WO2004018752A1 - Procede de commande d'un dispositif d'ouverture electrique - Google Patents

Procede de commande d'un dispositif d'ouverture electrique Download PDF

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Publication number
WO2004018752A1
WO2004018752A1 PCT/JP2003/010707 JP0310707W WO2004018752A1 WO 2004018752 A1 WO2004018752 A1 WO 2004018752A1 JP 0310707 W JP0310707 W JP 0310707W WO 2004018752 A1 WO2004018752 A1 WO 2004018752A1
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WO
WIPO (PCT)
Prior art keywords
limit value
torque limit
electric motor
torque
weaving
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.)
Ceased
Application number
PCT/JP2003/010707
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English (en)
Japanese (ja)
Inventor
Jun Hirai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsudakoma Corp
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Tsudakoma Industrial Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tsudakoma Industrial Co Ltd filed Critical Tsudakoma Industrial Co Ltd
Priority to JP2004530619A priority Critical patent/JPWO2004018752A1/ja
Priority to EP03792834A priority patent/EP1541728A4/fr
Publication of WO2004018752A1 publication Critical patent/WO2004018752A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • D03C13/025—Shedding mechanisms not otherwise provided for with independent drive motors with independent frame drives
    • 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

Definitions

  • the present invention relates to a control method of an electric shedding apparatus provided with an electric motor for each pig iron frame.
  • the loop gain of the position control loop, speed control loop or current control loop of the electric motor is set according to the opening pattern, and the response of the pig iron frame by the (low) rape gain for the opening pattern
  • Japanese Patent Application Laid-Open No. H11-241250 Japanese Patent Application Laid-Open No. H11-241250
  • each of the plurality of pig iron frames is driven by a dedicated electric motor and the output torque of the electric motor is limited according to a predetermined torque limit value. Applied to control of equipment.
  • a first control method includes obtaining a torque limit value of an electric motor according to a setting mode of at least one weaving element, and setting the obtained torque limit value to the electric motor.
  • a plurality of torque limit values are set in advance in accordance with the setting mode of the weaving element, and when the torque limit value of the electric motor is determined, the weaving element
  • the selected torque limit value can be set according to the setting mode.
  • a plurality of coefficients for calculating the torque limit value corresponding to the setting mode of the weaving element are set for each weaving element, and when calculating the torque limit value of the electric motor, weaving is performed on each weaving element.
  • a coefficient corresponding to the setting mode of the element can be selected, and a torque limit value can be obtained and set by calculation from the plurality of selected coefficients.
  • a second control method includes setting a torque limit value of each electric motor according to a pig iron frame number.
  • a third control method includes determining and setting the torque limit value of the electric motor according to the setting correspondence of at least one weaving element and the number of the integrated frame. More preferably, the setting factor of the weaving element and the coefficient relating to the torque limit value corresponding to the number of the integrated frame are set in advance, and the torque limiting value of the electric motor is set in the setting mode of the weaving element. And it can be set by calculating from the coefficient selected according to the pig iron frame number.
  • At least one setting mode among the weaving elements during the weaving operation can be switched, and during the weaving operation, the setting mode of the weaving element can be switched. Calculating and setting the torque limit value of the electric motor.
  • a plurality of the torque limit values are set corresponding to the switching of the setting mode of the weaving element, and when the setting mode is switched during the weaving operation, The method may include selecting a torque limit value corresponding to the switching of the setting mode and setting the selected torque limit value as the torque limit value.
  • the weaving element includes continuity of opening movement from a few picks before to the switching, constituent elements of an opening curve, direction of opening movement from the switching, At least one selected from the group including the external force acting on the frame and the rotation speed of the loom can be included.
  • each of the setting modes of the plurality of weaving elements can be switched during the weaving operation, and the coefficient of the torque limit value corresponds to each setting mode.
  • a plurality of weaving elements are set, and a torque limit value corresponding to the switching of the setting mode is selected for each weaving element.
  • the setting mode may include setting a torque limit value obtained by calculation from a plurality of selected coefficients.
  • a fifth control method is characterized in that the output torque of the electric motor corresponds to a first process in which the rotational angular speed of the main shaft is accelerated or decelerated and a second process in which the rotational angular speed of the main shaft is maintained.
  • Limit values are set in advance, and in the first and second steps when the opening device is driven, the output torque of the drive motor is limited based on the output torque limit values corresponding to those steps.
  • Driving the electric motor is included.
  • the dedicated electric motor is provided in the shedding device separately from the main shaft drive motor of the loom. Such an electric motor can be driven according to a predetermined opening curve and with the rotation of the main shaft.
  • the torque limit value described above may be either the maximum torque value or the maximum current value. If it is an instantaneous operation, it can be the instantaneous maximum torque or the instantaneous maximum current.
  • Examples of the weaving element include an opening pattern, a dwell angle, a rotation speed of a loom, an opening amount, a width of a woven fabric, a warp tension, and the number of warps.
  • the torque limit value of the dedicated electric motor can be set to an optimal value according to the set weaving conditions, the frame number of the integrated frame, or the set torque limit value. Damage to the drive components and electric motors of the integrated frame due to excessive torque, and poor weaving caused by response delay of the integrated frame due to excessive torque will not occur. That is, optimal weaving can be obtained without damaging the drive components and the electric motor of the integrated frame and delaying the response of the integrated frame due to an excessively small torque.
  • FIG. 1 is a block diagram of an electric circuit showing an embodiment of a control device according to the present invention.
  • FIG. 2 is a diagram showing an example of an opening pattern (A) and a driving torque of a servo motor by the device of FIG. .
  • FIG. 3 is a diagram showing another example of the opening pattern (A) and the driving torque of the servo motor by the apparatus of FIG.
  • FIG. 4 is an overall configuration diagram of an opening device showing another embodiment of the control device according to the present invention.
  • FIG. 5 is a block diagram showing details of a position command unit in the opening control device shown in FIG.
  • FIG. 6 is a diagram showing an example of setting an opening curve.
  • FIG. 7 is a block diagram showing details of the position control unit shown in FIG.
  • FIG. 8 is a diagram showing a block showing details of the current control circuit shown in FIG.
  • FIG. 9 is a diagram showing a timing chart of the current control circuit shown in FIG.
  • FIG. 10 is a diagram showing a timing chart following the timing chart shown in FIG.
  • FIG. 11 is a flowchart showing an operation of the opening selection command circuit shown in FIG.
  • FIG. 12 is a diagram showing a flowchart following the flowchart shown in FIG. 11.
  • FIG. 13 is a diagram showing a flowchart following the flowchart shown in FIG. 12.
  • FIG. 14 is a diagram showing a flowchart following the flowchart shown in FIG. It is a figure showing the following flowchart
  • the control device 10 of the electric shedding device includes a main control device 12 of a loom, a setting device 14 connected to the main control device 12, and various settings set in the setting device 14.
  • the opening control device 18 receives the setting condition S 1 from the main control device 12 and calculates the torque limit level, that is, the torque limit value S 2, for each pig iron frame 16.
  • Fig. 1 shows one iron frame 16 and a servo amplifier 20 corresponding to the iron frame 16. It merely shows a servo motor 22 as an electric motor for driving the pig iron frame 16 and an encoder 24 for generating a rotation angle signal ⁇ 1 of the servo motor 22. However, in practice, a plurality of ⁇ frame 1 6 is provided, and the servo amplifier 2 0 and the servo motor 2 2 and the encoder 2 4 is provided in ⁇ frame 1 every 6 0
  • a plurality of servo amplifiers 20 are connected to one opening control device 18 corresponding to the number of frames of the integrated frame 16.
  • the electric motor corresponds to the servo motor 22
  • the driving device corresponds to the servo amplifier 20
  • the control circuit corresponds to the main control device 12 and the opening control device 18.
  • a well-known reciprocating motion converting mechanism which is composed of a bell crank or the like and converts the rotational motion of the output shaft into a reciprocating motion, is interposed. I have.
  • the main controller 12 uses the rotation angle signal SO indicating the rotation angle of the main shaft from the encoder 26 and various weaving information in the same manner as a general main controller used for a loom. It controls various machines of the loom, such as a shedding device, a weft insertion device, a weft measuring and storing device, a weft insertion device, a warp tension adjusting device, and a woven fabric winding device.
  • the setting device 14 is provided with a cotton swab for setting the opening movement mode in order to determine the movement curve of the integrated frame 16 which is preset according to the rotation angle of the loom main shaft.
  • the parameters of the warp shedding motion such as the shedding pattern, dwell angle and warp shedding amount, which are determined for any of the lower sheaves, are set in each frame 16 and the number of revolutions, shedding amount, and fabric width of the loom
  • the setting data of the weaving elements such as, warp tension and f number of warp are set. These weaving elements listed above relate to the load of the servo motors 22 that drive the integrated frame, and the main control unit 12 converts the integrated frame 16 and various weaving elements into coefficients for each integrated frame.
  • the read coefficient is supplied to the opening control device 18 for each pig iron frame as the setting condition S1.
  • the coefficients are, for example, tested and calculated so that the weaving property and the durability of the driving parts of the integrated frame are most balanced, and are set in the main control unit 12 in advance. Have been.
  • the main controller 12 reads out a plurality of corresponding coefficients based on the setting functions (setting data) of a plurality of weaving elements set in the setting device 14, and performs the aperture control as the setting condition S1 using the read coefficients. Output to device 18.
  • the setting device 14 previously creates an opening curve corresponding to the main shaft rotation angle for each overall frame based on the above-mentioned parameters of the opening motion and parameters such as the cross timing of the opening device. To the opening control device 18 via the. The sent opening curve is stored in the opening control device 18.
  • the opening control device 18 transmits a driving amount signal (not shown) corresponding to the input spindle rotation angle signal 0 0 to each of the servo amplifiers 20 and 2 for driving the pig iron frame.
  • a driving amount signal (not shown) corresponding to the input spindle rotation angle signal 0 0 to each of the servo amplifiers 20 and 2 for driving the pig iron frame.
  • the rotation angle signals ⁇ 1 from the encoders 24 corresponding to the servomotors 22,. 22,... Are input to the respective servo amplifiers 20, 20,.
  • Each of the servo amplifiers 20, 20,... follows a drive amount signal corresponding to the rotation angle of the main shaft input from the opening control device 18, and similarly inputs a weaving described later.
  • Control that limits the output torque (current) in response to the torque limit value signal S2 determined by the coefficient corresponding to the element, that is, the output current is limited to the above limit value, and each of the servomotors 2 2, 2 2, ... Can drive each of the pig iron frames 16, 16,.
  • a loom control signal (not shown) such as a loom operation and a stop is input to the shedding control device 18 from the main control device 12, and the shedding control device 18 outputs a driving amount signal and a torque corresponding to the input. It is also possible to output a limit value and drive each pig iron frame.
  • the factorization can be performed as shown in Table 1 below. However, it is possible to take into account any one of the reduction in life due to damage and wear of the driving parts and electric motor of the pig iron frame and the weaving property, and therefore, the magnitude of the coefficient in Table 1 is reversed.
  • the frame number of the pig iron frame is a number assigned to a plurality of pig iron frames arranged side by side on a loom, for example, ascending in the direction away from the one near the weaving front. It is attached to.
  • the coefficient is set smaller for the larger frame with the larger momentum, but conversely, the coefficient is set larger for the larger frame with the larger momentum and the larger frame.
  • the response delay during acceleration and deceleration of the No. 4 iron frame may be reduced to improve the weaving.
  • Intermittent opening patterns (1/2/2/1, 1/3 / 3-3 etc.) A tracking delay is likely to occur, and a sufficient opening amount cannot be obtained. Therefore, in the case of such an opening pattern, the coefficient value is increased to increase the acceleration force and the braking force during deceleration. More intermittent opening patterns with longer stopping time (1Z4 / 4/1, 1/5 / 5-1 etc.) have a longer stopping time of the overall frame, so increase the coefficient to increase the current during acceleration / deceleration. Even if the value is increased, it will not burn.
  • the accelerating force and the braking force during deceleration may be small since the pig iron frame moves continuously. Therefore, the coefficient value is kept small and the power consumption for continuous operation is kept from becoming large. In other words, if the coefficient value is reduced and the power consumption is reduced, even if the rotation speed of the loom is increased, there is no burnout.
  • the frame number is set so that the larger the frame number is, the larger the opening of the warp yarn is (i.e., the upstream of the pig iron frame in the direction of movement of the warp, that is, the upstream side of the pig iron frame). Therefore, the larger the frame number, the smaller the coefficient value to prevent breakage of the drive parts.
  • the wider the fabric width the larger the overall frame and the greater the kinetic energy during acceleration and deceleration.
  • the larger the value the smaller the coefficient value to prevent damage to the drive components.
  • the dwell angle increases, the degree of acceleration and deceleration increases as the moving time of the pig iron frame decreases, and as the dwell angle increases, the coefficient value decreases to prevent damage to the drive unit.
  • the coefficient value decreases as the rotational speed increases, preventing damage to the drive components.
  • Table 1 summarizes the components of the opening motion, such as the opening pattern, frame number, woven cloth width, dowel angle, etc., as described above, and the factorization of the rotational speed of the loom.
  • Table 2 shows examples of specific coefficient values. Shown in
  • the opening control device 18 is controlled by the setting condition S 1 supplied from the main control device 12 and the final frame number S 3 of the pig iron frame 16 supplied from the external device (that is, the number of (Corresponding) is temporarily stored in the internal memory, and the torque limit value is calculated for each pig iron frame based on the stored setting conditions S 1 and the final frame number S 3.
  • the calculation of the torque limit value depends on the setting conditions S1 and the first frame number 1 to the last frame number S3.
  • the coefficient values at the time are taken out of the setting device 14 for each pig iron frame, and those coefficient values are multiplied by the instantaneous maximum torque (or instantaneous maximum current) of the electric motor corresponding to each iron pig frame. This can be done by obtaining the torque limit value for each.
  • Table 2 shows an example of coefficient values when the instantaneous maximum torque is set to 200% of the rated torque of the servo motor 22.
  • the torque limit value can be obtained by the following equation.
  • Torque limit value Rated torque X 200% X Each coefficient ⁇ ⁇ '(1)
  • the calculated torque limit value is stored as a torque limit value in the internal memory of the opening control device 18 for each pig iron frame.
  • the opening control device 18 supplies the stored torque limit value S2 to the corresponding servo amplifier 20.
  • Each servo amplifier 20 controls the corresponding servo motor 22 based on the drive amount signal (not shown) and the tonnolec limit value S2 supplied from the opening control device 18 so that the torque or current value does not exceed the limit value. Drive while controlling the position. Each servo amplifier 20 controls the corresponding servo motor 22 so as not to exceed the limit value corresponding to the torque or current value.
  • FIGS. 2 and 3 show an opening device in which the servo motor is continuously driven in one direction when the integrated frame descends from the upper opening position, rises again, and returns to the original position.
  • the position (opening curve) of the pig iron frame and the driving torque value at that time are shown.
  • FIG. 2 shows an example of the opening pattern lZl for the pig iron frame having the twelfth frame number in the case of the flat opening (plain weave), and (B) shows the driving torque of the servo motor 22 at that time.
  • the horizontal axis shows the rotation angle (time) of the main shaft. 0 ° on the horizontal axis in Fig. 2 (A) indicates the timing of the striking. At this time, the rotation angle of the main shaft is 0 °.
  • FIG. 3 shows an example of the opening pattern 1/3 for the pig iron frame having the first frame number in (A), and the driving torque of the servomotor 22 at that time is shown in (B).
  • the horizontal axis indicates the rotation angle (time) of the main shaft.
  • 0 ° on the horizontal axis in Fig. 3 (A) indicates the timing of the striking, and at this time, the rotation angle of the main shaft is 0 °.
  • Frame number (first frame) 1.0
  • the torque limit value is calculated in advance according to the setting mode of the weaving elements as in Table 2 to calculate the torque limit value, but the torque limit value of the total frame number (frame number) is set in advance.
  • Table 3 shows an example of the case where the torque limit value of the flat opening pattern 1 is set in advance for each integrated frame.
  • Table 4 shows an example of the case where the torque limit value for each pig iron frame is set in advance for each opening pattern.
  • Example 2 Frame number 1 to 4 5 to 8 9-1 2 1 3 to 16 Torque 17 0 0% X 16 0% X 15 0% X 14 0% X
  • the torque limit value when calculating the torque limit value, all the weaving elements listed above are used, and the torque limit value is calculated based on the calculation (multiplication) result of each corresponding coefficient value.
  • the calculation may be made in accordance with at least one condition having a relatively high degree of influence among the above-listed ones.
  • the integrated iron frame for which the torque limit value is to be obtained as described above may be the entire line frame or only a part of the integrated frame.
  • the electric shedding device described below is an example in which the torque limit value can be switched during the operation of the loom, compared to the device of the first embodiment.
  • an opening control device that can further reduce the storage capacity of data related to driving of the opening curve and the like even for a woven fabric having a complicated structure is specifically shown.
  • the control device 30 of the electric shedding device is provided with a rotation angle signal 0 of the main shaft 32 output by an angle detector 34 such as an encoder for detecting the rotation angle of the main shaft 32 of the loom.
  • an angle detector 34 such as an encoder for detecting the rotation angle of the main shaft 32 of the loom.
  • the control device 30 receives the rotation angle signal ⁇ 0 of the main shaft 32 and inputs a position command unit 40 for individually specifying the vertical position of the first to eighth pig iron frames 36, 36,. , And the first to eighth position control units 42, 4 to which the first to eighth position control signals Spl, Sp2, ..., Sp8 output from the position command unit 40 are input. 2,....
  • the position control section .42 is in one-to-one correspondence with the electric motor 38 as an opening motor.
  • the electric motors 38 correspond one-to-one with the overall framework 36.
  • a servomotor similar to that of the first embodiment can be used.
  • the rotation of each electric motor 38 is controlled by drive power from the corresponding position control unit 42.
  • the electric motor 38 rotates the opening movement crank 44 by the rotation force of its output shaft, and moves the corresponding integrated frame 36 up and down via the connecting rod 46.
  • the vertical frame 36 moved up and down causes a plurality of warp yarns 50 to make an opening movement via a plurality of pig irons 48 attached thereto. Therefore, crank 4 4 and connecting rod 4 6 Since the main frame 36 has a considerable mass, when moving them from a stopped state to rotating or up-down movement, or when stopping them from a state where they are moving, etc. Sex acts on the electric motor 38.
  • the position command unit 40 will be described with reference to FIG.
  • the position command unit 40 controls the rotation of the first to eighth electric motors 3'8 for each motor based on the opening pattern described later in synchronization with the rotation of the main shaft 32 of the loom.
  • the first to eighth position control signals Spl, Sp2, ⁇ , Sp8, and the first to eighth torque limits that limit the torque of the electric motor 38 for each motor The values S21, S22,..., S28 are output.
  • the position command section 40 includes a drive amount output circuit 52 that outputs the position control signal S pn, a torque limit value generation circuit 54 that outputs the torque limit value S 2n, and a selection command that specifies the opening curve.
  • An aperture selection command circuit 56 that outputs a signal Sk.
  • the opening selection command circuit 56 generates the forward advance signal F and the reverse step signal R when the main shaft 32 rotates forward or reverse and passes a predetermined angle based on the rotation angle signal ⁇ 0 of the main shaft 32.
  • a step signal generator 58 that selectively outputs according to the rotation direction of the spindle 32, and an opening command setter 6 that stores the opening pattern for one rotation of the spindle corresponding to each pig iron frame 36 Select the number of the opening curve for moving each integrated frame 36 up and down by using 0, the forward progress signal F and the backward stepping signal R, and the opening pattern set in the opening command setting device 60.
  • a selection controller 62 that selectively outputs according to the rotation direction of the spindle 32, and an opening command setter 6 that stores the opening pattern for one rotation of the spindle corresponding to each pig iron frame 36 Select the number of the opening curve for moving each integrated frame 36 up and down by using 0, the forward progress signal F and the backward stepping signal R, and the opening pattern set in the opening command setting device 60.
  • the opening pattern is a pattern representing the upward and downward movement of the integrated frame 36, and is used to indicate the opening movement direction of the integrated iron frame 36.
  • the opening curve is a curve representing the vertical position of the pig iron frame 36 during the vertical movement, and is used for a speed command of the opening movement of the pig iron frame 36.
  • the stepping signal generator 58 rotates forward with the spindle 32 force S and 110 °.
  • a pulse-like advance signal F indicating that the vehicle has passed has been generated.
  • the main shaft 32 When the rotation angle signal 0 0 of 2 becomes 110 °, the main shaft 32 reverses, and generates a pulse-like backward-moving signal R indicating that it has passed 110 °.
  • the advance signal F is supplied to a selection controller 62 and a torque limit value generation circuit 54.
  • the reverse step signal R is supplied to the selection controller 62.
  • an opening pattern for one opening step corresponding to each integrated frame 36 is preset and stored for a plurality of picks.
  • each pig iron frame 36 should be in the ascending position (indicated by "1" outside of Kakko in Table 5) and in the descending position (Indicated by a "0" outside of Katsuko in Table 5).
  • the selection controller 62 holds the value of the opening step and adds or subtracts the value of the opening step (pic count value) according to the pre-progress signal F or the backward-movement signal R to be inputted. Having. Therefore, the selection controller 62 adds or subtracts the pick count value by “1” every time the advance signal F or the backward signal R is input from the step signal generator 58.
  • the selection controller 62 returns the pick count value to 0 (or the value of the upper limit repeat) when the pick count value reaches the upper limit repeat value (or the lower limit repeat value of 0).
  • the selection controller 62 reads the opening pattern stored in the setting device 60 for each pig iron frame 36 using the pick count value, and a selection command signal for indicating an opening curve corresponding to the read opening pattern.
  • the drive amount output circuit 52 includes, in addition to the switching controller 64, a timing generator 66 that generates a timing signal St indicating the timing of the start of one opening step, and a rotation angle signal ⁇ 0 of the main shaft 32. And an opening curve setter 68 in which an opening curve indicating the vertical position of each pig iron frame 36 corresponding to the above is set.
  • the timing generator 66 generates a pulse-shaped timing signal St when, for example, the main shaft rotation angle is 0 0 force S 12 0 °.
  • the timing signal St is supplied to the switching controller 64 and the torque limit value generating circuit 54.
  • the timing generator 66 outputs to the switching controller 64 a pulse-shaped timing signal St that is turned “ON” each time the input rotation angle signal 00 becomes 120 °.
  • the opening curve II setting unit 68 sets the position of the integrated frame 36 for one rotation of the loom, that is, the rotation angle of the main shaft from 0 ° to 360 °. Are set and stored in advance. These opening curves are determined in advance for each moving direction of the pig iron frame 36 in order to indicate the vertical position of each rod frame 36 corresponding to the rotation angle signal ⁇ 0 of the spindle 32.
  • the movement patterns (1), (2) and (3) are individually corresponded and read out to the switching controller 64.
  • the integrated frame movement patterns (1), (2) and (3) are defined as when the iron frame 36 moves from top to bottom, when the iron frame 36 moves from bottom to top, and This corresponds to when moving from top to top as indicated by the solid line (ie when not moving) or when moving from bottom to bottom as indicated by the broken line (ie when not moving).
  • a target phase curve (see FIG. 6) indicating the output shaft of the electric motor 38 and the rotation angle of the crank 44 with respect to the main shaft rotation angle is preset and stored in the opening curve setting device 68.
  • the horizontal axis represents the rotation angle signal ⁇ 0 of the main shaft 32.
  • the switching controller 64 selects an opening curve according to the input selection command signal Skn, and adjusts the rotation angle of the electric motor 38 with respect to the rotation angle signal ⁇ 0 of the main shaft 32 to the target phase curve shown in FIG. Then, a pulse-shaped position control signal Spn corresponding to each electric motor 38 is output to the position control unit 42.
  • the switching controller 64 stores the rotation angle signal ⁇ 0 of the main shaft 32, the timing signal St, and the first to eighth selection command signals Skn, and stores them in the setting device 68.
  • the opening curve is read out for each pig iron frame, and the first to eighth position control signals S pn respectively corresponding to the pig iron frame 36 are corresponded to the rotation angle signal ⁇ 0 of the spindle 32 based on the read opening curve. And occur.
  • the torque limit value generation circuit 54 includes a torque limit element setting device 72 that sets and stores torque limit values corresponding to, for example, 120%, 70%, and 30% of the rated torque limit value of the electric motor 38, A torque limit value generator 74 that outputs the torque limit value read from the torque limit element setting unit 72 to the position control unit 42 is provided.
  • the torque limit value generation circuit 54 determines the torque limit value in accordance with the continuity of the opening motion of the ranks A, B, and C. Switch to one.
  • Ranks A, B, and C of the torque limit value have the relationship of A>B> C, and rank A is a value set at the continuous rating value (100%) or near it, or exceeds the short-time rating value. It is set to a value that is not within the range and is higher than the continuous rating (for example, 120%).
  • Rank A is set to 120% of the rated current of the electric motor 38 so that the electric motor 38 can be driven reliably when the operation of the electric motor 38 starts and stops.
  • Rank B is set to 70% of the rated current of the electric motor 38 so that the heat generation of the electric motor 38 is suppressed while the electric motor 38 is in continuous motion, and inertia is used to save energy. I have.
  • Rank G is set to 30% of the rated current of the electric motor 38 by further reducing the torque limit value while the electric motor 38 is stopped.
  • the specific numerical values of ranks A, B, and C are only examples, and are appropriately determined according to the actual conditions of the electric motor and the like.
  • the torque limit value generator 74 calculates the opening curve selection command signal Sk, which is updated when the advance signal F is generated (1 10 °), and the selection command signal Sk before several past opening patterns, As described later, the continuity of the opening motion is determined, and the torque limit value S2 is output when the timing signal St is generated (120 °).
  • the torque limit generator 74 sets (A) the torque limit to 120% of the rated torque of the electric motor 38 until a predetermined number of picks (3 picks in the present embodiment) is reached after the operation of the loom is started. The operation at the start of operation, and (B) the output form of the opening selection command (opening curve selection command) corresponding to the previous pick, the previous previous pick and the current pick, which is commanded in units of one pick. From the continuity of the opening movement of the motor, the torque limit is set to one of the groups of 120% (Rank A), 70% (Rank B) and 30% (Rank C) of the rated torque of the electric motor 38. Operation during operation
  • each position control unit 42 controls the electric motor 38 based on the position control signal Spn and the torque limit value S2n by feed-pack control, and thereby the rotation angle of the electric motor 38 and thus the rotation angle of the crank. It controls the vertical movement of the pig iron frame.
  • the rotation angle of each electric motor 38 is detected by the encoder 76 as a pulse signal Se generated according to the rotation of the electric motor 38.
  • Each position control unit 42 receives the corresponding pulse signal Se indicating the rotation angle of the electric motor 38 by the deviation detection circuit 78, and receives the pulse signal Se via the speed signal conversion circuit 83 Received by the speed control circuit 80 and further received by the current control circuit 82 via the rotation angle conversion circuit 85, thereby controlling the rotation angle of the electric motor 38 in accordance with the position control signal Spn.
  • the speed signal conversion circuit 83 is a frequency / voltage conversion circuit, and converts the input pulse signal Se into a voltage corresponding to the frequency to generate a speed signal SV representing an actual speed.
  • the rotation angle conversion circuit 85 counts the input pulse signal Se and generates an angle signal ⁇ t representing the rotation angle of the electric motor 38.
  • the deviation detection circuit 78 receives the position control signal Sp and the pulse signal Se.
  • the forward / reverse counter for inputting both signals S pn and Se to the built-in forward / reverse counter detects a deviation in the number of inputs of the two pulse signals and uses the detected deviation as a deviation signal ⁇ P And outputs it to the speed control circuit 80.
  • the speed control circuit 80 calculates a speed deviation based on the input deviation signal ⁇ and the speed signal Sv, and outputs the calculated speed deviation to the current control circuit 82 as a speed deviation signal ⁇ V. .
  • the current control circuit 82 calculates a current command value corresponding to the two deviations from the speed deviation signal ⁇ and the current value signal S if detected by the current sensor 81.
  • the current control circuit 82 performs torque limiting by outputting a current to the electric motor 38 based on the current command value determined so as not to exceed the torque limit value S2 and the angle signal ⁇ t. Controls the current of motor 38.
  • the position control 42 limits the current supplied to the electric motor 38 so that the output torque value of the electric motor 38 does not exceed the torque limit value S2. That is, the current control circuit 82 can drive the electric motor 38 in accordance with the speed deviation signal AV and in a state where the output torque is controlled in the range of the torque limit value S2.
  • the current control circuit 82 calculates a current command value I corresponding to the speed deviation signal ⁇ and outputs the current command value I to an addition terminal at an addition point 86. 4 and a multiplier that outputs a value obtained by multiplying the current value signal S if representing the current flowing through the electric motor 3 by the current—Pugain g to the subtraction terminal of the addition point 86 and the addition point 86 Deviation current value ⁇ I force S indicating the result of the current limiter circuit 90 that outputs the current command value signal S i within the range not exceeding the torque limit value S 2 and the current command value signal S i And a current generation circuit 92 for generating a current to be supplied to the electric motor 38 so that the electric angle signal St of the electric motor 38 is located within a predetermined angle range.
  • the control device 30 moves the integrated frame 36 up and down as shown in the timing charts of FIGS. 9 and 10.
  • FIGS. 9 and 10 are time charts showing the operation flow of the above-described continuous operation in the first integrated frame 36 in a time series when the opening pattern (1 Z 3/3/1) is used. It is.
  • the time chart shown in Fig. 10 shows that the continuity of the opening motion is determined based on the result of a comparison between the opening robot pattern in the previous opening step and that in the current opening step at the switching timing of the opening motion during the operation of the loom. This is an example of determining the torque limit value.
  • the time chart shown in FIG. 9 is an example in which a different torque limit value is determined for the acceleration at the start of the operation of the loom and for the subsequent steady rotation state compared to FIG. Such an operation is realized by the flow charts shown in FIGS. 11 to 14 described later.
  • 9 and 10 show that in the first pig iron frame 36, the horizontal axis shows the rotation angle signal 00 of the main shaft 32, and the vertical axis shows (A) the operation start signal S o, and (B) Progress signal F, (C) number of opening step, (D) number of overall frame movement pattern specified by selection command signal S k output from opening selection command circuit 56, (E) timing signal S t, (F) the vertical opening of the integrated frame 36, (G) the state of the drive pulse output to the electric motor 38, and ( ⁇ ) the torque limit value.
  • the torque limit value generator 74 determines the torque limit value according to the flowcharts shown in FIGS. 11 to 14 during the control operation.
  • the loom has the opening step number (that is, the pick count value) of 1 "and the main shaft angle is at 300 °, and is stopped.
  • Figure 9 shows that the frame number of the pig iron frame 36 is 1 ( In other words, the operation timing chart for the first summary 36, which is the first row, is shown.
  • the selection controller 62 opens the loom as shown in Table 5.
  • the selection command signal Sk of the state "0" in step number 1 is The first pig iron frame 36 has already been moved to a position where the lower opening is opened slightly by the position command signal SP 1 output in a pulse form from the position The state is synchronized with the rotation angle 0 0.
  • Figure 9 shows that the torque control value generator 74 determines the continuity of the opening motion of the frame number 1 of the pig iron frame 36 during the operation period when the rotation speed of the loom reaches the steady speed.
  • the torque control value generator 74 switches the torque limit value from the start of the loom operation to several picks (three picks in the illustrated example) from the start of the loom operation. This is an example of always switching to a higher torque limit value instead of the above to avoid a drive delay.
  • the flag A for changing the rotation speed of the torque limit value generator 74 is set to “OFF”.
  • the position command section 40 outputs the position control signal Sp for moving the first integrated frame 36 to the bottom dead center. Output.
  • the torque limit value of the pick immediately after the start of the operation of the loom (the first pick) is calculated as follows. -When the operation start signal So turns “on”, the operation of the loom starts. Thereby, as shown in FIG. 11, the torque limit value generator 74 determines whether the flag A is “on” or “off” (step 101).
  • the control processing shown in the flowcharts from Fig. 11 to Fig. 14 is not only performed when the operation start signal So and the rotation speed change signal SA are input, but also when the loom is operating, the advance progress signal F is generated. (Every 110 degrees). Further, a flag A described later is a flag that is set by the input of the operation start signal S0 or the input of the rotation speed change signal SA.
  • the torque limit value generator 74 turns “ON” as a result of the determination in step 101. If there is, the flow proceeds to the opening curve selection processing flow 8 shown in FIG. 12 via B, and if the flag A power S is “OFF”, it is determined whether or not the “ON” operation start signal S o has been input. (Step 102).
  • step 102 If the result of the determination in step 102 is that the torque start value generator 74 receives the “ON” operation start signal S o, the torque limit value generator 74 proceeds to the opening curve selection processing flow shown in FIG. Otherwise, the processing shifts to the rotation speed change processing flow shown in FIG. 13 via A.
  • the torque limit value generator 74 determines again whether the flag A is “on” or “off” (step 201).
  • the torque limit value generator 74 sets the flag A to “on” and sets the pick count value of the selection controller 62. Is set to "0" (step 202), and then the torque limit value IL0 of the torque limit value generator 74 is set to 120% of the rated torque of the electric motor 38 (that is, rank A). Set (Step 203).
  • the torque limit value IL0 is set to the value of rank A. Thereafter, the torque limit value generator 74 proceeds to step 401 shown in FIG.
  • step 401 the tonnolec limit value IL0 is immediately updated to the torque limit value IL, and the torque limit value generator 74 sets the torque limit value IL as the torque limit value S2.
  • the calculation of the torque limit value of the pick immediately after the start of the operation of the loom ends.
  • the switching controller 64 of the drive amount output circuit 52 sends the position control signal Sp 1 as shown in the rotation amount pulse waveform of (1) in FIGS. 9G and 6 to the first position control unit. 4 Output to 2.
  • the first position control unit 42 assigns the first electric motor 38 to the rank A, that is, 1 2 of the rated torque. Drive with a current within the torque limit value S2 set to 0% or less.
  • the first electric motor 38 stopped immediately before is suddenly driven based on the position control signal Sp, but the large inertial force of the crank 44 that is not rotating acts on the electric motor 38.
  • the electric motor 38 rotates the crank 44 with a strong torque (Tonorec) to move the integrated frame 36 from top to bottom quickly.
  • the selection controller 62 selects the set values corresponding to the opening steps 2 and 3 in Table 5, and outputs the selection command signal Sk for the opening curve in (2) in Table 5.
  • the torque signal generator 74 determines that the flag A is “ON” in step 101, and when the flag A is “ON” as a result of the determination in step 201, The device 30 increases the pick count value by "1" as shown in FIG. 12 (step 204). As a result, the count value becomes 1 or 2.
  • the torque limit value generator 74 outputs the selection command signal Sk of the pick immediately before the selection command signal Sk of the previous pick, the previous selection command signal Sk and the current selection command.
  • the signal Sk is stored as the third selection command, the second selection command, and the first selection command, respectively (step 205).
  • the torque limit value generator 74 determines whether or not the pick count value has reached a predetermined value (3 in this embodiment) (step 206), and then proceeds to step 401.
  • the torque limit value IL 0 is set to the value of the first pick (the value of rank A).
  • the value of the limit value IL is kept at the value of rank A, and the torque limit value generator 74 receives the input of the timing signal St and outputs it as the torque limit value S2.
  • the control device 30 determines in step .101 that the flag A is "on”, determines again that the flag A is “on” in step 201, and then determines in step 204 that the flag A is "on”. Increase the pick count value of torque limit value generator 74 by "1". As a result, the pick count value of the torque limit value generator 74 becomes 3.
  • the torque limit value generator 74 sets the current selection command signal Sk of the pick immediately before the selection command signal Sk of the previous pick, the previous selection command signal Sk Are stored as the third selection command, the second selection command, and the first selection command, respectively.
  • the selection command signals S k for the first to third orders have already been stored in the torque limit value generator 74.
  • the torque limit value generator 74 determines in step 206 whether the pick count value of the torque limit value generator 74 has reached a predetermined value (3 in this embodiment).
  • the torque limit value generator 74 turns off the flag A because the pick count value has reached the predetermined value, and then proceeds to step 302 shown in FIG.
  • step 302 the torque selection value generator 74 sets the same torque as the primary selection command and the secondary selection command in order to set the torque limit value. Determine whether or not. If the primary selection command and the secondary selection command are different, the torque limit value generator 74 returns to step 303 if the primary selection command and the 27th fire selection command are the same. In step 304, it is determined whether the secondary selection command and the tertiary selection command are the same.
  • step 303 the secondary selection command and the tertiary selection command are different, but if the secondary selection command and the tertiary selection command are the same, the tonnolek limit value generator 7 4 Sets the value of the torque limit value IL 0 to the value of rank A (step 3 05), and proceeds to step 410.
  • torque limit value generator 74 sets the value of torque limit value IL 0 to the value of rank B, Then, go to Step 410.
  • Step 306 If the secondary selection command is different from the tertiary selection command, the value of the torque limit value I L ⁇ is set to the value of rank B (Step 306), and the routine proceeds to Step 401. If the result of the determination in step 304 is that the secondary selection command and the tertiary selection command are the same, the torque limit value generator 74 converts the value of the torque limit value IL 0 to a value based on the rank. After setting (Step 3 07), go to Step 401.
  • step 304 If the result of the determination in step 304 is that the 27th selection command is different from the tertiary selection command, the torque limit value generator 74 sets the value of the torque limit value IL0 to the value of rank A ( Step 3 08), and proceed to Step 410.
  • step 401 the torque limit value IL is set to the torque limit value IL0, and the torque limit value generator 74 receives the input of the timing signal St and outputs it as the torque limit value S2. I do.
  • the torque required for starting the movement of the integrated frame can be output by selecting the torque limit value of rank A.
  • the torque limit value of rank C is selected by passing through step 307 to maintain the position of the iron frame.
  • the output torque can be limited to a necessary level.
  • the integrated frame moving during the weaving operation continues to move the open iron frame (opening motion) as it is due to the increment of the opening step number by one, it passes through step 310 and ranks. Since the torque limit value of B is selected and the output torque is limited, useless operations related to deceleration and acceleration for accurately following the opening curve are limited. As a result, the pig iron frame can be driven by making good use of the inertia force.
  • step 308 to stop the moving integrated frame by selecting the torque limit value of rank A.
  • a large deceleration torque can be output.
  • the continuity of the movement of the pig iron frame in the past two picks and one future pick is determined, and the When the movement has continuity, more specifically, when the total frame of the past two picks and one future pick continues to move or remains stationary, the torque in the next one big period is correspondingly Set a lower limit.
  • the torque limit value in the future one pick period will be set higher accordingly.
  • the torque limit value is set lower when the kinetic force S of the pig iron frame has continuity. Acceleration is suppressed, and driving is performed using the acting force (inertial force) during movement of the integrated iron frame, and the torque limit value is set when torque is required to move and stop the integrated frame. By setting it higher, the required torque can be output, and the energy saving effect can be increased.
  • the torque limit value is set according to the continuity of the movement of the pig iron frame. It is also possible to set a different torque limit value when the vehicle is stationary from the middle.
  • the operation of the loom has already been started, and the control device 30
  • the stepping signal generator 58 outputs a pulsed advance signal F, so that the torque limit value generator 74 operates according to the flow chart described above. Execute the process again.
  • the operation start signal S o is turned “off” as shown in FIG. 9 (A) and the flag A has already been turned “off” in the step 2 07 above, the torque limit value is generated.
  • the generator 74 determines “OFF” in step 101 for determining the flag A, and the torque limit value generator 74 proceeds to step 102.
  • step 102 the torque limit value generator 74 has the operation start signal S o turned off as described above, and the rotation speed change command of the main shaft 32 has been input. Therefore, the torque limit value generator 74 proceeds to step 301 shown in FIG.
  • step 301 the torque limit value generator 74 outputs the selection command signal Sk of the pick immediately before the selection command signal Sk of the immediately preceding pick and the selection command signal Sk of the immediately preceding pick.
  • the signal Sk and the current selection command signal Sk are stored as a tertiary selection command, a secondary selection command, and a primary selection command, respectively, and the flow shifts to step 302.
  • the torque limit value generator 74 determines whether the primary, secondary, and tertiary selection commands are the same as described above. Then, according to the result, proceed to Steps 305, 306, 307 or 308, and set the torque limit value IL0 to one of ranks A, B, and C. Thereafter, the flow shifts to step 401. ⁇
  • step 401 the value of the torque limit value IL is set to the value of the torque limit value IL 0. Further, the torque limit value generator 74 receives the input of the timing signal St to obtain the torque limit value S. Output as 2. Therefore, when the total number of opening steps is set to 8 and the opening patterns shown in Table 5 are set as shown in Table 5 for the first to eighth integrated frames, the torque limit value generator 7 4 Outputs the torque limit value S 2 corresponding to the rank as shown in Table 6 in each opening step in each opening step. Table 6
  • control device 30 torque limit value generator 74
  • torque limit value generator 74 torque limit value generator 74
  • a selection signal for the torque limit value can be generated according to the number of picks.
  • the pick count value is used.
  • a selection signal may be generated to switch the torque limit value.
  • a coefficient for calculating the torque limit value is determined in advance in a setting mode of a weaving element to be described later, and a coefficient selected for each weaving element according to the setting mode.
  • the torque limit value is calculated and set.
  • the torque limit value corresponding to the combination of each setting mode is set before the weaving operation. It is desirable to obtain the values in advance by calculation and set them by selecting them during the weaving operation. However, the values may be calculated and set each time the setting mode is switched during the weaving operation.
  • an opening curve having different components of the opening curve such as a dwell angle (an angle for maintaining the maximum opening state) during the weaving operation, a cross timing of the opening movement, and an opening amount may be selected.
  • the torque limit value may be set and switched according to these opening curves. For example, when an opening curve with a shorter driving period is selected, the torque limit value may be set higher. .
  • the torque limit value may be switched according to the direction of movement of the overall framework 36 (top to bottom or bottom to top). More specifically, when the weight of the pig iron frame 36 is greatly affected by the rotation of the electric motor 3.8, the torque limit value may be set lower.
  • the warp tension is changed according to the weft insertion pick during operation of the loom.
  • the torque limit value of the opening device may be switched in response to such a change. More specifically, when the warp tension decreases, the torque limit value is also set lower.
  • step 102 the control device 30 of the electric shedding device turns off the flag A in step 101 and turns off the main shaft 3 in step 102.
  • the change in the rotation speed of the spindle 2 is determined, and if it is determined that the rotation speed of the spindle 3 2 has changed, the same as when the operation start signal S o is turned on, the step 2 in FIG. Move to step 202 via 01.
  • the switching can be performed each time the main shaft 32 of the loom makes one rotation, but the predetermined angle of less than one rotation or more than one rotation, and further two rotations
  • the switching may be performed in units of a plurality of rotations as described above.
  • the switching of the torque limit value may be performed by judging a change in the continuity of the opening motion, or may be made to correspond to the change of the tissue of the fabric. For example, for the first process corresponding to the start of operation in the case of a flat structure (that is, the integrated frame does not stand still and is always in motion during steady operation), in the second process after reaching the steady rotation speed, It may be switched to a lower torque limit value.
  • the torque limit value may be switched in accordance with the change in the loom rotation speed.
  • a switching signal of the loom speed is input to the torque limit value generating circuit.
  • the switching of the torque limit value may be performed according to the rotation angle of the main shaft 32, or may be performed according to the elapsed time from the reference angle.
  • the torque limit value may be set to be different in consideration of the number (frame number) of the pig iron frame.
  • a series of processes may be performed by hardware as illustrated, or may be performed by a microcomputer and software.
  • the present invention is not limited to the above embodiments, and can be variously modified without departing from the gist thereof.

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

Abstract

Procédé de commande d'un dispositif d'ouverture électrique, qui consiste à régler un ou plusieurs états de tissage, à obtenir les valeurs limites de couple de moteurs électriques conformément aux états de tissage réglés et à régler les valeurs limites de couple obtenues pour chaque moteur électrique. Le raccourcissement de la durée de vie du dispositif par détérioration et usure des parties d'entraînement du cadre de lisses et des moteurs électriques peut ainsi être évité, ce qui augmente la capacité de tissage.
PCT/JP2003/010707 2002-08-26 2003-08-25 Procede de commande d'un dispositif d'ouverture electrique Ceased WO2004018752A1 (fr)

Priority Applications (2)

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JP2004530619A JPWO2004018752A1 (ja) 2002-08-26 2003-08-25 電動開口装置の制御方法
EP03792834A EP1541728A4 (fr) 2002-08-26 2003-08-25 Procede de commande d'un dispositif d'ouverture electrique

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JP2011006836A (ja) * 2010-09-07 2011-01-13 Tsudakoma Corp 織機の電動開口装置

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CN100499349C (zh) * 2007-03-30 2009-06-10 江苏万工科技集团有限公司 一种电子提花机开口驱动装置
CN101782458B (zh) * 2009-12-17 2011-11-09 江苏万工科技集团有限公司 一种开口机构运动规律的运动试验装置
FR2956414B1 (fr) * 2010-02-12 2012-03-16 Staubli Sa Ets Procede de commande des actionneurs electriques d'un dispositif de formation de la foule
DE102011006368B3 (de) 2011-03-29 2012-02-16 Lindauer Dornier Gesellschaft Mit Beschränkter Haftung Verfahren und Webmaschine zur Webfachbildung
CN103320949B (zh) * 2012-03-20 2016-02-10 厦门莱宝机械有限公司 一种不需要开口机构反转运动的反向寻纬方法
JP6635006B2 (ja) * 2016-11-25 2020-01-22 株式会社豊田自動織機 織機における開口方法及び開口装置

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CN1675420A (zh) 2005-09-28
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EP1541728A4 (fr) 2008-04-02

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