EP1405941B1 - Dispositif de commande de frein de fil de trame pour métiers à tisser - Google Patents

Dispositif de commande de frein de fil de trame pour métiers à tisser Download PDF

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Publication number
EP1405941B1
EP1405941B1 EP20030020834 EP03020834A EP1405941B1 EP 1405941 B1 EP1405941 B1 EP 1405941B1 EP 20030020834 EP20030020834 EP 20030020834 EP 03020834 A EP03020834 A EP 03020834A EP 1405941 B1 EP1405941 B1 EP 1405941B1
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Prior art keywords
signal
motor
current
weft
time
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German (de)
English (en)
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EP1405941A1 (fr
Inventor
Luca Gotti
Pietro Zenoni
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LGL Electronics SpA
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LGL Electronics SpA
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    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D47/00—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms
    • D03D47/34—Handling the weft between bulk storage and weft-inserting means

Definitions

  • the present invention relates to a weft-brake control apparatus for weaving looms, particularly fluid-jet looms.
  • a generic weaving loom includes a weft feeder comprising a motor housing and a stationary cylinder on which a swivel arm, which is keyed to a hollow driving shaft of a motor, winds a plurality of yarn loops forming a weft reserve.
  • Fluid-jet looms air, water
  • a pre-measurer comprising an electro-operated weft-stopping member capable of releasing predetermined quantities of yarn from the reserve, on request from the loom.
  • the loom generates a request signal which exactly enables the insertion at a desired angular position (usually when the reed is opened).
  • a photoelectric cell Downstream of the cylinder is arranged a photoelectric cell adapted to measure the quantity of yarn unwinding from the cylinder by generating one pulse per each unwound loop.
  • the insertion is stopped by shutting said weft-stopping member.
  • a braking device is arranged between the pre-measurer and the loom in order to slow down the weft speed before the weft-stopping member abruptly stops the weft at the end of the insertion, thereby preventing any break of the yarn and enabling higher insertion rates.
  • a known weft-brake comprises at least a pair of stationary, coaxial yarn-guide eyelets through which the yarn runs. The yam follows a rectilinear path between the eyelets.
  • a U-shaped braking member is arranged between the eyelets at right angle to their axis and, during braking, it is adapted to engage the yarn in the free lengths between the eyelets.
  • the braking member is keyed at right angle to the driving spindle of a rotary motor which, when being operated, causes the braking member to be rotated.
  • the U-shaped braking member by deviating the yarn from its rectilinear path, causes it to be braked by friction.
  • the angular displacement of the U-shaped braking member is delimited by two limit stops.
  • the braking force depends on the deviation angle of the yarn, which is controlled by a position sensor which generates a signal of the angular position of the driving spindle of the braking device.
  • a controller of the weft feeder receives the request signal from the loom and the pulses from the photoelectric cell downstream of the cylinder, and processes them to generate a desired angular position, which continuously changes over time and is followed by a current/position control loop system.
  • the braking apparatus is very sophisticated, and the need for a reduction of its manufacturing costs and maintenance costs, as well as of the weight and sizes of its parts, drives the operators in this field to seek a simplification of its structure.
  • a main object of the present invention is to provide a weft-brake control apparatus which is easier to be manufactured and which does not require said position sensor, and by which the position signal can be accurately determined.
  • a generic fluid-jet weaving loom includes a weft feeder AT comprising a motor housing MO and a stationary cylinder TA onto which a swivel arm BR, which is keyed to a hollow driving shaft operated by a motor, winds a plurality of loops of yarn F forming a weft reserve RT.
  • the loom is provided with a pre-measurer comprising an electro-operated weft-stopping member PTF capable of releasing predetermined quantities of yarn F from the reserve RT, on request of loom TE.
  • the loom generates a request signal TRG which exactly enables the insertion at a desired angular position (usually at the opening of the reed).
  • a photoelectric cell UWPS is arranged downstream of the stationary cylinder TA and is adapted to measure the quantity of yarn Y unwinding from the cylinder by generating a pulse UWP per each unwound loop.
  • the insertion is stopped by shutting said weft-stopping member PFT.
  • a weft-brake FE is arranged between the pre-measurer and loom TE, and is adapted to slow down the weft speed before weft-stopping member PTF abruptly stops the weft at the end of the insertion.
  • Such weft-brake FE comprises a pair of stationary, coaxial yarn-guide eyelets, respectively an inlet eyelet OI and an outlet eyelet OU, through which the yarn F runs. The yarn follows a rectilinear path between the eyelets.
  • a U-shaped braking rod AF is arranged between eyelets OI, OU at right angle to their axis and, during braking, it is operated to engage the yarn in the free length between the eyelets.
  • braking rod AF is keyed at right angle to the spindle of a rotary motor M which, when being operated, causes the rod to be rotated.
  • Braking rod AF by deviating the yarn F from its rectilinear path, causes it to be braked by friction.
  • the angular displacement of braking member AF is delimited by an upper limit stop FI and a lower limit stop FF.
  • the braking force depends on the deviation angle of the yarn.
  • the deviation angle is controlled by a position sensor SE which is connected to the spindle of motor M and is adapted to generate a signal Pos_mis of the angular position of the spindle and, consequently, of braking rod AF.
  • a controller CA of the weft feeder receives the request signal TRG from the loom and the pulses UWP from the photoelectric cell UWPS arranged downstream of cylinder TA, and processes them to generate a signal of the desired angular position Pos_ref, which continuously changes over time and is followed by a position-control block.
  • the latter comprises a position-control loop consisting of a subtracting node 1 that receives the signals Pos_ref and Pos_mis and generates a position error signal Perr from their difference.
  • the position error signal Perr is sent to a position compensator 2 that generates a corresponding reference current signal Iref.
  • a second subtracting node 3 receives the signal Iref and a current signal Imis measured across the load, and generates a current error signal Ierr from their difference.
  • Current signal Imis is measured by means of a current sensor AC connected to one of the power leads to motor M.
  • the signal Ierr is sent to a current compensator 4 that generates a corresponding wave clipping index to control the power supply to the motor, i.e. a duty cycle signal Duty reflecting the ratio of the time during which the signal is active and the total period of the wave.
  • the above signal is applied to a wave-form generator WFG, which generates four low-level control signals GL1, GL4 on the basis of the duty cycle signal Duty, for enabling field-effect transistors MOS Q1-Q4, known as MOSFETs (Metal Oxide Semiconductor Field Effect Transistor), of a H-shaped bridge PD.
  • MOSFETs Metal Oxide Semiconductor Field Effect Transistor
  • a gate driver GD between wave-form generator WFG and H-shaped bridge PD is designed to match the signals GL1-GL4 with the voltage levels G1-G4 that are compatible with the gate of the MOSFETs Q1-Q4 of H-shaped bridge PD.
  • Fig. 2 shows the position-control block according to the invention.
  • the motor M is indicated by its equivalent electric circuit, which comprises a resistor R, an inductor L and an electromotive force E.
  • Power to motor M is supplied by a voltage V(t) giving rise to a current I(t).
  • V(t) R ⁇ I t + L ⁇ dI dt + E t , where dI/dt is the derivative of the current over time.
  • E t K ⁇ vel t , where K is a characteristic constant of the motor and vel (t) is the speed of the motor.
  • the position p(t) of the motor and, consequently, of the braking rod can be determined on the basis of the relation above.
  • a position estimator SP e.g. by means of DSP devices (Digital Signal Processor) which are well known to the persons skilled in the art.
  • V(t) is not the real voltage measured at the input of the motor, it differs from it by only a negligible error.
  • the feedback position signal Pos_mis is obtained by position estimator SP, which calculates the position of the motor on the basis of the signals Imis, Duty Cycle and Vs(t) according to the above equations.
  • a predetermined definite value e.g. 60ms
  • the feedback is enabled only during this time, i.e. at the end of the insertion, when the position signal Pos_ref is changed to modulate the braking action.
  • This purpose is achieved by means of a selector 5, which is activated by a reference current signal Sel_Iref sent by controller CA, and is adapted to select the reference current signal Iref between a biasing current Ipol, which keeps the weft-brake disabled, and the enabling current Irefp at the output of position compensator 2 (position of Fig. 2 ), which enables the position-control loop.
  • Fig. 3 is a time diagram showing the signals processed by the system according to the invention.
  • the signal TRG which is sent by the loom at time t0, enables the beginning of the insertion, so that sensor UWPS starts detecting the signals UWP1-UWP5 of the unwinding loops.
  • the position-control loop is inactive, while the current loop is on and receives a negative reference current Ipol from controller CA, which causes braking member to engage stop member FI, thereby leaving the weft free between eyelets OI and OU.
  • positive currents are conventionally considered to produce torques that increase the braking action, and negative currents torques that lessen the braking action.
  • Controller CA is set to take into account the delay time of the weft-brake FE and to calculate the instant of the end of the insertion.
  • controller CA enables the position control loop by sending a signal Sel_ref that switches selector 5 from the position allowing the transit of the current signal Ipol to the position allowing the transit of the enabling signal Irefp, and also by sending a position signal Pos_ref of the desired braking angle.
  • the current signal Iref which now equals Irefp, is varied by the position-control loop in order to make signal Pos_mis, which is calculated by estimator SP, correspond to signal Pos_ref, except for a negligible error.
  • controller CA controls the return of braking member AF by changing the reference value Pos_ref into a value that is slightly higher than the value corresponding to FI, in order to prevent collisions of the braking member against limit stop FI.
  • the position-control loop and estimator SP are disabled, and the value Ipol is set at the input of the current loop. Accordingly, a further advantage is achieved, because the braking member is softly driven to its resting position against stop member FI, thereby compensating any prior position error and minimizing the integration errors.
  • the integration is made over a time range sufficiently short that the results are satisfactorily accurate.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Looms (AREA)

Claims (10)

  1. Appareil de commande de frein de fil de trame pour métiers à tisser qui comporte:
    • un délivreur de trame (AT) muni d'un cylindre stationnaire (TA) sur lequel sont enroulés des boucles de fil de trame formant une réserve de trame (RT), et d'un organe d'arrêt de trame (PTF) conçu afin de libérer des quantités prédéfinies de fils (F) pour chaque cycle d'insertion,
    • un métier à tisser (TE) en aval du délivreur de trame (AT),
    • un frein de fil de trame (FE) disposé entre le cylindre (TA) et le métier à tisser (TE) et muni d'un organe de freinage (AF) actionné par un moteur électrique (M) afin d'entrer en prise avec une longueur du fil, en causant ainsi sa rupture par friction, la force de rupture étant en fonction de l'angle de déviation du fil,
    • une boucle de commande de position pour le moteur, comportant un noeud soustractif (1) conçu afin de recevoir un signal de position angulaire souhaitée (Pos_ref) et un signal de position mesurée du moteur (M), et générer un signal d'erreur de position (Perr) à partir de leur différence,
    caractérisé en ce que ledit signal de position mesurée (Pos_mis) est calculé par un dispositif d'évaluation de position (SP) à partir d'un signal (Imis) proportionnel au courant à travers le moteur (M) et d'un signal (V(t)) proportionnel à la tension sur les amenées de courant du moteur (M).
  2. Appareil selon la revendication 1, caractérisé en ce que ledit signal proportionnel au courant (Imis) à travers le moteur (M) est obtenu par un capteur de courant (AC) relié à une des amenées de courant au moteur (M).
  3. Appareil selon la revendication 1 ou 2, où l'alimentation dudit moteur (M) est fournie à travers un pont en forme de H (PD) commandé par un indice de pincement à travers une boucle de commande pour le courant (Imis) à travers le moteur (M), caractérisé en ce que ledit signal proportionnel à la tension sur les amenés de courant (V(t)) du moteur est obtenu par le dispositif d'estimation de position (SP) en multipliant l'indice de découpure par la tension d'alimentation (Vcc(t)).
  4. Appareil selon la revendication 3, caractérisé en ce que ladite tension d'alimentation (Vcc(t)) est calculée par le dispositif d'estimation de position (SP) en multipliant un signal (Vs(t)), lequel est proportionnel à la tension d'alimentation et est généré par un diviseur de tension de résistance (PR) fourni par la tension d'alimentation (Vcc(t)), par un coefficient du diviseur de tension.
  5. L'appareil selon une des revendications de 1 à 4, caractérisé en ce que ledit dispositif d'estimation de position (SP) calcule le signal de position (Pos_mis) du moteur par l'équation suivante: p t = ⋅ t ⁢ 1 t ⁢ 3 ⁢ V t - R ⋅ I t - L ⋅ dI dt K
    Figure imgb0008
    où p(t) est la position mesurée du moteur (Pos_mis), t1 et t3 sont l'heure de démarrage de calcul (t1) et l'heure de fin de calcul (t3) respectivement, V(t) est le signal proportionnel à la tension sur les amenés de courant (V(t)) du moteur, R et L sont la résistance et l'inductance du circuit électrique équivalent du moteur (M) respectivement, K est une constante qui relie la force électromotrice (E(t)) du moteur à la vitesse du moteur (vel(t)), I(t) est le courant à travers le moteur (Imis) et dl/dt est la dérivée du courant dans le temps.
  6. Appareil selon une des revendications de 1 à 5, où une boucle de commande pour le courant comporte un noeud soustractif (3) conçu afin de recevoir un signal de courant de référence (Iref) dans une première entrée et le signal de courant (Imis) à travers la charge dans le second entrée, et générer un signal d'erreur de courant (Ierr) à partir de leur différence, caractérisé en ce que le signal de courant de référence (Iref) est donné par un dispositif sélecteur (5), lequel est commandé par un signal de sélection (Sel_Iref) généré par le dispositif de commande (CA) et est conçu afin de transmettre un signal de déclanchement (Irefp) généré par un compensateur de position (2) sur la base dudit signal d'erreur de position (Perr), pendant le laps de temps entre ladite heure de démarrage de calcul (t1) et ladite heure de fin de calcul (t3), et un signal de courant de polarisation (Ipol) conçu afin de garder le frein désactivé, pendant le reste du temps.
  7. Appareil selon la revendication 5 ou 6, caractérisé en ce que le laps de temps entre ladite heure de démarrage de calcul (t1) et heure de fin de calcul (t3) est établi afin de comporter les dernières boucles se dévidant depuis le cylindre (TA) dans le cycle d'insertion.
  8. Appareil selon une des revendications de 5 à 7, caractérisé en ce que ladite heure de démarrage de calcul (tel) et ladite heure de fin de calcul (t3) définissent un laps de temps à cheval sur la dernière boucle de dévidage.
  9. Appareil selon une des revendications de 1 à 8, caractérisé en ce que ledit dispositif d'évaluation de position (SP) est un dispositif de traitement numérique.
  10. Appareil selon une des revendications de 1 à 9, caractérisé en ce que ledit dispositif d'évaluation de position (SP) comporte un dispositif processeur de signal numérique.
EP20030020834 2002-10-04 2003-09-13 Dispositif de commande de frein de fil de trame pour métiers à tisser Expired - Lifetime EP1405941B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTO20020857 ITTO20020857A1 (it) 2002-10-04 2002-10-04 Dispositivo di controllo del freno di trama per telai di tessitura
ITTO20020857 2002-10-04

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EP1405941A1 EP1405941A1 (fr) 2004-04-07
EP1405941B1 true EP1405941B1 (fr) 2009-11-11

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103092091A (zh) * 2011-10-27 2013-05-08 爱吉尔电子股份公司 打开和随后关闭纱线喂给装置中纬纱制动器的方法和装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1659201B1 (fr) * 2004-11-22 2009-07-08 Sultex AG Méthode de freinage de la trame d'un métier à tisser à jet de fluide
ITTO20050484A1 (it) * 2005-07-14 2007-01-15 L G L Electronics Spa Unita' di controllo per dispositivi di frenatura del filato in alimentatori di trama per telai di tessitura, e procedura di sintonizzazione della stessa
CN102618998B (zh) * 2012-03-08 2014-02-26 浙江中控电气技术有限公司 纺织机打纬力控制系统及方法
CN111041638B (zh) * 2019-12-26 2021-08-24 江阴祥盛纺印机械制造有限公司 被动退绕型经轴的恒牵伸率退绕方法及装置
CN113174684B (zh) * 2021-04-28 2022-07-12 范德威尔（中国）纺织机械有限公司 纬纱制动器及其控制方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1248716B (it) * 1990-06-11 1995-01-26 Vamatex Spa Dispositivo per la regolazione della tensione ed il recupero del filo di trama in telai di tessitura
NL1011171C1 (nl) * 1999-01-29 2000-08-01 Te Strake Bv Weefmachine met een inlooprem.
SE0002813D0 (sv) * 2000-08-02 2000-08-02 Iro Patent Ag Schussfaden-Umlenkbremse und Verfahren zum Steuern des Schussfaden-Eintrags in eine Webmaschine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103092091A (zh) * 2011-10-27 2013-05-08 爱吉尔电子股份公司 打开和随后关闭纱线喂给装置中纬纱制动器的方法和装置
CN103092091B (zh) * 2011-10-27 2017-04-05 爱吉尔电子股份公司 打开和随后关闭纱线喂给装置中纬纱制动器的方法和装置

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EP1405941A1 (fr) 2004-04-07
ITTO20020857A1 (it) 2004-04-05

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