JPH0978388A - Control of shedding in loom and apparatus therefor - Google Patents
Control of shedding in loom and apparatus thereforInfo
- Publication number
- JPH0978388A JPH0978388A JP7226798A JP22679895A JPH0978388A JP H0978388 A JPH0978388 A JP H0978388A JP 7226798 A JP7226798 A JP 7226798A JP 22679895 A JP22679895 A JP 22679895A JP H0978388 A JPH0978388 A JP H0978388A
- Authority
- JP
- Japan
- Prior art keywords
- control pattern
- loom
- rotation control
- rotation
- drive motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03C—SHEDDING MECHANISMS; PATTERN CARDS OR CHAINS; PUNCHING OF CARDS; DESIGNING PATTERNS
- D03C13/00—Shedding mechanisms not otherwise provided for
- D03C13/02—Shedding mechanisms not otherwise provided for with independent drive motors
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03C—SHEDDING MECHANISMS; PATTERN CARDS OR CHAINS; PUNCHING OF CARDS; DESIGNING PATTERNS
- D03C9/00—Healds; Heald frames
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
- D03D51/007—Loom optimisation
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Looms (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、織機における開口
制御方法及び装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shed control method and device for a loom.
【０００２】[0002]
【従来の技術】１枚の綜絖枠と１つの専用の駆動モータ
とを１対１で連結し、複数枚の綜絖枠を専用モータで別
々に駆動する開口制御装置が特開平５−２５７５１号公
報、特開平６−３２２６４４号公報に開示されている。2. Description of the Related Art Japanese Patent Laid-Open No. 5-25751 discloses an aperture control device in which one heald frame and one dedicated drive motor are connected one-to-one, and a plurality of heald frames are separately driven by a dedicated motor. And JP-A-6-322644.
【０００３】特開平５−２５７５１号公報及び特開平６
−３２２６４４号公報のいずれの装置においても、織機
主軸の回転角度に応じた駆動モータの目標回転量と実際
の回転量との偏差を検出し、この検出された偏差を解消
するように駆動モータを回転制御している。この場合、
特開平５−２５７５１号公報の装置では偏差に追従させ
てループゲインを調整し、特開平６−３２２６４４号公
報の装置では綜絖枠の運動位置に基づいてループゲイン
を調整している。[0003] JP-A-5-25751 and JP-A-Hei-6
In any of the apparatuses disclosed in JP-A-322644, a deviation between a target rotation amount and an actual rotation amount of the drive motor according to the rotation angle of the loom main shaft is detected, and the drive motor is controlled so as to eliminate the detected deviation. The rotation is controlled. in this case,
In the device disclosed in Japanese Patent Application Laid-Open No. Hei 5-25751, the loop gain is adjusted by following the deviation, and in the device disclosed in Japanese Patent Application Laid-Open No. Hei 6-322644, the loop gain is adjusted based on the movement position of the heald frame.
【０００４】[0004]
【発明が解決しようとする課題】特開平５−２５７５１
号公報の装置では偏差の大小に応じてループゲインの大
小を調整しており、駆動モータは織機の主軸に対して精
度良く追従する。しかし、織機主軸は筬打ち、経糸張力
変動等によって回転変動を起こしている。そのため、織
機の主軸に回転変動が生じた場合には駆動モータが追従
し、駆動モータは余計な加減速を繰り返す。駆動モータ
のこのような動作は電力消費の増大を招く。[Patent Document 1] Japanese Patent Application Laid-Open No. 5-25751
In the device of the publication, the magnitude of the loop gain is adjusted according to the magnitude of the deviation, and the drive motor follows the spindle of the loom with high accuracy. However, the main shaft of the loom causes fluctuations in rotation due to beating, fluctuations in warp tension, and the like. Therefore, when the main shaft of the loom changes in rotation, the drive motor follows, and the drive motor repeats unnecessary acceleration and deceleration. Such operation of the drive motor leads to increased power consumption.
【０００５】特開平６−３２２６４４号公報の装置で
は、高精度制御を要求される経糸閉口時にはループゲイ
ンを大きくし、高精度制御を要求されない経糸開口時に
はループゲインを小さくしている。しかし、織機の定常
運転時に制御精度の切り換えを行なうのは制御系の安定
性の欠如に繋がり、綜絖枠の運動が円滑性を欠く。In the device disclosed in Japanese Unexamined Patent Publication No. 6-322644, the loop gain is increased when the warp is closed, which requires high precision control, and is decreased when the warp is opened, which does not require high precision control. However, switching the control accuracy during steady operation of the loom leads to lack of stability of the control system, and the movement of the heddle frame lacks smoothness.
【０００６】本発明は、織機駆動モータから独立した開
口駆動モータによって綜絖枠を駆動する開口装置におい
て電力消費を抑制しつつ綜絖枠の運動の安定性を向上す
ることを目的とする。An object of the present invention is to improve the stability of the movement of the heddle frame while suppressing the power consumption in the shedding device which drives the heddle frame by an shedding drive motor independent of the loom drive motor.
【０００７】[0007]
【課題を解決するための手段】そのために請求項１の発
明では、検出された織機の回転速度に基づいて生成され
る時間を変数とした開口駆動モータの回転制御パターン
を用意し、前記時間を変数とした回転制御パターンを用
いて開口駆動モータの作動を制御するようにした。To this end, in the invention of claim 1, a rotation control pattern of the shedding drive motor is prepared in which the time generated based on the detected rotation speed of the loom is used as a variable, and the time is set to The operation of the aperture drive motor is controlled by using the rotation control pattern as a variable.
【０００８】請求項２の発明では、織機の回転角度を変
数とした開口駆動モータの第１の回転制御パターンと、
時間を変数とした開口駆動モータの第２の回転制御パタ
ーンとを用意し、織機の変速運転時には第１の回転制御
パターンを用い、織機の定速運転時には第２の回転制御
パターンを用いるようにした。According to a second aspect of the invention, there is provided a first rotation control pattern of the shedding drive motor in which the rotation angle of the loom is a variable,
A second rotation control pattern of the shedding drive motor with time as a variable is prepared, and the first rotation control pattern is used during the variable speed operation of the loom, and the second rotation control pattern is used during the constant speed operation of the loom. did.
【０００９】請求項３の発明では、織機の回転角度を変
数とした開口駆動モータの第１の回転制御パターンと、
時間を変数とした開口駆動モータの第２の回転制御パタ
ーンとを用意し、第１の回転制御パターンと第２の回転
制御パターンとを同時的に組み合わせて用いるようにし
た。According to another aspect of the invention, there is provided a first rotation control pattern of the shedding drive motor in which the rotation angle of the loom is a variable,
A second rotation control pattern of the aperture drive motor having time as a variable was prepared, and the first rotation control pattern and the second rotation control pattern were used in combination at the same time.
【００１０】請求項４の発明では、検出された織機の回
転速度に基づいて請求項２及び請求項３における第２の
回転制御パターンを生成するようにした。請求項５の発
明では、織機の回転角度を変数とした開口駆動モータの
第１の回転制御パターンを設定する第１の回転制御パタ
ーン設定手段と、時間を変数とした開口駆動モータの第
２の回転制御パターンを設定する第２の回転制御パター
ン設定手段と、織機の運転速度を検出する運転速度検出
手段と、前記運転速度検出手段によって検出された運転
速度状態に基づいて第１の回転制御パターンと第２の回
転制御パターンとの少なくとも一方を選択する選択手段
とを備えた開口制御装置を構成した。According to the fourth aspect of the invention, the second rotation control pattern in the second and third aspects is generated based on the detected rotation speed of the loom. According to a fifth aspect of the present invention, there is provided a first rotation control pattern setting means for setting a first rotation control pattern of the shedding drive motor having the rotation angle of the loom as a variable, and a second rotation control pattern setting means having the time as a variable. Second rotation control pattern setting means for setting the rotation control pattern, operation speed detection means for detecting the operation speed of the loom, and first rotation control pattern based on the operation speed state detected by the operation speed detection means. And the second rotation control pattern, and a selection unit that selects at least one of the second rotation control patterns.
【００１１】請求項１の発明によれば、織機の回転角度
と綜絖枠の運動位置との高精度の同期を要求されない織
機の運転時には開口駆動モータは前記時間を変数とした
回転制御パターンに従って作動され、綜絖枠が円滑に運
動する。時間を変数とした回転制御パターンは実際の織
機の回転速度に基づいて生成される。According to the first aspect of the present invention, during operation of the loom, which does not require high-precision synchronization between the rotation angle of the loom and the movement position of the heddle frame, the shedding drive motor operates according to the rotation control pattern with the time as a variable. As a result, the heddle frame moves smoothly. The rotation control pattern with time as a variable is generated based on the actual rotation speed of the loom.
【００１２】織機の運転速度が定常運転速度まで立ち上
がる間あるいは定常運転状態から停止までの間は織機の
回転角度と綜絖枠の運動位置とを高精度で同期させる必
要がある。請求項２及び請求項５の発明によれば、織機
の運転立ち上がり時あるいは減速停止時のような変速運
転時には開口駆動モータは第１の回転制御パターンに従
って作動され、織機の回転角度と綜絖枠の運動位置とが
高精度で同期する。織機の回転角度と綜絖枠の運動位置
との高精度の同期を要求されない織機の定常運転時には
開口駆動モータは第２の回転制御パターンに従って作動
され、綜絖枠が円滑に運動する。[0012] While the operating speed of the loom rises to the steady operating speed or during the period from the steady operating state to the stop, the rotation angle of the loom and the movement position of the heddle frame must be synchronized with high accuracy. According to the inventions of claims 2 and 5, the opening drive motor is operated in accordance with the first rotation control pattern during a variable speed operation such as when the loom is started up or decelerated and stopped, and the rotational angle of the loom and the heald frame are Highly accurate synchronization with the movement position. During normal operation of the loom, which does not require high-precision synchronization between the rotation angle of the loom and the movement position of the heddle frame, the shedding drive motor operates according to the second rotation control pattern, and the heddle frame moves smoothly.
【００１３】請求項３の発明によれば、例えば第１の回
転制御パターンをＸ％用い、第２の回転制御パターンを
（１００─Ｘ）％用いるという組合せの制御が行われ
る。第１の回転制御パターンによる回転速度がＶ１、第
２の回転制御パターンによる回転速度がＶ２のとき、Ｖ
１・Ｘ＋Ｖ２（１００−Ｘ）という組合せ速度が用いら
れる。このような組合せ制御により織機の回転角度に対
する綜絖枠の追従性と綜絖枠の運動安定性との両方を満
たす制御が可能となる。According to the third aspect of the present invention, for example, a combination control is performed in which the first rotation control pattern is used in X% and the second rotation control pattern is used in (100-X)%. When the rotation speed according to the first rotation control pattern is V1 and the rotation speed according to the second rotation control pattern is V2, V
A combination speed of 1 · X + V2 (100−X) is used. By such combined control, control that satisfies both the followability of the heddle frame with respect to the rotation angle of the loom and the motion stability of the heddle frame becomes possible.
【００１４】請求項４の発明によれば、第２の回転制御
パターンが実際の織機の回転速度に基づいて生成され
る。According to the invention of claim 4, the second rotation control pattern is generated based on the actual rotation speed of the loom.
【００１５】[0015]
【発明の実施の形態】以下、本発明を具体化した第１の
実施の形態を図１〜図５に基づいて説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS.
【００１６】綜絖枠１１の下方には開口駆動モータ１２
が配置されている。開口駆動モータ１２はサーボモータ
型の変速駆動モータである。開口駆動モータ１２の出力
軸にはクランク円板１３が止着されており、クランク円
板１３と綜絖枠１１の下枠とはコネクティングロッド１
４を介して連結されている。クランク円板１３及びコネ
クティングロッド１４はクランク機構を構成し、開口駆
動モータ１２の一方向への回転がクランク機構を介して
綜絖枠１１の上下動に変換される。開口駆動モータ１２
は開口制御装置Ｃ１の指令制御を受ける。開口制御装置
Ｃ１は開口駆動モータ１２に組み込まれたロータリエン
コーダ１２１から得られる回転角度情報に基づいて開口
駆動モータ１２をフィードバック制御する。Below the heald frame 11, an opening drive motor 12 is provided.
Is arranged. The aperture drive motor 12 is a servo motor type variable speed drive motor. A crank disk 13 is fixed to the output shaft of the opening drive motor 12, and the crank disk 13 and the lower frame of the heddle frame 11 connect the connecting rod 1 to each other.
4. The crank disk 13 and the connecting rod 14 constitute a crank mechanism, and rotation of the opening drive motor 12 in one direction is converted into vertical movement of the heald frame 11 via the crank mechanism. Aperture drive motor 12
Receives the command control of the opening control device C1. The aperture control device C1 feedback-controls the aperture drive motor 12 based on the rotation angle information obtained from the rotary encoder 121 incorporated in the aperture drive motor 12.
【００１７】開口制御装置Ｃ１は、入力装置１５によっ
て入力される第１の回転制御パターンを記憶する第１の
回転制御パターン記憶回路１６と、第２の回転制御パタ
ーンを記憶する第２の回転制御パターン記憶回路１７
と、第２の回転制御パターンを生成する制御パターン生
成回路１８と、第１及び第２の回転制御パターンのいず
れかを選択する選択回路１９とからなる。入力装置１５
及び第１の回転制御パターン記憶回路１６は第１の回転
制御パターン設定手段を構成し、第２の回転制御パター
ン記憶回路１７及び制御パターン生成回路１８は第２の
回転制御パターン設定手段を構成する。制御パターン生
成回路１８は織機の回転角度検出用のロータリエンコー
ダ２０から得られる回転速度情報に基づいて第２の回転
制御パターンを生成する。選択手段となる選択回路１９
は運転速度検出手段となるロータリエンコーダ２０から
得られる回転速度変動情報に基づいて第１及び第２の回
転制御パターンのいずれかを選択する。The opening control device C1 includes a first rotation control pattern storage circuit 16 for storing a first rotation control pattern input by the input device 15 and a second rotation control for storing a second rotation control pattern. Pattern storage circuit 17
And a control pattern generation circuit 18 for generating the second rotation control pattern, and a selection circuit 19 for selecting one of the first and second rotation control patterns. Input device 15
The first rotation control pattern storage circuit 16 constitutes a first rotation control pattern setting means, and the second rotation control pattern storage circuit 17 and the control pattern generation circuit 18 constitute a second rotation control pattern setting means. . The control pattern generation circuit 18 generates a second rotation control pattern based on the rotation speed information obtained from the rotary encoder 20 for detecting the rotation angle of the loom. Selection circuit 19 serving as selection means
Selects one of the first and second rotation control patterns based on the rotation speed fluctuation information obtained from the rotary encoder 20 serving as the operating speed detection means.
【００１８】選択回路１９は、選択した回転制御パター
ン及び開口駆動モータ１２のロータリエンコーダ１２１
から得られる回転角度情報に基づいて開口駆動モータ１
２の作動をフィードバック制御する。即ち、選択回路１
９は、ロータリエンコーダ１２１から得られる回転角度
と回転制御パターンにおける回転角度との差分に応じた
速度指令を行なう。The selection circuit 19 includes a rotary encoder 121 for the selected rotation control pattern and aperture drive motor 12.
Aperture drive motor 1 based on rotation angle information obtained from
The operation of 2 is feedback-controlled. That is, the selection circuit 1
9 issues a speed command according to the difference between the rotation angle obtained from the rotary encoder 121 and the rotation angle in the rotation control pattern.
【００１９】織機駆動モータ２１の作動を制御する織機
制御コンピュータＣ２は、図示しない起動スイッチのＯ
Ｎ操作に応答して織機駆動モータ２１を作動開始すると
共に、製織開始信号を制御パターン生成回路１８及び選
択回路１９に出力する。又、緯入れミス、経糸切れ等の
異常が生じた場合には、織機制御コンピュータＣ２は織
機駆動モータ２１の作動を停止すると共に、製織停止信
号を制御パターン生成回路１８及び選択回路１９に出力
する。The loom control computer C2 for controlling the operation of the loom drive motor 21 has an O (not shown) start switch.
In response to the N operation, the loom drive motor 21 is actuated and a weaving start signal is output to the control pattern generation circuit 18 and the selection circuit 19. When an abnormality such as a weft insertion error or warp breakage occurs, the loom control computer C2 stops the operation of the loom drive motor 21 and outputs a weaving stop signal to the control pattern generation circuit 18 and the selection circuit 19. .
【００２０】図２の曲線Ｄは綜絖枠１１の開口運動パタ
ーンを表し、曲線Ｅ１は綜絖枠１１の開口運動パターン
に対応した第１の回転制御パターンを表す。曲線Ｄの座
標系の横軸は織機の回転角度を表し、縦軸は綜絖枠１１
の高さ位置を表す。曲線Ｅの座標系の横軸は織機の回転
角度を表し、縦軸は開口駆動モータ１２の回転角度を表
す。図３のパルス状の波形Ｆ１，Ｆ２，Ｆ３，Ｆ４は織
機の１回転毎にロータリエンコーダ２０から出力される
原点信号を表す。曲線Ｅ２は原点信号Ｆ１〜Ｆ４間の経
過時間から把握される織機の回転速度に基づいて生成さ
れる第２の回転制御パターンを表す。曲線Ｅ２の座標系
の横軸は時間を表し、縦軸は開口駆動モータ１２の回転
角度を表す。原点信号Ｆ４，Ｆ３間の回転制御パターン
の生成には原点信号Ｆ３，Ｆ２間の回転速度が用いら
れ、原点信号Ｆ３，Ｆ２間の回転制御パターンの生成に
は原点信号Ｆ２，Ｆ１間の回転速度が用いられる。即
ち、ある原点信号間の回転制御パターンの生成にはこれ
より１つ前の原点信号間の回転速度が用いられる。原点
信号間の第２の回転制御パターンにおける回転速度は一
定である。原点信号Ｆ３，Ｆ４間では回転速度は零であ
る。A curve D in FIG. 2 represents an opening movement pattern of the heddle frame 11, and a curve E1 represents a first rotation control pattern corresponding to the opening movement pattern of the heddle frame 11. The horizontal axis of the coordinate system of the curve D represents the rotation angle of the loom, and the vertical axis represents the heddle frame 11
Represents the height position of. The horizontal axis of the coordinate system of the curve E represents the rotation angle of the loom, and the vertical axis represents the rotation angle of the shedding drive motor 12. The pulse-shaped waveforms F1, F2, F3, and F4 in FIG. 3 represent origin signals output from the rotary encoder 20 for each rotation of the loom. The curve E2 represents the second rotation control pattern generated based on the rotation speed of the loom that is grasped from the elapsed time between the origin signals F1 to F4. The horizontal axis of the coordinate system of the curve E2 represents time, and the vertical axis represents the rotation angle of the aperture drive motor 12. The rotation speed between the origin signals F3 and F2 is used to generate the rotation control pattern between the origin signals F4 and F3, and the rotation speed between the origin signals F2 and F1 is used to generate the rotation control pattern between the origin signals F3 and F2. Is used. That is, the rotation speed between the preceding origin signals is used to generate the rotation control pattern between certain origin signals. The rotation speed in the second rotation control pattern between the origin signals is constant. The rotation speed is zero between the origin signals F3 and F4.
【００２１】図４及び図５のフローチャートは開口制御
装置Ｃ１による開口制御プログラムを表す。選択回路１
９はロータリエンコーダ２０から得られる回転角度検出
情報に基づいて織機の回転速度変動（即ち、加速度又は
減速度）を算出する。回転速度変動が所定変動以上の場
合には、選択回路１９は織機の回転を変速中と見なして
第１の回転制御パターンを記憶回路１６から読み取る。
そして、選択回路１９はこの選択した第１の回転制御パ
ターン及び開口駆動モータ１２のロータリエンコーダ１
２１から得られる回転角度情報に基づいて開口駆動モー
タ１２の作動をフィードバック制御する。このフィード
バック制御では、開口駆動モータ１２が織機の回転変動
に高精度で追従する。The flow charts of FIGS. 4 and 5 show an opening control program by the opening control device C1. Selection circuit 1
Reference numeral 9 calculates the rotational speed fluctuation (that is, acceleration or deceleration) of the loom based on the rotational angle detection information obtained from the rotary encoder 20. When the fluctuation of the rotation speed is equal to or more than the predetermined fluctuation, the selection circuit 19 regards the rotation of the loom as shifting and reads the first rotation control pattern from the storage circuit 16.
Then, the selection circuit 19 selects the selected first rotation control pattern and rotary encoder 1 of the aperture drive motor 12.
Based on the rotation angle information obtained from 21, the operation of the aperture drive motor 12 is feedback-controlled. In this feedback control, the shedding drive motor 12 follows the rotational fluctuation of the loom with high accuracy.
【００２２】制御パターン生成回路１８は製織開始信号
の入力に応答して第２の回転制御パターンの生成を開始
する。制御パターン生成回路１８はロータリエンコーダ
２０からの原点信号の入力に基づいて織機の回転速度を
算出する。そして、制御パターン生成回路１８は算出し
た回転速度に基づいて第２の回転制御パターンを生成す
る。The control pattern generation circuit 18 starts the generation of the second rotation control pattern in response to the input of the weaving start signal. The control pattern generation circuit 18 calculates the rotational speed of the loom based on the input of the origin signal from the rotary encoder 20. Then, the control pattern generation circuit 18 generates the second rotation control pattern based on the calculated rotation speed.
【００２３】回転速度変動が所定変動以下の場合には、
選択回路１９は織機運転を定常運転中と見なして第２の
回転制御パターンを記憶回路１７から読み取る。そし
て、選択回路１９はこの選択した第２の回転制御パター
ン及び開口駆動モータ１２のロータリエンコーダ１２１
から得られる回転角度情報に基づいて開口駆動モータ１
２の作動をフィードバック制御する。又、製織停止信号
が入力した場合にも、選択回路１９は第２の回転制御パ
ターン及び開口駆動モータ１２のロータリエンコーダ１
２１から得られる回転角度情報に基づいて開口駆動モー
タ１２の作動をフィードバック制御する。第２の回転制
御パターンを用いたフィードバック制御では、開口駆動
モータ１２が織機１回転中の回転変動の影響を受けずに
円滑に回転する。When the fluctuation of the rotation speed is less than a predetermined fluctuation,
The selection circuit 19 regards the loom operation as being in steady operation and reads the second rotation control pattern from the storage circuit 17. The selection circuit 19 then selects the selected second rotation control pattern and rotary encoder 121 of the aperture drive motor 12.
Aperture drive motor 1 based on rotation angle information obtained from
The operation of 2 is feedback-controlled. Further, even when the weaving stop signal is input, the selection circuit 19 causes the rotary encoder 1 of the second rotation control pattern and opening drive motor 12 to rotate.
Based on the rotation angle information obtained from 21, the operation of the aperture drive motor 12 is feedback-controlled. In the feedback control using the second rotation control pattern, the shedding drive motor 12 rotates smoothly without being affected by the rotation fluctuation during one rotation of the loom.
【００２４】織機の回転に高精度で追従させる必要のあ
る織機の回転の加減速時には第１の回転制御パターンを
選択することにより綜絖枠１１の開口運動が織機の加減
速に高精度で追従する。織機の回転に高精度で追従させ
る必要のない織機の定常運転時には第２の回転制御パタ
ーンを選択することにより綜絖枠１１の開口運動が織機
１回転中の変動発生にもかかわらず円滑になる。このよ
うな円滑性は電力消費の低減をもたらす。又、織機の定
常運転時の制御系が安定し、綜絖枠１１の開口運動が安
定する。When accelerating and decelerating the rotation of the loom, which needs to follow the rotation of the loom with high precision, the opening motion of the heddle frame 11 follows the acceleration and deceleration of the loom with high precision by selecting the first rotation control pattern. . By selecting the second rotation control pattern during the steady operation of the loom, which does not need to follow the rotation of the loom with high accuracy, the opening movement of the heddle frame 11 becomes smooth despite the occurrence of fluctuation during one rotation of the loom. Such smoothness results in reduced power consumption. Further, the control system during the steady operation of the loom becomes stable, and the opening movement of the heddle frame 11 becomes stable.
【００２５】織機に回転変動があった場合にも第１の回
転制御パターンにおける回転位置と第２の回転制御パタ
ーンにおける回転位置とは織機の１回転中に必ず交差す
る。この交差位置は第１の回転制御パターンと織機１回
転毎に生成される第２の回転制御パターンとから算出さ
れる。第１の回転制御パターンと第２の回転制御パター
ンとの間の切り換えは両パターンにおける回転位置の交
差時点で行われる。このような切り換えタイミングの設
定は切り換えショックを抑制して制御系の安定化に寄与
する。Even when the loom has a rotational fluctuation, the rotational position in the first rotation control pattern and the rotational position in the second rotation control pattern always intersect during one revolution of the loom. This intersecting position is calculated from the first rotation control pattern and the second rotation control pattern generated for each rotation of the loom. Switching between the first rotation control pattern and the second rotation control pattern is performed at the intersection of the rotation positions of both patterns. Such setting of the switching timing suppresses the switching shock and contributes to the stabilization of the control system.
【００２６】次に、図６のフローチャートで示す第２の
実施の形態を説明する。装置構成は第１の実施の形態と
同じであるが、選択回路の機能が第１の実施の形態とは
異なる。第２の回転制御パターンの生成は第１の実施の
形態と同じである。この実施の形態における選択回路
は、第１の回転制御パターンをＸ％用い、第２の回転制
御パターンを（１００─Ｘ）％用いるという組合せの選
択を行なう。Ｘは第１の回転制御パターンの重み率であ
り、（１００─Ｘ）は第２の回転制御パターンの重み率
である。第１の回転制御パターンによる回転速度がＶ
１、第２の回転制御パターンによる回転速度がＶ２のと
き、織機の運転が変速中の場合には選択回路はＶ１・α
１＋Ｖ２・α２という組合せ速度を選択する。但し、α
１＋α２＝１かつα１＞α２である。重み率α１が大き
いほど織機の回転角度に対する綜絖枠の追従性が高ま
る。織機の運転が定常運転中の場合には選択回路はＶ１
・β１＋Ｖ２・β２という組合せ速度を選択する。但
し、β１＋β２＝１かつβ１＜β２である。重み率β２
が大きいほど綜絖枠の運動安定性が高まる。このような
重み率を用いた組合せ制御により織機の回転角度に対す
る綜絖枠の追従性と綜絖枠の運動安定性との両方を満た
す制御が可能となる。Next, a second embodiment shown in the flowchart of FIG. 6 will be described. The device configuration is the same as that of the first embodiment, but the function of the selection circuit is different from that of the first embodiment. The generation of the second rotation control pattern is the same as in the first embodiment. The selection circuit in this embodiment selects a combination in which the first rotation control pattern is used in X% and the second rotation control pattern is used in (100-X)%. X is the weight ratio of the first rotation control pattern, and (100-X) is the weight ratio of the second rotation control pattern. The rotation speed according to the first rotation control pattern is V
When the rotation speed according to the first and second rotation control patterns is V2 and the operation of the loom is shifting, the selection circuit displays V1.α.
Select a combination speed of 1 + V2 · α2. Where α
1 + α2 = 1 and α1> α2. The greater the weighting factor α1, the higher the followability of the heddle frame with respect to the rotation angle of the loom. When the loom is in steady operation, the selection circuit is V1.
・ Select the combination speed of β1 + V2 ・ β2. However, β1 + β2 = 1 and β1 <β2. Weighting factor β2
The larger the value, the more stable the heddle frame will be. By such combined control using the weight ratio, it becomes possible to perform control that satisfies both the followability of the heddle frame with respect to the rotation angle of the loom and the movement stability of the heddle frame.
【００２７】次に、図７のフローチャートで示す第３の
実施の形態を説明する。装置構成は第１の実施の形態と
同じであるが、選択回路の機能が第１の実施の形態とは
異なる。第２の回転制御パターンの生成は第１の実施の
形態と同じである。織機制御コンピュータＣ２が製織開
始信号を選択回路に出力すると、選択回路は第１の回転
制御パターンを選択する。製織開始信号の出力時から所
定時間ｔが経過すると、選択回路は第２の回転制御パタ
ーンを選択する。所定時間ｔは織機の定常運転状態まで
の立ち上がり時間程度に設定される。織機制御コンピュ
ータＣ２が製織停止信号を選択回路に出力すると、選択
回路は第１の回転制御パターンを選択する。Next, a third embodiment shown in the flowchart of FIG. 7 will be described. The device configuration is the same as that of the first embodiment, but the function of the selection circuit is different from that of the first embodiment. The generation of the second rotation control pattern is the same as in the first embodiment. When the weaving machine control computer C2 outputs the weaving start signal to the selection circuit, the selection circuit selects the first rotation control pattern. When a predetermined time t has elapsed from the time of outputting the weaving start signal, the selection circuit selects the second rotation control pattern. The predetermined time t is set to about the rising time until the loom is in a steady operation state. When the weaving machine control computer C2 outputs the weaving stop signal to the selection circuit, the selection circuit selects the first rotation control pattern.
【００２８】この実施の形態では第１の回転制御パター
ンが織機の起動から定常運転までの変速期間及び定常運
転から停止までの変速期間のみに選択されるが、第１の
実施の形態とほぼ同様の効果が得られる。しかも、回転
変動把握のための計算が不要であり、織機の回転速度変
動を把握するための制御が容易になる。In this embodiment, the first rotation control pattern is selected only in the gear change period from the start of the loom to the steady operation and the gear change period from the steady operation to the stop, but almost the same as in the first embodiment. The effect of is obtained. Moreover, the calculation for grasping the rotation fluctuation is unnecessary, and the control for grasping the rotation speed fluctuation of the loom becomes easy.
【００２９】織機の運転速度を製織中に変更する織物の
製織の場合には、製織中においては運転速度変更中のみ
第１の回転制御パターンを選択すればよい。又、本発明
では、定常運転時における予め設定された織機の回転速
度に基づいて第２の回転制御パターンを設定してもよ
い。In the case of weaving a woven fabric in which the operating speed of the loom is changed during weaving, the first rotation control pattern may be selected only during the changing of the operating speed during weaving. Further, in the present invention, the second rotation control pattern may be set based on the preset rotation speed of the loom during steady operation.
【００３０】前記した実施の形態から把握できる請求項
記載以外の発明について以下にその効果と共に記載す
る。 （１）請求項１において、製織開始信号の入力時から所
定の間は第１の回転制御パターンを選択する織機におけ
る開口制御方法。Inventions other than those described in the claims which can be grasped from the above-described embodiment will be described below together with their effects. (1) A shed control method in a loom according to claim 1, wherein the first rotation control pattern is selected for a predetermined period after the input of the weaving start signal.
【００３１】織機の回転速度変動を把握するための制御
が容易になる。 （２）請求項１において、製織停止信号の入力後は第１
の回転制御パターンを選択する織機における開口制御方
法。The control for grasping the fluctuation of the rotation speed of the loom becomes easy. (2) In claim 1, it is the first after the input of the weaving stop signal.
Control method in a loom that selects the rotation control pattern of the machine.
【００３２】織機の回転速度変動を把握するための制御
が容易になる。 （３）第１の回転制御パターンと第２の回転制御パター
ンとの切り換えは両パターンにおける開口駆動モータの
回転位置の交差時点に行われる織機における開口制御方
法。The control for grasping the fluctuation of the rotation speed of the loom becomes easy. (3) A shed control method in a loom in which switching between the first rotation control pattern and the second rotation control pattern is performed at the time when the rotational positions of the shed drive motor in both patterns intersect.
【００３３】第１の回転制御パターンと第２の回転制御
パターンとの間の切り換えショックを抑制して制御系の
安定化に寄与する。A switching shock between the first rotation control pattern and the second rotation control pattern is suppressed to contribute to stabilization of the control system.
【００３４】[0034]
【発明の効果】以上詳述したように、検出された織機の
回転速度に基づいて生成される回転制御パターンを用い
て開口駆動モータの作動を制御するようにした発明で
は、電力消費を抑制しつつ綜絖枠の運動の安定性を向上
し得る。As described above in detail, in the invention in which the operation of the shedding drive motor is controlled by using the rotation control pattern generated based on the detected rotation speed of the loom, power consumption is suppressed. While improving the stability of the movement of the heddle frame.
【００３５】織機の変速運転時には織機の回転角度を変
数とした開口駆動モータの第１の回転制御パターンを用
い、織機の定速運転時には時間を変数とした開口駆動モ
ータの第２の回転制御パターンを用いるようにした発明
では、電力消費を抑制しつつ綜絖枠の運動の安定性を向
上し得る。The first rotation control pattern of the shedding drive motor using the rotation angle of the weaving machine as a variable is used during variable speed operation of the loom, and the second rotation control pattern of the shedding drive motor using time as a variable during constant speed operation of the loom. According to the invention using, the stability of the movement of the heddle frame can be improved while suppressing the power consumption.
【００３６】第１の回転制御パターンと第２の回転制御
パターンとを同時的に組み合わせて用いる発明では、織
機の回転角度に対する綜絖枠の追従性と綜絖枠の運動安
定性との両方を満たす制御が可能となる。In the invention in which the first rotation control pattern and the second rotation control pattern are used in combination at the same time, the control satisfying both the followability of the heddle frame with respect to the rotation angle of the loom and the movement stability of the heddle frame. Is possible.
【図１】第１の実施の形態を示す開口装置と制御ブロッ
ク図との組合せ図。FIG. 1 is a combination diagram of an opening device and a control block diagram showing a first embodiment.
【図２】第１の回転制御パターンを説明するグラフ。FIG. 2 is a graph illustrating a first rotation control pattern.
【図３】第２の回転制御パターンを説明するグラフ。FIG. 3 is a graph illustrating a second rotation control pattern.
【図４】開口制御プログラムを表すフローチャート。FIG. 4 is a flowchart showing an opening control program.
【図５】開口制御プログラムを表すフローチャート。FIG. 5 is a flowchart showing an opening control program.
【図６】第２の実施の形態の開口制御プログラムを表す
フローチャート。FIG. 6 is a flowchart showing an opening control program according to the second embodiment.
【図７】第３の実施の形態の開口制御プログラムを表す
フローチャート。FIG. 7 is a flowchart showing an opening control program according to the third embodiment.
１１…綜絖枠、１２…開口駆動モータ、１６…第１の回
転制御パターン設定手段を構成する第１の回転制御パタ
ーン記憶回路、１７…第２の回転制御パターン設定手段
を構成する第１の回転制御パターン記憶回路、１８…第
２の回転制御パターン設定手段を構成する制御パターン
生成回路、１９…選択手段となる選択回路、２０…運転
速度検出手段となるロータリエンコーダ、Ｃ１…開口制
御装置。Reference numeral 11 ... Heald frame, 12 ... Opening drive motor, 16 ... First rotation control pattern storage circuit constituting first rotation control pattern setting means, 17 ... First rotation constituting second rotation control pattern setting means Control pattern storage circuit, 18 ... Control pattern generation circuit that constitutes second rotation control pattern setting means, 19 ... Selection circuit that serves as selection means, 20 ... Rotary encoder that serves as operating speed detection means, C1 ... Opening control device.
Claims (5)
タによって綜絖枠を駆動する開口装置において、 検出された織機の回転速度に基づいて生成される時間を
変数とした開口駆動モータの回転制御パターンを用意
し、前記時間を変数とした回転制御パターンを用いて開
口駆動モータの作動を制御する織機における開口制御方
法。1. A shedding device for driving a heald frame by an shedding drive motor independent of a weaving machine drive motor, wherein a rotation control pattern of the shedding drive motor is defined by a variable time generated based on the detected rotation speed of the loom. An opening control method for a loom, which is prepared and controls the operation of an opening drive motor using a rotation control pattern in which the time is a variable.
タによって綜絖枠を駆動する開口装置において、 織機の回転角度を変数とした開口駆動モータの第１の回
転制御パターンと、時間を変数とした開口駆動モータの
第２の回転制御パターンとを用意し、織機の変速運転時
には第１の回転制御パターンを用い、織機の定速運転時
には第２の回転制御パターンを用いる織機における開口
制御方法。2. An opening device for driving a heald frame by an opening drive motor independent of a loom drive motor, wherein a first rotation control pattern of the opening drive motor having a variable rotation angle of the loom and an opening having a variable time. And a second rotation control pattern of the drive motor, wherein the first rotation control pattern is used during a variable speed operation of the loom, and the second rotation control pattern is used during a constant speed operation of the loom.
タによって綜絖枠を駆動する開口装置において、 織機の回転角度を変数とした開口駆動モータの第１の回
転制御パターンと、時間を変数とした開口駆動モータの
第２の回転制御パターンとを用意し、第１の回転制御パ
ターンと第２の回転制御パターンとを同時的に組み合わ
せて用いる織機における開口制御方法。3. An opening device for driving a heddle frame by an opening drive motor independent of a loom drive motor, wherein a first rotation control pattern of the opening drive motor having a variable rotation angle of the loom and an opening having a variable time. A shedding control method for a loom, wherein a second rotation control pattern of a drive motor is prepared, and the first rotation control pattern and the second rotation control pattern are simultaneously combined.
機の回転速度に基づいて生成される請求項２及び請求項
３のいずれか１項に記載の織機における開口制御方法。4. The shedding control method for a loom according to claim 2, wherein the second rotation control pattern is generated based on the detected rotation speed of the loom.
タによって綜絖枠を駆動する開口装置において、 織機の回転角度を変数とした開口駆動モータの第１の回
転制御パターンを設定する第１の回転制御パターン設定
手段と、 時間を変数とした開口駆動モータの第２の回転制御パタ
ーンを設定する第２の回転制御パターン設定手段と、 織機の運転速度を検出する運転速度検出手段と、 前記運転速度検出手段によって検出された運転速度状態
に基づいて第１の回転制御パターンと第２の回転制御パ
ターンとの少なくとも一方を選択する選択手段とを備え
た織機における開口制御装置。5. A shedding device for driving a heald frame by an shedding drive motor independent of a weaving machine drive motor, wherein a first rotation control for setting a first rotation control pattern of the shedding drive motor with a rotation angle of the loom as a variable. Pattern setting means, second rotation control pattern setting means for setting a second rotation control pattern of the opening drive motor with time as a variable, operating speed detecting means for detecting the operating speed of the loom, and said operating speed detection A shedding control device in a loom, comprising: a selection unit that selects at least one of a first rotation control pattern and a second rotation control pattern based on an operating speed state detected by the unit.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22679895A JP3214307B2 (en) | 1995-09-04 | 1995-09-04 | Opening control method and apparatus in loom |
| TW085106554A TW358836B (en) | 1995-09-04 | 1996-06-01 | Method and apparatus for controlling shedding in a weaving machine |
| EP96113088A EP0761856B1 (en) | 1995-09-04 | 1996-08-14 | Shedding control method and apparatus for a loom |
| DE69620960T DE69620960T2 (en) | 1995-09-04 | 1996-08-14 | Method and device for controlling shed formation in a weaving machine |
| KR1019960034841A KR0180984B1 (en) | 1995-09-04 | 1996-08-22 | Control of shedding in loom and apparatus therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22679895A JP3214307B2 (en) | 1995-09-04 | 1995-09-04 | Opening control method and apparatus in loom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0978388A true JPH0978388A (en) | 1997-03-25 |
| JP3214307B2 JP3214307B2 (en) | 2001-10-02 |
Family
ID=16850786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22679895A Expired - Lifetime JP3214307B2 (en) | 1995-09-04 | 1995-09-04 | Opening control method and apparatus in loom |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP0761856B1 (en) |
| JP (1) | JP3214307B2 (en) |
| KR (1) | KR0180984B1 (en) |
| DE (1) | DE69620960T2 (en) |
| TW (1) | TW358836B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103459689A (en) * | 2011-03-29 | 2013-12-18 | 林道尔·多尼尔有限责任公司 | Method and weaving machine for shedding |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0893525A1 (en) * | 1997-07-24 | 1999-01-27 | Sulzer Rüti Ag | Driving arrangement for a loom and loom with such an arrangement |
| DE10053079C1 (en) | 2000-10-26 | 2002-05-29 | Dornier Gmbh Lindauer | Method for operating a weaving and shedding machine |
| DE10236095B3 (en) * | 2002-08-07 | 2004-02-05 | Lindauer Dornier Gesellschaft Mbh | Loom operation with a number of drives, initially runs the main drive at a slower speed on start-up until it reaches working levels, while the shed drive is accelerated to its working speed and is braked slowly on stopping |
| JP2004100053A (en) * | 2002-09-05 | 2004-04-02 | Tsudakoma Corp | Method for controlling restarting of loom |
| BE1016287A6 (en) * | 2004-07-14 | 2006-07-04 | Picanol Nv | SHAPE FORMING FOR A WEAVING MACHINE AND WEAVING MACHINE. |
| JP4721400B2 (en) * | 2004-10-25 | 2011-07-13 | 津田駒工業株式会社 | Electric opening device of loom |
| JP2007009355A (en) * | 2005-06-29 | 2007-01-18 | Tsudakoma Corp | Electric shedding machine of loom |
| DE102007009297A1 (en) * | 2007-02-19 | 2008-08-21 | Picanol N.V. | Method for driving drive motors and control for drive motors of a loom |
| CN101782458B (en) * | 2009-12-17 | 2011-11-09 | 江苏万工科技集团有限公司 | Motion test device of motion law of shedding mechanism |
| JP5273218B2 (en) * | 2011-07-06 | 2013-08-28 | 株式会社豊田自動織機 | Warp opening device and operation control method in warp opening device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5593849A (en) * | 1978-12-30 | 1980-07-16 | Toyoda Automatic Loom Works | Timing setting method and apparatus in loom |
| JP3089070B2 (en) * | 1990-12-25 | 2000-09-18 | 津田駒工業株式会社 | Loom motion mechanism controller |
| JP3242123B2 (en) * | 1991-05-13 | 2001-12-25 | 津田駒工業株式会社 | Loom shedding control device |
| JP2982446B2 (en) * | 1991-12-12 | 1999-11-22 | 株式会社豊田自動織機製作所 | Loom control method |
| JP3124652B2 (en) * | 1993-05-12 | 2001-01-15 | 津田駒工業株式会社 | Loom motion mechanism controller |
-
1995
- 1995-09-04 JP JP22679895A patent/JP3214307B2/en not_active Expired - Lifetime
-
1996
- 1996-06-01 TW TW085106554A patent/TW358836B/en not_active IP Right Cessation
- 1996-08-14 DE DE69620960T patent/DE69620960T2/en not_active Expired - Lifetime
- 1996-08-14 EP EP96113088A patent/EP0761856B1/en not_active Expired - Lifetime
- 1996-08-22 KR KR1019960034841A patent/KR0180984B1/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103459689A (en) * | 2011-03-29 | 2013-12-18 | 林道尔·多尼尔有限责任公司 | Method and weaving machine for shedding |
| US9043010B2 (en) | 2011-03-29 | 2015-05-26 | Lindauer Dornier Gesellschaft Mbh | Method and weaving machine for shedding |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0761856A2 (en) | 1997-03-12 |
| TW358836B (en) | 1999-05-21 |
| DE69620960T2 (en) | 2002-11-21 |
| EP0761856B1 (en) | 2002-05-02 |
| DE69620960D1 (en) | 2002-06-06 |
| KR0180984B1 (en) | 1999-02-01 |
| JP3214307B2 (en) | 2001-10-02 |
| KR970015819A (en) | 1997-04-28 |
| EP0761856A3 (en) | 1998-11-25 |
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