KR0180984B1 - Control of shedding in loom and apparatus therefor - Google Patents

Abstract

1. TECHNICAL FIELD OF THE INVENTION

The present invention relates to a method and an apparatus for opening opening control in a loom.

2. The technical problem to be solved by the invention

In the opening device which drives the carafe by the opening drive motor independent from the direct drive motor, the power consumption is controlled while improving the stability of the motion of the carafe.

3. Summary of Solution to Invention

The opening control device C1 for feedback control of the opening drive motor 12 includes a first rotation control pattern memory circuit 16 for storing a first rotation control pattern, and a second rotation control pattern. And a second rotation control pattern storage circuit 17, a control pattern generation circuit 18 for generating the second rotation control pattern, and a selection circuit 19. As shown in FIG. The control pattern generation circuit 18 generates a second rotation control pattern based on the rotation speed information obtained from the rotary & coder 20 for detecting the rotation angle of the loom. The selection circuit 19 selects one of the first and second rotation control patterns on the basis of the rotational speed variation information obtained from the rotary & coder 20.

4. Important uses of the invention

It is possible to manufacture an opening device which drives and improves the stability of the movement of an ingot (a vertical frame) while controlling the power consumption by an opening drive motor independent of the direct drive motor.

Description

Opening opening control method and device in loom

1 is a combination diagram of an opening device and a control block, showing the first embodiment.

2 is a graph for explaining a first rotation control pattern.

3 is a graph for explaining the second rotation control pattern.

4 is a flowchart showing an opening control program.

5 is a flowchart showing an opening control program.

Fig. 6 is a flowchart showing an opening control program of the second embodiment.

Fig. 7 is a flowchart showing an opening control program of the third embodiment.

* Explanation of symbols for main parts of the drawings

11: Ingot stand (longitudinal frame) 12: Opening drive motor

16: first rotation control pattern memory circuit constituting first rotation control pattern setting means

17: first rotation control pattern memory circuit constituting second rotation control pattern setting means

18: control pattern generation circuit constituting the second rotation control pattern setting means

19: selection circuit for selecting means

20: Rotary & coder as a driving speed detection means

C1: opening control device

The present invention relates to a method and an apparatus for opening opening in a loom.

An opening control device that connects one ingot stand and one dedicated drive motor in a one-to-one connection and drives a plurality of ingot stand (single-frame) in a dedicated motor is disclosed in Japanese Laid-Open Patent Publication 5-25751. Japanese Patent Laid-Open No. 6-322644 is disclosed.

In either of Japanese Patent Laid-Open Publication No. 5-25751 and Japanese Patent Laid-Open Publication No. 6-322644, the deviation of the target rotational amount and the actual rotational amount of the drive motor according to the rotation angle of the loom spindle is detected and detected. The drive motor is rotated to eliminate the deviation. In this case, in the apparatus of Japanese Patent Laid-Open No. 5-25751, the loop gain is adjusted by following the deviation, and in the apparatus of Japanese Patent Laid-Open No. 6-322644 on the basis of the operating position of the ingot The loop gain is being adjusted.

In the apparatus of Japanese Patent Laid-Open No. 5-25751, the magnitude of the loop gain is adjusted according to the magnitude of the deviation, and the drive motor accurately follows the main axis of the loom. However, the loom spindle causes rotational fluctuation due to body reeding, warp tension fluctuation, and the like. Therefore, in the case where rotation fluctuation occurs in the main shaft of the loom, the drive motor follows, and the drive motor repeats useless acceleration and deceleration. This operation of the drive motor leads to an increase in power consumption.

With the apparatus of Japanese Patent Laid-Open No. 6-322644, the loop gain is increased when the warp (warp) is closed, which requires high precision control, and the loop gain is increased when the warp (warp) is opened, which does not require high precision control. I make it small. However, switching the control precision during normal operation of the loom leads to a lack of stability of the control system, and smooth operation of the ingot (or vertical frame) is reduced.

An object of the present invention is to increase the stability of the movement of an ingot (a longitudinal frame) while suppressing the power consumption in the opening device for driving the ingot (a longitudinal frame) by an opening-drive motor independent of the direct drive motor. .

To this end, in the invention of claim 1, a rotation control pattern of an open-drive motor having a time generated as a variable based on the detected rotational speed of the loom is prepared, and opened using a rotation control pattern having the time as a variable. The operation of the drive motor is controlled.

In the invention of claim 2, the first rotational control pattern of the open-drive motor with the rotation angle of the loom as a variable and the second rotational control pattern of the open-drive motor with the time as a variable are prepared, and the shift operation of the loom is performed. The first rotation control pattern was used at the time of use, and the second pattern was used at the constant speed operation of the loom.

In the invention of claim 3, the first rotational control pattern of the open-drive motor with the rotational angle of the loom as a variable and the second rotational control pattern of the open-drive motor with the time as a variable are prepared, The rotation control pattern and the second rotation control pattern were simultaneously used in combination.

In the invention of claim 4, the second rotation control pattern in claims 2 and 3 is generated based on the detected rotational speed of the loom.

In the invention of claim 5, the first rotation control pattern setting means for setting the first rotation control pattern of the open drive motor with the rotation angle of the loom as a variable, and the first drive of the open drive motor with the time variable. Second rotation control pattern setting means for setting the second rotation control pattern, operation speed detection means for detecting an operation speed of the loom, and a first speed based on the operation speed state detected by the operation speed detection means. An opening control apparatus including a selection means for selecting at least one of the rotation control pattern and the second rotation control pattern was constructed.

According to the invention of claim 1, when the loom is not operated with high accuracy synchronization between the rotation angle of the loom and the movement position of the wadding shaft, the open-drive motor is subjected to the rotation control pattern using the time as a variable. Working along, the carapace moves smoothly. The rotation control pattern with time as a variable is generated based on the rotational speed of the actual loom.

It is necessary to make the rotation angle of the loom and the movement position of the ingot (the vertical frame) with high precision at the same time between the operation speed of the loom until the normal operation speed or from the normal operation state to the stop. According to the invention of Claims 2 and 5, when the operation of the loom starts, or in the shifting operation such as deceleration stop, the open-drive motor is operated according to the first rotation control pattern, and the rotation angle of the loom and The movement position of the frame) is performed at the same time with high precision. In normal operation of the loom where the exact same timing of the loom's rotation angle and the locomotive's movement position is not required, the open-drive motor operates according to the second rotation control pattern, and the ingot (movement frame) moves smoothly. do.

According to the invention of claim 3, for example, a combination control is performed in which the first rotation control pattern uses (X)% and the second rotation control pattern uses (100-X)%. When the rotational speed by the first rotational control pattern is V1 and the rotational speed by the second rotational control pattern is (V2), it is referred to as (V1) · (X) + (V2) · (100-X). Combination speed is used.

In this way, the combination control makes it possible to satisfy both the follow-up of the wadding shaft (longitudinal frame) to the rotational speed of the loom and the motion stability of the wadding shaft (longitudinal frame).

According to the invention of claim 4, the second rotation control pattern is generated based on the actual rotational speed of the loom.

Example 1

EMBODIMENT OF THE INVENTION Hereinafter, 1st Embodiment which actualized this invention is described based on FIG.

An opening drive motor 12 is disposed below the ingot (longitudinal frame) 11. The open drive motor 12 is a servo drive type shift drive motor. The crank disc 13 is attached to the output side of the opening-drive motor 12, and the lower frame of the crank disc 13 and the wedge 11 is connected via a connecting rod 14. The crank disc 13 and the connecting rod 14 constitute a crank mechanism, and the rotation of the opening-drive motor 12 in one direction is converted to the up and down movement of the ingot 11 (vertical frame) 11 through the crank mechanism. do. The opening drive motor 12 is commanded by the opening control device C1. The opening opening control device C1 feedback-controls the opening driving motor 12 based on the rotation angle information obtained from the rotary & coder 20 piggybacked on the opening driving motor 12.

The opening 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 pattern for storing the second rotation control pattern. From the second rotation control pattern storage circuit 17, the control pattern generation circuit 18 for generating the second rotation control pattern, and the selection circuit 19 for selecting one of the first and second rotation control patterns. Is done. The input device 15 and the first rotation control pattern storage circuit 16 constitute the first rotation control pattern setting means, and the second rotation control pattern storage circuit 17 and the control pattern generation circuit 18 A second rotation control pattern setting means is constituted. The control pattern generation circuit 18 generates a second rotation control pattern on the basis of the rotation speed information obtained from the rotary & coder 20 for detecting the rotation angle of the loom. The selection circuit 19 serving as the selection means selects one of the first and second rotation control patterns on the basis of the rotation speed variation information obtained from the rotary & coder 20 serving as the operation speed detection means.

The selection circuit 19 feedback-controls the operation of the open drive motor 12 based on the selected rotation control pattern and the rotation angle information obtained from the rotary & coder 121 of the open drive motor 12. That is, the selection circuit 19 issues a speed command in accordance with the difference between the rotation angle obtained from the rotary & coder 121 and the rotation speed in the rotation control pattern.

The loom control computer C2, which controls the operation of the locomotive motor 21, starts to operate the locomotive motor 21 according to the operation of the ON switch (not shown) and simultaneously controls the weaving start signal. Output to the pattern generation circuit 18 and the selection circuit 19. In addition, when an abnormality such as weft failure or warp cutting occurs, the loom control computer C2 stops the operation of the loom driving motor 21, and simultaneously outputs the weaving stop signal to the control pattern generation circuit 18 and Output to the selection circuit 19.

FIG. 2 shows the opening pattern of the opening of the inlet 11 and the curve E1 represents the first rotation control pattern corresponding to the opening pattern of the opening of the inlet 11. The transverse side of the coordinate system of the curve D represents the rotation angle of the loom, and the vertical axis represents the height position of the ingot (longitudinal frame) 11. 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 open-drive motor 12. The waveforms F1, F2, F3, and F4 of the pulse phase in FIG. 3 indicate the origin signal output from the rotary & encoder 20 at each rotation of the loom. Curve E2 shows a second rotation control pattern generated based on the rotational speed of the loom which is known 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 open 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 origin signal to generate the rotation control pattern between the origin signals F3 and F2. The rotation speed between (F2) and (F1) is used. That is, the rotational speed between the origin signal one ahead of this is used to generate the rotation control pattern between certain nuclear power signals. The rotation speed in the second rotation control pattern between the origin signals is constant. The rotation speed is 0 (zero) between the origin signals F3 and F4.

The flowchart of FIG. 5 including FIG. 4 shows the opening control program by opening control device C1. The selection circuit 19 calculates a rotational speed change (ie, acceleration or deceleration) of the loom based on the rotation angle detection information obtained from the rotary & coder 20. When the rotational speed fluctuation is greater than or equal to the predetermined fluctuation, the selection circuit 19 regards the rotation of the loom as shifting and reads out the first rotation control pattern from the memory circuit 16. Then, the selection circuit 19 performs the operation of the open drive motor 12 based on the selected first rotation control pattern and the rotation angle information obtained from the rotary encoder 121 of the open drive motor 12. Feedback control. In this feedback control, the open drive motor 12 accurately follows the rotational fluctuation of the loom.

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 & coder 20. The control pattern 18 generates a second rotation control pattern based on the calculated rotation speed.

When the rotational speed fluctuation is less than or equal to the predetermined fluctuation, the selection circuit 19 regards the loom operation as normal operation and reads out the second rotation control pattern from the memory circuit 17. The selection circuit 19 feeds back the operation of the opening-drive motor 12 based on the selected second rotation control pattern and the rotation angle information obtained from the rotary & encoder 121 of the open-drive motor 12. To control. In addition, even when the weaving stop signal is input, the selection circuit 19 maintains the open drive motor based on the second rotation control pattern and the rotation angle information obtained from the rotary & coder 121 of the opening drive motor 12. Feedback control of operation of (12). The feedback control circuit using the second rotation control pattern rotates smoothly so that the open drive motor 12 is not affected by rotational fluctuations during one loom rotation.

At the time of acceleration and deceleration of the rotation of the loom which needs to follow the rotation of the loom with high precision, the opening movement of the ingot (the vertical frame) 11 is highly precise at the time of acceleration and deceleration of the loom by selecting the first rotation control pattern. Follow the road. In the normal operation of the loom which does not need to follow the rotation of the loom with high precision, the opening movement of the inlet (11) is selected by the first rotation control pattern in spite of fluctuations during one loom rotation. It is done smoothly.

Such smoothness results in a reduction in power consumption. Moreover, the control system at the time of normal operation of the loom is stabilized, and the opening movement of the wadding shaft (final frame) 11 is stabilized.

Even when there are rotational changes in the loom, the rotational position in the first rotational control pattern and the rotational position in the second rotational control pattern necessarily intersect during one rotation of the loom. This intersection position is calculated from the first rotation control pattern and the second rotation control pattern generated at each rotation of the loom. The switching between the first rotation control pattern and the second rotation control pattern is performed at the point of intersection of the rotation positions in both patterns. Such setting of the switching timing suppresses the switching shock and contributes to stabilization of the control system.

Example 2

Next, 2nd Embodiment shown by the flowchart of FIG. 6 is demonstrated. The apparatus configuration is the same as that of the first embodiment, but the loom 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 of using (X)% for the first rotation control pattern and (100-X)% for the second rotation control pattern. (X) is the increase rate of the first rotation control pattern, and (100-X) is the increase rate of the second rotation control pattern. When the rotation speed by the first rotation control pattern is (V1) and the rotation speed by the second rotation control pattern is (V2), when the operation of the loom is shifting, the selection circuit is (V1 · α1 + V2). Select a combination speed called α2). However, (α1 + α2 = 1) is also (α1α2). The larger the increase rate α1 is, the higher the followability of the wadding shaft (longitudinal frame) to the rotation angle of the loom is. When the operation of the loom is in normal operation, the selection circuit selects the combined speed of (V1, β1 + V2, β2). Provided that (β1 + β2 = 1 and β1β2). The larger the increase rate β2, the higher the operational stability of the carcass. Combination control using such an increase rate makes it possible to satisfy both the tracking of the wadding shaft and the motion stability of the wadding shaft with respect to the rotation angle of the loom.

Example 3

Next, the third embodiment indicated by the seventh flowchart will be described. Although the device configuration is the same as in the first embodiment, the function of the selection circuit is different from that in the first embodiment. The generation of the second rotation control pattern is the same as in the first embodiment. When the loom control computer C2 outputs the weaving start signal to the selection circuit, the selection circuit selects the first rotation control pattern. When the predetermined time t elapses from the output of the weaving start signal, the selection circuit selects the first rotation control pattern. The predetermined time t is set to about the start time up to the normal operation state of the loom. When the loom control computer C2 outputs the weaving stop signal to the selection circuit, the selection circuit selects the first rotation control pattern.

In this embodiment, the first rotation control pattern selects only the shift period from the start of the loom to the normal operation and the shift period from the normal operation to the stop, but almost the same effect as in the first embodiment is obtained. In addition, the calculation for the rotation fluctuation is not necessary, and the control for grasping the rotational speed fluctuation of the loom is easy.

In the case of the weaving of the woven fabric which changes the operating speed of the loom during weaving, the first rotation control pattern may be selected only during the changing of the operating speed during weaving.

In the present invention, the second rotation control pattern may be set on the basis of the rotation speed of the loom set in advance in the normal operation.

The invention other than the claims described above can be described together with the effects thereof.

(1) The opening opening control method according to claim 1, wherein the loom which selects the first rotation control pattern from a time when the weaving start signal is input is predetermined.

Control of the loom is easy because the rotation speed of the loom is grasped.

(2) The opening opening control method according to claim 1, wherein the loom which selects the first rotation control pattern after input of the weaving stop signal.

Control of the loom is easy because the rotation speed of the loom is grasped.

(3) An opening control method for a loom in which a switching between the first rotation control pattern and the second rotation control pattern is performed at the intersection of the rotation positions of the open drive motors in both patterns.

The switching shock between the first rotation control pattern and the second rotation control pattern is suppressed to contribute to stabilization of the control system.

As described above, in the invention in which the operation of the open-drive motor is controlled by using the rotation control pattern generated based on the detected rotational speed of the loom, the movement of the ingot (final frame) while suppressing the power consumption. It is obtained by improving the stability.

In the shifting operation of the loom, the first rotation control pattern of the open-drive motor using the rotation angle of the loom is used, and in the constant speed operation of the loom, the second rotation control of the open-drive motor using the variable as the time According to the invention made to use a pattern, it is possible to improve the stability of the movement of an ingot (a vertical frame) while suppressing power consumption.

In the invention using a combination of the first rotation control pattern and the second rotation control pattern simultaneously, both tracking of the loom (rotational frame) and rotational stability of the loom (rotational frame) with respect to the rotation angle of the loom are obtained. Satisfactory control is possible.

Claims (5)

In the opening device for driving the ingot stand (longitudinal frame) 11 by the opening drive motor 12 independent from the direct drive motor 21, a variable generated on the basis of the detected rotational speed of the loom. An opening control method for a loom which prepares a rotation control pattern of the opening drive motor (12) and controls the operation of the opening drive motor (12) using the rotation control pattern with the above time as a variable. In the opening device for driving the ingot stand (longitudinal frame) 11 by the opening drive motor 12 independent from the direct drive motor 21, the opening drive motor 12 using the rotational speed of the loom as a variable. The first rotation control pattern and the second rotation control pattern of the open-drive motor with time as a variable, and the first rotation control pattern is used for the shifting operation of the loom, and the constant rotation operation of the loom An opening control method for a loom using a second rotation control pattern. In the opening device for driving the ingot stand (longitudinal frame) 11 by the opening drive motor 12 independent from the direct drive motor 21, the opening drive motor 12 using the rotational speed of the loom as a variable. A first rotation control pattern and a second rotation control pattern of the open drive motor using time as variables, and simultaneously use the first rotation control pattern and the second rotation control pattern in combination. Opening opening control method in loom. The opening opening control method of the loom of Claim 2 or 3 which produces | generates a 2nd rotation control pattern based on the detected rotational speed of the loom. In the opening device for driving the ingot stand (longitudinal frame) 11 by the opening drive motor 12 independent from the direct drive motor 21, the opening drive motor 12 having the rotation angle of the loom as a variable. First rotation control pattern setting means (15, 16) for setting the first rotation control pattern of the second and second rotation control pattern for the open drive motor (12) with time as a variable; The first and second operations are performed based on the rotation control pattern setting means 17 and 18, the operation speed detection means 20 for detecting the operation speed of the loom, and the operation speed state detected by the operation speed detection means 20. An opening control apparatus for a loom having a selection means (19) for selecting at least one of a rotation control pattern and a second rotation control pattern.