation amount of the drive motor, and the correction control section includes:
2. The motion mechanism control device for a loom according to claim 1, wherein a correction amount is output to at least one of a speed control loop and a current control loop of the position control section to perform feedforward control.