CN102929168B - Controller for full computerized flat knitting machine - Google Patents
Controller for full computerized flat knitting machine Download PDFInfo
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- CN102929168B CN102929168B CN201210460969.8A CN201210460969A CN102929168B CN 102929168 B CN102929168 B CN 102929168B CN 201210460969 A CN201210460969 A CN 201210460969A CN 102929168 B CN102929168 B CN 102929168B
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Abstract
The invention relates to a controller for a full computerized flat knitting machine, which comprises a special driver for the computerized flat knitting machine, an operation box and a machine head control cabinet, wherein the special driver for the computerized flat knitting machine comprises a power supply changeover unit, a CPU (Central Processing Unit) control unit, a master servo motor drive unit, a bed moving servo motor drive unit, a batching stepping motor drive unit, an auxiliary batching alternating current motor drive unit, a yarn feeder alternating current motor drive unit and a sensor interface unit; and the special driver for the computerized flat knitting machine can achieve the overall control of a master servo motor, a bed moving servo motor, a batching stepping motor, an auxiliary batching alternating current motor and right and left yarn feeder alternating current motors, and the detection of an external sensor. The invention has the advantages that the controller is simple and reasonable in structure, convenient to service and maintain, reliable in system operation, lower in cost and more energy-saving, and a large amount of wiring can be reduced.
Description
Technical field
The present invention relates to a kind of full-computer flat knitting machine controller that adopts Computerized flat knitting machine special purpose driver.
Background technology
Straight-bar machines is exactly flat knitting machine, and computer-controlled flat knitting machine is a kind of braider that adopts microcomputerized control, can automatically complete the braiding of woollen sweater garment piece.China is as traditional wool spinning big country, and due to labor shortage in recent years, traditional hand knitting machine by manual working has been difficult to survive again, is badly in need of industrial upgrading.
Full-computer flat knitting machine controller is as the larger product of a kind of Technology Density, it relates to man-machine interface, motion control, power management, servo driving, step motor control etc., all the time, domestic being all difficult in this field broken through, with there being sizable gap abroad, but recent years by the effort of domestic several companies, situation is improvement to some extent, but the technical scheme that the product of Zhe Ji company adopts still also has very large gap with foreign latest technology; The scheme of Zhe Ji company is substantially similar, be all adopt CPU control mainboard of own design connect respectively other manufacturer production the main servo driver of motor of commercialization, move a servo driver of motor, batching stepper motor driver, UPS uninterrupted power source and positive and negative 24V, 12V, tetra-commercial Switching Power Supplies of 5V etc., complete the control of straight-bar machines by head control box and operating case.The advantage of this mode is that the exploitation of controller is simple, but its shortcoming is that whole controller is bulky, complex circuit, maintenance difficult, and power consumption, cost is high, poor reliability
,controller is semi-manufacture, needs the driver of other companies of outsourcing of producer to install; Meanwhile, system Installation and Debugging all need professional and technical personnel, and after sale service is loaded down with trivial details, and this has restricted the penetration and promotion of full-computer flat knitting machine to a great extent.
Summary of the invention
The object of the invention is for above-mentioned existing problems, provide a kind of simple and reasonable, reduce the full-computer flat knitting machine controller that a large amount of wiring, convenient for maintaining are safeguarded, system is reliable, cost is lower, more energy-conservation.
Principle of work of the present invention: the edition system of beating by host computer generates the action data that needs braided fabric, copy in operating case by USB flash disk, after system boot, powered to operating case by described Computerized flat knitting machine special purpose driver, Computerized flat knitting machine special purpose driver starts self-inspection, after System self-test is normal, wait for user's operation, user pulls startup handle, detect and tell operating case by CAN communication by Computerized flat knitting machine special purpose driver, after judging, operating case tells Computerized flat knitting machine special purpose driver and head control box by CAN communication again, started to carry out the braiding of fabric according to the braid movement file of original importing according to action data control straight-bar machines by straight-bar machines controller.
The object of the present invention is achieved like this: comprise Computerized flat knitting machine special purpose driver, operating case and head control box, described Computerized flat knitting machine special purpose driver comprises power conversion unit, CPU control module, main servo electric-motor drive unit, moves a driven by servomotor unit, batching stepper motor driver element, secondary batching alternating current generator driver element, Yarn feeder alternating current generator driver element and sensor interface unit;
Described power conversion unit comprises the direct current 310V output voltage that AC power monitors through zero passage detection, rectification, busbar voltage in order, and described 310V output voltage is for main servo electric-motor drive unit and move a driven by servomotor unit and outside 24V Switching Power Supply; Another road output that busbar voltage monitors is through Switching Power Supply conversion output direct current 15V, 12V, 5V power supply; Export for secondary batching alternating current generator driver element and Yarn feeder alternating current generator driver element on AC power another road after zero passage detection;
Described main servo electric-motor drive unit comprises main servo IGBT power drive part and main servo encoder interfaces, and main servo encoder interfaces is that main servo connects outside specific coding communication interface; One group of 5V out-put supply of Switching Power Supply offers main servo encoder interfaces; The 15V out-put supply of Switching Power Supply connects IGBT power drive part, the AD analog to digital conversion interface of CPU reads main servo electric machine phase current by current sensor, the position data that CPU feeds back according to this value and the required phase current of current control and external encoder, determine again the working current of main servo motor by FOC algorithm, export corresponding control signal to IGBT intelligent power driver module through the three-phase PWM output unit one of CPU again, drive main servo motor;
A described driven by servomotor unit that moves comprises and moves bed servo IGBT power drive part and move an encoded servo device interface, moves an encoded servo device interface for moving an outside specific coding communication interface of servo connection; One group of 5V out-put supply of Switching Power Supply offers and moves an encoded servo device interface; The 15V out-put supply of Switching Power Supply connects IGBT power drive part, the AD analog to digital conversion interface of CPU is read and is moved a servomotor phase current by current sensor, the position data that CPU feeds back according to this value and the required phase current of current control and external encoder, determine by FOC algorithm the working current that moves a servomotor again, export corresponding control signal to IGBT intelligent power driver module through the three-phase PWM output unit two of CPU again, drive and move a servomotor;
Described batching stepper motor driver element comprises controls power supply, the supervision of stepper motor working power and dual H-bridge driving circuit; The 5V out-put supply of Switching Power Supply connects dual H-bridge control circuit; CPU provides current needed speed, torque and direction signal to dual H-bridge control circuit, worked by dual H-bridge Driving Stepping Motor by this circuit, whether the power monitoring unit current stepper motor of charge of overseeing is working properly, this circuit feedback supervisory signal, to CPU, is provided and is reported to the police and guard signal by CPU;
Described secondary batching alternating current generator driver element and Yarn feeder alternating current generator driver element are operatively connected to CPU, AC power zero cross detection circuit provides phase-locking signal to CPU, and CPU realizes secondary batching alternating current generator, the shutdown of left and right Yarn feeder alternating current generator, the control of speed according to this signal controlling bidirectional triode thyristor; Meanwhile, the phase-locking signal that CPU also provides according to this zero cross detection circuit judges that whether outside is power-off, carries out the preservation of power-off data;
Described sensor interface unit comprises that the 12V out-put supply of Switching Power Supply is connected to the working temperature monitoring circuit of this controller, running status indicating circuit, I/O interface, debugging interface, expansion interface and CAN communication interface; I/O interface connects outside each sensor, and debugging interface is for producing debugging and offline debugger work use, and expansion interface is later Function Extension use, and CAN communication interface is attended operation box and head control box.
The present invention, by described Computerized flat knitting machine special purpose driver realize all main servo motors, move a servomotor, batching stepper motor, secondary batching alternating current generator, whole control of left and right Yarn feeder alternating current generator and the detection of external sensor.
The present invention, Computerized flat knitting machine special purpose driver described in described operating case control; Operating case is system operation core, the control of input, editor, management and the run action judgement of supervision, motion test, the motion file of system interface, system works is provided, and completes respective action by head control box.
The present invention, described head control box comprises Power conversion board and head control drive plate, and the correspondence being sended over by CAN communication by operating case drives the action naming of head, and it is respective action by corresponding command interpretation that head control drive plate receives order; The corresponding electromagnet of head control drive plate, density stepper motor, slide cam selector complete the action of corresponding braided fabric.
The present invention, after system boot, powered for operating case by described Computerized flat knitting machine special purpose driver, Computerized flat knitting machine special purpose driver starts self-inspection, after System self-test is normal, waits for user's operation, user pulls startup handle, detect and tell operating case by CAN communication by Computerized flat knitting machine special purpose driver, after operating case judges, tell Computerized flat knitting machine special purpose driver and head control box by CAN communication again, allow straight-bar machines start to carry out the braiding of fabric according to the braid movement file of original importing.
The present invention, described Computerized flat knitting machine special purpose driver program starts, initialization I/O and CAN communication, after judgement has master routine and primary power normally, initialization timing device, after normal by FOC initiation parameter, by CAN communication command, control main servo motor, move a servomotor, batching stepper motor, the action of left and right Yarn feeder alternating current generator; Realize external fault detection, busbar voltage detection, system temperature detection, button detection and stepper motor working current detects simultaneously.
The invention has the beneficial effects as follows:
1), whole controller only has Computerized flat knitting machine special purpose driver, nose controller and three composition modules of operating case, without UPS uninterrupted power source, also without 12V power supply, two commercial Switching Power Supplies of 5V power supply, make straight-bar machines controller become a complete product, volume-diminished 2/3; Due to product modular, no longer need user oneself assembling, system is installed so no longer needs professional and technical personnel, and after sale service is simpler, and the application popularization popularization of full-computer flat knitting machine is more prone to;
2), Computerized flat knitting machine special purpose driver has been reduced system board; Head control box has been introduced present up-to-date technology, makes head control box integrated level higher, more perfect; Operating case has been introduced the indignant thought of virtual memory, and system need to just can smoothly not worked under very high frequency of operation, has improved the anti-interference of system;
3), Computerized flat knitting machine special purpose driver realize all main servo motors, move a servomotor, batching stepper motor, secondary batching alternating current generator, the control of left and right Yarn feeder alternating current generator and the detection of external sensor.
The present invention, have advantages of simple and reasonable, reduce that a large amount of wiring, convenient for maintaining are safeguarded, system is reliable, cost is lower, more energy-conservation.
The present invention is further illustrated by reference to the accompanying drawings for embodiment below.
Brief description of the drawings
Fig. 1 is the fundamental diagram of one embodiment of the present of invention;
Fig. 2 is the driver procedure workflow schematic diagram of Fig. 1 embodiment.
Embodiment
With reference to Fig. 1, the present embodiment is a kind of full-computer flat knitting machine controller, comprise Computerized flat knitting machine special purpose driver, operating case and head control box, described Computerized flat knitting machine special purpose driver comprises power conversion unit, CPU control module, main servo electric-motor drive unit, moves a driven by servomotor unit, batching stepper motor driver element, secondary batching alternating current generator driver element, Yarn feeder alternating current generator driver element and sensor interface unit; The direct current 310V output voltage that comprise ~ 220V of described power conversion unit AC power monitors through zero passage detection, rectification, busbar voltage in order, described 310V output voltage is for main servo electric-motor drive unit and move a driven by servomotor unit and outside 24V Switching Power Supply; Another road output that busbar voltage monitors is through Switching Power Supply conversion output direct current 15V, 12V, 5V power supply; Export for secondary batching alternating current generator driver element and Yarn feeder alternating current generator driver element on ~ 220V AC power another road after zero passage detection; Described main servo electric-motor drive unit comprises main servo IGBT power drive part and main servo encoder interfaces, and main servo encoder interfaces is that main servo connects outside specific coding communication interface; One group of 5V out-put supply of Switching Power Supply offers main servo encoder interfaces; The 15V out-put supply of Switching Power Supply connects IGBT power drive part, the AD analog to digital conversion interface of CPU reads main servo electric machine phase current by current sensor, the position data that CPU feeds back according to this value and the required phase current of current control and external encoder, determine again the working current of main servo motor by FOC algorithm, export corresponding control signal to IGBT intelligent power driver module through the three-phase PWM output unit one of CPU again, drive main servo motor; A described driven by servomotor unit that moves comprises and moves bed servo IGBT power drive part and move an encoded servo device interface, moves an encoded servo device interface for moving an outside specific coding communication interface of servo connection; One group of 5V out-put supply of Switching Power Supply offers and moves an encoded servo device interface; The 15V out-put supply of Switching Power Supply connects IGBT power drive part, the AD analog to digital conversion interface of CPU is read and is moved a servomotor phase current by current sensor, the position data that CPU feeds back according to this value and the required phase current of current control and external encoder, determine by FOC algorithm the working current that moves a servomotor again, export corresponding control signal to IGBT intelligent power driver module through the three-phase PWM output unit two of CPU again, drive and move a servomotor; Described batching stepper motor driver element comprises controls power supply, the supervision of stepper motor working power and dual H-bridge driving circuit; The 5V out-put supply of Switching Power Supply connects dual H-bridge control circuit; CPU provides current needed speed, torque and direction signal to dual H-bridge control circuit, worked by dual H-bridge Driving Stepping Motor by this circuit, whether the power monitoring unit current stepper motor of charge of overseeing is working properly, this circuit feedback supervisory signal, to CPU, is provided and is reported to the police and guard signal by CPU; Described secondary batching alternating current generator driver element and Yarn feeder alternating current generator driver element are operatively connected to CPU, ~ 220V AC power zero cross detection circuit provides phase-locking signal to CPU, and CPU realizes secondary batching alternating current generator, the shutdown of left and right Yarn feeder alternating current generator, the control of speed according to this signal controlling bidirectional triode thyristor; Meanwhile, the phase-locking signal that CPU also provides according to this zero cross detection circuit judges that whether outside is power-off, carries out the preservation of power-off data; Described sensor interface unit comprises that the 12V out-put supply of Switching Power Supply is connected to the working temperature monitoring circuit of this controller, running status indicating circuit, I/O interface, debugging interface, expansion interface and CAN communication interface; I/O interface connects outside each sensor, and debugging interface is for producing debugging and offline debugger work use, and expansion interface is later Function Extension use, and CAN communication interface is attended operation box and head control box; By described Computerized flat knitting machine special purpose driver realize all main servo motors, move a servomotor, batching stepper motor, secondary batching alternating current generator, whole control of left and right Yarn feeder alternating current generator and the detection of external sensor; Computerized flat knitting machine special purpose driver described in described operating case control; Operating case is system operation core, the control of input, editor, management and the run action judgement of supervision, motion test, the motion file of system interface, system works is provided, and completes respective action by head control box; Described head control box comprises Power conversion board and head control drive plate, and the correspondence being sended over by CAN communication by operating case drives the action naming of head, and it is respective action by corresponding command interpretation that head control drive plate receives order; The corresponding electromagnet of head control drive plate, density stepper motor and slide cam selector complete the action of corresponding braided fabric.The present invention, after system boot, powered for operating case by described Computerized flat knitting machine special purpose driver, Computerized flat knitting machine special purpose driver starts self-inspection, after System self-test is normal, waits for user's operation, user pulls startup handle, detect and tell operating case by CAN communication by Computerized flat knitting machine special purpose driver, after operating case judges, tell Computerized flat knitting machine special purpose driver and head control box by CAN communication again, allow straight-bar machines start to carry out the braiding of fabric according to the braid movement file of original importing.
Program work flow process of the present invention: with reference to Fig. 2, program starts, initialization I/O and CAN communication, after judgement has master routine and primary power normally, initialization timing device, after normal by FOC initiation parameter, by CAN communication command, control main servo motor, move a servomotor, batching stepper motor, the action of left and right Yarn feeder alternating current generator; Realize external fault detection, busbar voltage detection, system temperature detection, button detection and stepper motor working current detects simultaneously.
As replacement scheme of the present invention, main control system can not integrated batching stepper motor driver, and adopts commercial batching stepper motor driver, the just complicated a little point of structure, but also simple than existing disclosed technical scheme.
Claims (6)
1. a full-computer flat knitting machine controller, it is characterized in that: comprise Computerized flat knitting machine special purpose driver, operating case and head control box, described Computerized flat knitting machine special purpose driver comprises power conversion unit, CPU control module, main servo electric-motor drive unit, moves a driven by servomotor unit, batching stepper motor driver element, secondary batching alternating current generator driver element, Yarn feeder alternating current generator driver element and sensor interface unit;
Described power conversion unit comprises the direct current 310V output voltage that AC power monitors through zero passage detection, rectification, busbar voltage in order, and described 310V output voltage is for main servo electric-motor drive unit and move a driven by servomotor unit and outside 24V Switching Power Supply; Another road output that busbar voltage monitors is through Switching Power Supply conversion output direct current 15V, 12V, 5V power supply; Export for secondary batching alternating current generator driver element and Yarn feeder alternating current generator driver element on AC power another road after zero passage detection;
Described main servo electric-motor drive unit comprises main servo IGBT power drive part and main servo encoder interfaces, and main servo encoder interfaces is that main servo connects outside specific coding communication interface; One group of 5V out-put supply of Switching Power Supply offers main servo encoder interfaces; The 15V out-put supply of Switching Power Supply connects IGBT power drive part, the AD analog to digital conversion interface of CPU reads main servo electric machine phase current by current sensor, the position data that CPU feeds back according to this value and the required phase current of current control and external encoder, determine again the working current of main servo motor by FOC algorithm, export corresponding control signal to IGBT intelligent power driver module through the three-phase PWM output unit one of CPU again, drive main servo motor;
A described driven by servomotor unit that moves comprises and moves bed servo IGBT power drive part and move an encoded servo device interface, moves an encoded servo device interface for moving an outside specific coding communication interface of servo connection; One group of 5V out-put supply of Switching Power Supply offers and moves an encoded servo device interface; The 15V out-put supply of Switching Power Supply connects IGBT power drive part, the AD analog to digital conversion interface of CPU is read and is moved a servomotor phase current by current sensor, the position data that CPU feeds back according to this value and the required phase current of current control and external encoder, determine by FOC algorithm the working current that moves a servomotor again, export corresponding control signal to IGBT intelligent power driver module through the three-phase PWM output unit two of CPU again, drive and move a servomotor;
Described batching stepper motor driver element comprises controls power supply, the supervision of stepper motor working power and dual H-bridge driving circuit; The 5V out-put supply of Switching Power Supply connects dual H-bridge control circuit; CPU provides current needed speed, torque and direction signal to dual H-bridge control circuit, worked by dual H-bridge Driving Stepping Motor by this circuit, whether the power monitoring unit current stepper motor of charge of overseeing is working properly, this circuit feedback supervisory signal, to CPU, is provided and is reported to the police and guard signal by CPU;
Described secondary batching alternating current generator driver element and Yarn feeder alternating current generator driver element are operatively connected to CPU, AC power zero cross detection circuit provides phase-locking signal to CPU, and CPU realizes secondary batching alternating current generator, the shutdown of left and right Yarn feeder alternating current generator, the control of speed according to this signal controlling bidirectional triode thyristor; Meanwhile, the phase-locking signal that CPU also provides according to this zero cross detection circuit judges that whether outside is power-off, carries out the preservation of power-off data;
Described sensor interface unit comprises that the 12V out-put supply of Switching Power Supply is connected to the working temperature monitoring circuit of this controller, running status indicating circuit, I/O interface, debugging interface, expansion interface and CAN communication interface; I/O interface connects outside each sensor, and debugging interface is for producing debugging and offline debugger work use, and expansion interface is later Function Extension use, and CAN communication interface is attended operation box and head control box.
2. full-computer flat knitting machine controller according to claim 1, is characterized in that: by described Computerized flat knitting machine special purpose driver realize all main servo motors, move a servomotor, batching stepper motor, secondary batching alternating current generator, whole control of left and right Yarn feeder alternating current generator and the detection of external sensor.
3. full-computer flat knitting machine controller according to claim 1, is characterized in that: Computerized flat knitting machine special purpose driver described in described operating case control; Operating case is system operation core, the control of input, editor, management and the run action judgement of supervision, motion test, the motion file of system interface, system works is provided, and completes respective action by head control box.
4. full-computer flat knitting machine controller according to claim 3, it is characterized in that: described head control box comprises Power conversion board and head control drive plate, the correspondence being sended over by CAN communication by operating case drives the action naming of head, and it is respective action by corresponding command interpretation that head control drive plate receives order; The corresponding electromagnet of head control drive plate, density stepper motor, slide cam selector complete the action of corresponding braided fabric.
5. according to claim 1, 2, full-computer flat knitting machine controller described in 3 or 4, it is characterized in that: after system boot, powered to operating case by described Computerized flat knitting machine special purpose driver, Computerized flat knitting machine special purpose driver starts self-inspection, after System self-test is normal, wait for user's operation, user pulls startup handle, detect and tell operating case by CAN communication by Computerized flat knitting machine special purpose driver, after judging, operating case tells Computerized flat knitting machine special purpose driver and head control box by CAN communication again, allow straight-bar machines start to carry out the braiding of fabric according to the braid movement file of original importing.
6. full-computer flat knitting machine controller according to claim 5, it is characterized in that: described Computerized flat knitting machine special purpose driver program starts, initialization I/O and CAN communication, after judgement has master routine and primary power normally, initialization timing device, after normal by FOC initiation parameter, by CAN communication command, control main servo motor, move a servomotor, batching stepper motor, the action of left and right Yarn feeder alternating current generator; Realize external fault detection, busbar voltage detection, system temperature detection, button detection and stepper motor working current detects simultaneously.
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103306034A (en) * | 2013-06-24 | 2013-09-18 | 苏州锦凯纺织有限公司 | Multifunctional computerized flat knitting machine |
| CN104111630B (en) * | 2014-06-16 | 2018-01-30 | 福建睿能科技股份有限公司 | Straight-bar machines and its control method |
| CN111549441B (en) * | 2020-05-14 | 2022-03-04 | 南京立迈胜机器人有限公司 | Control structure of flat weaving machine |
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| AU2002329568A1 (en) * | 2001-08-20 | 2003-03-03 | Muscle Corporation | Sewing machine with high speed interface for personal computer control |
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| US6445970B1 (en) * | 2000-02-17 | 2002-09-03 | Melco Industries, Inc. | Computerized embroidery machine diagnostics |
| CN200985419Y (en) * | 2006-12-14 | 2007-12-05 | 中国兵器工业第五八研究所 | Computer control device for industrial sewing machine |
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Effective date of registration: 20170418 Address after: 523000 Guangdong province Dongguan City Hengli Town West Industrial Zone second Dongguan Gold Layered Electronic Co. Ltd. factory rubber workshop floor Patentee after: Dongguan Jiawei Intelligent Technology Co Ltd Address before: 522000 Guangdong Province, Jieyang city Rongcheng District Yung Dong Hong Mei Ting Lu pocket Industrial Zone Patentee before: Jieyang Nanxing Machinery Co., Ltd. |
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Effective date of registration: 20220601 Address after: 522000 meidou Industrial Zone, Hongting Road, Rongdong, Rongcheng District, Jieyang City, Guangdong Province Patentee after: JIEYANG NANXING MACHINERY Co.,Ltd. Address before: 523000 floor 1, rubber workshop, plant area of Dongguan Jinbi Electronics Co., Ltd., Xicheng second industrial zone, Hengli Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN JIAWEI INTELLIGENT TECHNOLOGY Co.,Ltd. |