CN103488142A - Real-time double-bus control system applied to multiaxial warp knitting machine - Google Patents
Real-time double-bus control system applied to multiaxial warp knitting machine Download PDFInfo
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- CN103488142A CN103488142A CN201310410476.8A CN201310410476A CN103488142A CN 103488142 A CN103488142 A CN 103488142A CN 201310410476 A CN201310410476 A CN 201310410476A CN 103488142 A CN103488142 A CN 103488142A
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Abstract
The invention relates to a real-time double-bus control system applied to a multiaxial warp knitting machine. The real-time double-bus control system comprises a Powerlink bus, an X2X bus, a human-computer interface and a router. The Powerlink bus is connected with four servo controllers and a spindle servo drive respectively. The X2X bus is connected with four counting modules, three on-off input modules and an on-off output module respectively. The real-time double-bus control system applied to the multiaxial warp knitting machine has the advantages that the technical problems that multiaxial real-time linkage of the multiaxial warp knitting machine can not be achieved, the highest speed of the machine reaches up to 1000r/min, and real-time closed-loop adjusting time is shorter than a millisecond can be completely solved, due to the fact that a computer control module and a program of the system are relatively independent, data processing is fast, reliability is obviously improved, and when a certain program or a certain module in the system breaks down, other control systems can not be affected. Therefore, system maintenance is facilitated, and the maintainability is strong.
Description
Technical field
The invention belongs to technical field of textile machine, be specifically related to a kind of real time dual bus control system be applied on multiple-axial warp knitting machine.
Background technology
General tricot machine is comprised of looping mechanism, let-off mechanism, guide bar shogging mechanism, draw-off mechanism, spooler and gear train etc.The mechanical type tricot machine is that the various mechanisms of above-mentioned tricot machine are mechanical and take machinery control as main tricot machine.Complicated when compiling pattern tissue when producing in braiding, because the warp run-in of each line in the decorative pattern complete organization (by all working knitting needle, completing the formed in harness a series of coils of braiding circulation) (transversely) is different (switching), correspondingly, tractive and coiling amount are different (switching) too, the warp run-in, tractive and the coiling amount that are each line are all different, and people wish that machine braiding speed can improve simultaneously, in this case, the various mechanisms of mechanical type tricot machine and transmission are controlled and can not be adapted to above-mentioned requirements.
Along with the development of computing machine and automated control technology, link speed change let-off mechanism, permanent tension force and speed change draw-off mechanism and the spooler the weakest to the mechanical type tricot machine have carried out improvement and the computer control of " electronic type ", achieve electromechanical integration.
At present, along with the development of computer technology and tricot machine, oneself is quite general to adopt the tricot machine mechanism of electronic type and WARP-KNITTING that the braiding of micro-processor controlled tricot machine has multiple colored type.But they are mostly centralized control, with a computing machine, adopt the method for timesharing to carry out respectively timesharing control to control modules such as several warp beams, tractive axle, wireline reels.It is interrupted from the microcosmic timesharing, controlling, and several timeslices of being separated by just can be circulated again into this control module is once controlled; But because the arithmetic speed of computing machine is very high, from macroscopic view control or continuous.The advantage of centralized control method is that system is simple, better performances, inexpensive, adapts to machine speed not high, and technical feature and technical requirement be not bery high situation also, is widely used.Because the core of centralized control method is the control resource that a computing machine is shared in each controlled unit circulation timesharing, therefore the height of the arithmetic capability of a computing machine will directly affect the time requirement of the how many and circulation timesharing in controlled unit, and this will limit the raising of machine speed.
Axially tricot machine has the axle system of three warp beams, six roots of sensation latitude axle, a tractive axle, a drag chain axis, a Tobe axle and 13 high precision interlocks such as friction wireline reel, and the speed of warp beam, tractive axle is different when the same line of braiding, in addition in order to make it at high speed with 1000r/min running, require that the real-time closed-loop of machine regulates the time ask and be less than signa.Therefore, adopt general centralized control method can not realize the requirement of real-time control that the interlock in real time of its multiaxis and machine speed improve.
In the multiple-axial warp knitting machine control procedure the most scabrous key problem be exactly how to solve between 13 axles and and main shaft between real-time interlock problem, between them, self-movement separately should be arranged, the relation of mutual High-speed linkage is arranged again.The control model of general centralized control method is simple, inexpensive, and it is widely used in relatively simple control system.Use general centralized control method, multiple-axial warp knitting machine is carried out to system control, the system control accuracy is low, real-time is poor, and the system that can not meet multiple-axial warp knitting machine is controlled requirement.
Summary of the invention
In order to solve problems of the prior art, the invention provides a kind of real time dual bus control system be applied on multiple-axial warp knitting machine, thoroughly solve between 13 axles and and main shaft between real-time interlock problem.
A kind of real time dual bus control system be applied on multiple-axial warp knitting machine, comprise Powerlink bus, X2X bus, man-machine interface and router, wherein:
The Powerlink bus connects respectively the first servo controller, the second servo controller, the 3rd servo controller, the 4th servo controller and main axle servo driver, be mainly used in to servo-drive system transfer instruction and return to executing state in real time at a high speed, next, the fault of execution instruction, the status information of warning also feed back to man-machine interface from the Powerlink bus and are focused on;
The X2X bus connects respectively the first counting module, the second counting module, the 3rd counting module, the 4th counting module, the first switching input module, second switch amount load module, the 3rd switching input module and switching value output module, is mainly used to operate machine and transmits various measured values;
Man-machine interface: carry out artificial input and output and demonstration, by computing machine, each control module, bus and router are managed concentratedly;
Router: Powerlink bus, two network interconnections of X2X bus are got up with exchange message.
Further, in the Powerlink bus, the first servo controller, the second servo controller and the 3rd servo controller are by three warp beams of AC Servo Motor Control, and the 4th servo controller is controlled the tractive axle, and the main axle servo driver is controlled machine shaft by the machine shaft AC induction motor;
Further, in the X2X bus, the first counting module, the second counting module and the 3rd counting module are controlled respectively three and are surveyed the long codes device, the 4th counting module is controlled the machine spindle encoder, the first switching input module, second switch amount load module and the 3rd switching input module are controlled respectively the machine operation conditionss such as driving state, output counting, yarn tension, oil flow detection, and switching value output module is exported emergent stopping, broken yarn diagnosis.
The beneficial effect that the present invention has is: the multiaxis that this system has solved multiple-axial warp knitting machine fully links in real time, the machine top speed reaches 1000r/min and the real-time closed-loop adjusting time is less than the difficult problem of signa.Because computer control module and the program of system are relatively independent, data are processed fast, and reliability significantly improves, and when certain program in system or module break down, can not have influence on other control system, so system maintenance is convenient, maintainable strong.
The accompanying drawing explanation
Fig. 1 is framed structure schematic diagram of the present invention.
Wherein: 1, the Powerlink bus, 1011, the first servo controller, 1021, the second servo controller, 1031, the 3rd servo controller, 1041, the 4th servo controller, 1051, the main axle servo driver, 2, the X2X bus, 2011, the first counting module, 2012, the second counting module, 2013, the 3rd counting module, 2014, the 4th counting module, 2015, the first switching input module, 2016, second switch amount load module, 2017, the 3rd switching input module, 2018, switching value output module, 3, man-machine interface, 4, router.
Embodiment
In order further to understand advantage of the present invention, below by specific embodiment, effect of the present invention is described.
A kind of real time dual bus control system be applied on multiple-axial warp knitting machine, comprise Powerlink bus 1, X2X bus 2, man-machine interface 3 and router four, wherein:
Powerlink bus 1 is mainly used in to servo-drive system transfer instruction and return to executing state in real time at a high speed; Next, the fault of execution instruction, the status information of warning also feed back to man-machine interface from the Powerlink bus and are focused on.
Powerlink bus 1 connects respectively the first servo controller 1011, the second servo controller 1021, the 3rd servo controller 2031, the 4th servo controller 1041 and main axle servo driver 1051.
In Powerlink bus 1, the first servo controller 1011, the second servo controller 1021 and the 3rd servo controller 1031 are by three warp beams of AC Servo Motor Control, equally, the 4th servo controller 1041 is controlled the tractive axle, and main axle servo driver 1051 is controlled machine shaft by the machine shaft AC induction motor.
X2X bus 2: be mainly used to operate machine and transmit various measured values.
X2X bus 2 connects respectively the first counting module 2011, the second counting module 2012, the 3rd counting module 2013, the 4th counting module 2014, the first switching input module 2015, second switch amount load module 2016, the 3rd switching input module 2017 and switching value output module 2018.
In X2X bus 2, the first counting module 2011, the second counting module 2012 and the 3rd counting module 2013 are controlled respectively three and are surveyed the long codes device, the 4th counting module 2014 is controlled the machine spindle encoder, the first switching input module 2015, second switch amount load module 2016 and the 3rd switching input module 2017 are controlled respectively 17 states such as machine operation conditions such as driving state, output counting, yarn tension, oil flow detection, 12 kinds of output states such as 2018 output emergent stoppings of switching value output module, broken yarn diagnosis.
Man-machine interface 3: carry out artificial input and output and demonstration, by computing machine, each control module, bus and router are managed concentratedly.
Router four: Powerlink bus 1,2 two network interconnections of X2X bus are got up with exchange message.
In multiple-axial warp knitting machine, all servomotors are all to take main shaft as benchmark, following main shaft rotates and rotates, because the speed of mainshaft is fast, can arrive 20r/s, the ratio that therefore requires the strict follow procedure of each servo controller to set is followed its rotation, requires real time high-speed to follow the tracks of, therefore must, by high-speed bus Powerlink bus 1, with transfer rate 100Mbps, realize the purpose that real time high-speed is controlled.
And, in multiple-axial warp knitting machine, time of each switching value input and output is controlled and required not highly, as input signal time delay a few tens of milliseconds, and several or tens microseconds of time delay after output signal output, all input, output are not formed to impact.So these signals all transmit realization by middling speed X2X bus 2 with transfer rate 2Mbp.
In real time dual bus control system on being applied in multiple-axial warp knitting machine, Powerlink bus 1 is imported the instruction of man-machine interface respectively into axle system and the main shaft of 13 high precision interlocks, control respectively warp beam, tractive axle and main shaft etc. by module separately in computing machine again and realize the real-time synchronization operation, the information exchange of simultaneously instruction being carried out is crossed Powerlink bus 1 and is fed back to man-machine interface and show.
Its core is to adopt the real-time bus that reaches at a high speed 100Mbps to carry out distributed control to fast-changing controlled unit, adopt the real-time bus of middling speed 2Mbps to carry out message exchange to changing relatively slow control module, article two, the message exchange between bus is undertaken by router, carry out artificial input and output, demonstration by man-machine interface 3, computing machine again, each control module, bus and router four are managed concentratedly, formed by two buses, supported, the centralized management formed by computing machine, the real-time system of distributed control.
In the working control of multiple-axial warp knitting machine, Powerlink bus 1 is imported the instruction of man-machine interface 3 respectively into axle system and the main shaft of 13 high precision interlocks, control respectively warp beam, tractive axle and main shaft etc. by module separately in computing machine again and realize the real-time synchronization operation, the information exchange of simultaneously instruction being carried out is crossed Powerlink bus 1 and is fed back to man-machine interface 3 and show.
As take warp beam control as example, be sent to corresponding warp beam servo controller through compiling instruction by Powerlink bus 1, control the rotation of AC servo motor and adjust in real time rotating speed driving warp beam separately by the requirement of instruction by servo controller, guarantee that the warp run-in of three warp beams meets the requirement of fabric.The actual warp run-in of warp beam is to be transferred to router four through X2X bus 2, be transferred to man-machine interface 3 by router four again, man-machine interface 3 will by the actual warp run-in of warp beam of X2X bus 2 feedback with through the volume instruction, compare, calculate the modified value of warp beam rotating speed, and assign to corresponding warp beam servo controller by Powerlink bus 1, adjust the rotating speed of this warp beam.The time that this high speed real-time closed-loop is regulated is less than signa.Equally, the tractive instruction also is sent to the servo controller of tractive axle by Powerlink bus 1, controlling AC servo motor will out, cross Powerlink bus 1 by the information exchange of instruction execution simultaneously and feed back to man-machine interface 3 and show with desired draw rate tractive from tricot machine by the fabric of technological requirement braiding again.The corresponding control yarn tension of the counting module of X2X bus 2, switching input module and switching value output module limit switch, safety rope switch, oil heater switch, broken yarn detector switch etc., also control machine and complete express, slow train, emergent stopping, reset etc. and to control requirement.
In a word, be applied in centralized management, the distributed high speed real-time closed-loop regulation and control system that real time dual bus control system on multiple-axial warp knitting machine is comprised of two high, middling speed transfer rate buses and computing machine.This system not only can solve real-time control orderly between multiple-axial warp knitting machine 13 root systems and machine shaft, and can reach the even control requirement of more speed of high speed of multiple-axial warp knitting machine 1000r/min fully, and the weaving textile of effectively controlling high-quality complicated technology tissue, also can effectively solve the problems such as Real-time Error, the reliability that can exist when general centralized control method is applied to multiple-axial warp knitting machine are low, difficult in maintenance, poor expandability.In sum, above embodiment is only in order to illustrate the present invention and unrestricted technical scheme described in the invention; Therefore, although this instructions has been described in detail the present invention with reference to each above-mentioned embodiment,, those of ordinary skill in the art should be appreciated that still and can modify or be equal to replacement the present invention; And all do not break away from technical scheme and the improvement thereof of the spirit and scope of the present invention, it all should be encompassed in claim scope of the present invention.
Claims (3)
1. the real time dual bus control system be applied on multiple-axial warp knitting machine, is characterized in that, comprises Powerlink bus, X2X bus, man-machine interface and router, wherein:
The Powerlink bus connects respectively the first servo controller, the second servo controller, the 3rd servo controller, the 4th servo controller and main axle servo driver, be mainly used in to servo-drive system transfer instruction and return to executing state in real time at a high speed, next, the fault of execution instruction, the status information of warning also feed back to man-machine interface from the Powerlink bus and are focused on;
The X2X bus connects respectively the first counting module, the second counting module, the 3rd counting module, the 4th counting module, the first switching input module, second switch amount load module, the 3rd switching input module and switching value output module, is mainly used to operate machine and transmits various measured values;
Man-machine interface: carry out artificial input and output and demonstration, by computing machine, each control module, bus and router are managed concentratedly;
Router: Powerlink bus, two network interconnections of X2X bus are got up with exchange message.
2. the real time dual bus control system be applied on multiple-axial warp knitting machine according to claim 1, it is characterized in that, in described Powerlink bus, the first servo controller, the second servo controller and the 3rd servo controller are by three warp beams of AC Servo Motor Control, the 4th servo controller is controlled the tractive axle, and the main axle servo driver is controlled machine shaft by the machine shaft AC induction motor.
3. the real time dual bus control system be applied on multiple-axial warp knitting machine according to claim 1, it is characterized in that, in described X2X bus, the first counting module, the second counting module and the 3rd counting module are controlled respectively three and are surveyed the long codes device, the 4th counting module is controlled the machine spindle encoder, the first switching input module, second switch amount load module and the 3rd switching input module are controlled respectively the machine operation conditionss such as driving state, output counting, yarn tension, oil flow detection, switching value output module output emergent stopping, broken yarn diagnosis.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107400979A (en) * | 2016-05-19 | 2017-11-28 | 卡尔迈耶纺织机械制造有限公司 | For manufacturing the equipment of knitted fabric and being used for the method for equipment for manufacturing knitted fabric for control |
| CN108363370A (en) * | 2018-02-07 | 2018-08-03 | 江南大学 | Tricot machine electronics with hot elongator send yarn control system and method |
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| CN101231524A (en) * | 2008-01-15 | 2008-07-30 | 常州市第八纺织机械有限公司 | Real time dual bus control method for warp knitting machine |
| CN201122985Y (en) * | 2007-07-26 | 2008-09-24 | 浙江天煌科技实业有限公司 | Network type programmable controller group-control experimental device |
| CN202662182U (en) * | 2011-10-31 | 2013-01-09 | 浙江天煌科技实业有限公司 | Field bus control system teaching experiment apparatus |
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Patent Citations (3)
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| CN201122985Y (en) * | 2007-07-26 | 2008-09-24 | 浙江天煌科技实业有限公司 | Network type programmable controller group-control experimental device |
| CN101231524A (en) * | 2008-01-15 | 2008-07-30 | 常州市第八纺织机械有限公司 | Real time dual bus control method for warp knitting machine |
| CN202662182U (en) * | 2011-10-31 | 2013-01-09 | 浙江天煌科技实业有限公司 | Field bus control system teaching experiment apparatus |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107400979A (en) * | 2016-05-19 | 2017-11-28 | 卡尔迈耶纺织机械制造有限公司 | For manufacturing the equipment of knitted fabric and being used for the method for equipment for manufacturing knitted fabric for control |
| CN107400979B (en) * | 2016-05-19 | 2019-11-26 | 卡尔迈耶纺织机械制造有限公司 | Method for manufacturing the equipment of knitted fabric and for controlling the equipment for manufacturing knitted fabric |
| CN108363370A (en) * | 2018-02-07 | 2018-08-03 | 江南大学 | Tricot machine electronics with hot elongator send yarn control system and method |
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Application publication date: 20140101 |