CN108363370B - Electronic yarn feeding control system and method for warp knitting machine with hot stretching machine - Google Patents
Electronic yarn feeding control system and method for warp knitting machine with hot stretching machine Download PDFInfo
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- CN108363370B CN108363370B CN201810124622.3A CN201810124622A CN108363370B CN 108363370 B CN108363370 B CN 108363370B CN 201810124622 A CN201810124622 A CN 201810124622A CN 108363370 B CN108363370 B CN 108363370B
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- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
The invention relates to an electronic yarn feeding control system and method for a warp knitting machine with a hot stretching machine, which is characterized in that: the system comprises a warp yarn feeding shaft servo drive, a weft yarn second-stage extension shaft servo drive, a weft yarn first-stage extension shaft servo drive, a warp yarn second-stage extension shaft servo drive, a warp yarn first-stage extension shaft servo drive and a grey cloth pulling shaft servo drive; the multi-axis motion controller and the incremental encoder are connected with the concentrator, the mode selection panel is connected with the PLC module and the concentrator, and the warp yarn feeding shaft servo drive, the weft yarn second-stage extension shaft servo drive, the weft yarn first-stage extension shaft servo drive, the warp yarn second-stage extension shaft servo drive, the warp yarn first-stage extension shaft servo drive and the gray fabric drawing shaft servo drive are respectively connected with the concentrator through the shaft control channel. The invention realizes the stable and reliable operation of the whole system in the linkage mode and the cooperative and synchronous action of the system and the complex and changeable local driven shaft in the offline mode.
Description
Technical Field
The invention relates to an electronic yarn feeding control system and method for a warp knitting machine with a hot stretching machine, and belongs to the technical field of electromechanical integrated intelligent control of warp knitting equipment.
Background
The warp knitting technology is in a unique looping form and can easily realize the knitting characteristics of various large-size mesh structures, so that the warp knitting machine with low machine number and large needle pitch can be rapidly expanded and applied in the production field of industrial raw materials such as sun-shading nets, woven bags, fishing nets and the like. Especially, with the appearance of the multifunctional film material compounded by polyolefin resin and various anti-aging materials, warp yarns and weft yarns of a warp knitting machine can be simultaneously provided by the film material after being heated, extended, cut or drawn, so that the warping process and workshop with complicated processes and large occupied space in the general warp knitting production process are completely eliminated, and the multifunctional film material is very suitable for production and processing of industrial materials in agriculture, building industry and the like. Therefore, an integrated warp knitting machine having a function of a hot spreader for providing a knitting yarn by thermally stretching a film material such as a plastic and then drawing the yarn is being expanded in the development of industrial textiles.
In the process of producing the household or clothing warp knitted fabric, the warp knitting machine adopts a creel to supply yarns or a pan head warp beam to supply yarns, so that when the yarns are replaced, the warp beams are assembled and disassembled, or the tension of a certain yarn guide comb is adjusted, the warp beams are driven to rotate forwards or backwards through mechanical and manual operation on a certain independent yarn feeding shaft, or a motor is controlled to drive the warp beams to rotate forwards or backwards, and therefore the operation requirements of replacing raw materials and adjusting the tension are met. However, in the warp knitting machine with the hot spreader, the yarn is sent to the looping area of the warp knitting machine after the film material substrate is heated, stretched and drawn, and then passes through a plurality of or multiple stages of yarn feeding rollers to be sequentially drawn according to a certain proportion, so that all the yarn feeding roller shafts on a certain path of yarn and all the stages of drawing roller shafts of the hot spreader are required to be manually adjusted on the premise of keeping a constant drawing ratio in the process of adjusting the tension of the certain path of yarn or replacing raw materials, instead of only operating one shaft like adjusting the yarn feeding shafts of a common warp knitting machine, and the operation requirement and the operation mode are completely different from the operation mode of the common warp knitting machine.
The unique way of feeding the yarn in a warp knitting machine with hot spreader determines the special requirements for the offline local adjustment of its yarn path: no matter which yarn feeding shaft on the two yarn paths of the warp yarn or the weft yarn is adjusted independently, all the yarn feeding shafts connected with the yarns currently exist on the whole yarn path, and the yarn feeding shafts must synchronously act according to a set transmission ratio to ensure that the warp yarn or the weft yarn is not broken and the drafting ratio is not changed in the manual adjustment process. When the traditional chain gear mechanism is adopted for transmission, the rigid mechanical connection between the shafts can easily realize the synchronous action requirement, but with the simplification of the machine structure and the improvement of the production speed and the efficiency, when all the yarn feeding rollers and the drafting rollers are replaced by independent servo drive and do not have any physical connection with each other, and the yarn path of the warp knitting machine with the hot stretcher is locally adjusted in an off-line mode, the electronic yarn feeding control system is completely relied on to automatically cooperate with the synchronous action between the shafts; moreover, no matter the warp knitting machine with the hot stretcher runs integrally in an online mode or locally in an offline mode, the system start/stop control of the warp knitting machine with the hot stretcher is required to be realized by the same machine start/stop switch, so that the electronic yarn feeding control system is required to not only accurately identify the control mode of the current system, but also drive the corresponding driven shaft to perform integral or local synchronous action according to different synchronous requirements in different modes, and the control function requirements are functions which cannot be realized in the existing warp knitting machine electronic yarn feeding control system at present.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an electronic yarn feeding control system and method for a warp knitting machine with a hot stretcher, which can realize the stable and reliable operation of the whole machine system under a linkage mode for each electronic yarn shaft of the warp knitting machine with the hot stretcher and can cooperatively and synchronously act with a complex and variable local driven shaft under an offline mode.
According to the technical scheme provided by the invention, the electronic yarn feeding control system of the warp knitting machine with the hot stretching machine is characterized in that: the device comprises a warp yarn feeding shaft servo drive, a weft yarn second-stage extension shaft servo drive, a weft yarn first-stage extension shaft servo drive, a warp yarn second-stage extension shaft servo drive, a warp yarn first-stage extension shaft servo drive, a grey cloth traction shaft servo drive, a hub, a mode selection panel, a multi-shaft motion controller, an incremental encoder, a PLC module, a switch box and a main shaft frequency converter; the multi-axis motion controller is connected with the concentrator through a shielding cable and performs information interaction; the incremental encoder is interconnected with the concentrator through an auxiliary encoder input channel, the mode selection panel is interconnected with the PLC module through an I/O terminal interface and the concentrator, the warp yarn feeding shaft servo drive is connected with the concentrator through a first shaft control channel, the weft yarn feeding shaft servo drive is connected with the concentrator through a second shaft control channel, the weft yarn second-stage extension shaft servo drive is connected with the concentrator through a third shaft control channel, the weft yarn first-stage extension shaft servo drive is connected with the concentrator through a fourth shaft control channel, the warp yarn second-stage extension shaft servo drive is connected with the fifth shaft control channel, the warp yarn first-stage extension shaft servo drive is connected with the sixth shaft control channel, and the grey cloth pulling shaft servo drive is connected with the concentrator through a seventh shaft control channel.
Furthermore, the incremental encoder is synchronously driven by a real warp knitting machine main shaft in a ratio of 1:1, the number and the frequency of output pulses are input into a system through an auxiliary encoder input channel, and the incremental encoder is used for representing the actual angle and the speed of the real warp knitting machine main shaft in a control system.
Further, the mode selection panel includes a yarn feeding shaft knob, a function combination knob, and an extension shaft knob.
Furthermore, the PLC module is connected with the hub, the switch box and the main shaft frequency converter, the switch box is used for providing three system control instruction signals of fast turning, slow turning and parking, the main shaft frequency converter is used for executing the actions of fast turning, slow turning and parking of the main shaft of the real warp knitting machine, and after the PLC module receives the three system control instruction signals provided by the switch box, if the system operation mode provided by the hub is a linkage mode, the PLC module controls the main shaft frequency converter to execute the fast turning, slow turning and parking of the main shaft of the real warp knitting machine; if the operation mode of the system given by the concentrator is an offline mode, signals indicating fast turning, slow turning and stopping of the virtual warp knitting machine main shaft are output to the concentrator.
Furthermore, the concentrator is provided with an eighth shaft control channel which is in an external connection suspension state.
The electronic yarn feeding control method of the warp knitting machine with the hot stretching machine is characterized by comprising the following steps of:
firstly, combining the position planning value of the virtual warp knitting machine main shaft and the position feedback value of the real warp knitting machine main shaft through real-time superposition operation, and taking the combined position superposition value as a unique main shaft signal of a control software; secondly, when the command information of fast driving or slow driving arrives, the control software configures the corresponding slave shaft to follow the main shaft signal in an electronic gear mode according to the current system operation mode; and finally, the control software starts the virtual warp knitting machine main shaft to run or the real warp knitting machine main shaft to run according to the current system operation mode.
Further, the method for combining the double main shafts comprises the following steps: firstly, mapping shaft control software resources corresponding to a shaft control channel into a virtual warp knitting machine main shaft of a system, outputting a position planning value of the virtual warp knitting machine main shaft to a position feedback value register of the shaft control channel, then superposing a position pulse value of a real warp knitting machine main shaft recorded in the position feedback value register of an incremental encoder through an input channel to the position feedback value register of the virtual warp knitting machine main shaft in real time in an algebraic sum operation mode, and taking a real-time superposition result of the register as a unique main shaft signal after the virtual warp knitting machine main shaft and the real warp knitting machine main shaft are combined.
Further, the current system operation mode comprises an online operation mode and an offline operation mode; the online operation mode is a real warp knitting machine main shaft synchronous operation mode characterized by an incremental encoder followed by all controlled driven shafts; all slave axes for the online mode of operation are: the system comprises a warp yarn feeding shaft servo drive, a weft yarn second-stage extension shaft servo drive, a weft yarn first-stage extension shaft servo drive, a warp yarn second-stage extension shaft servo drive, a warp yarn first-stage extension shaft servo drive and a grey cloth pulling shaft servo drive; the off-line operation mode is an operation mode in which the control section is required to be controlled to operate the driven shaft because the local yarn path needs to be adjusted.
Further, the offline operating mode includes ten of the following:
the off-line operation mode one: the yarn feeding shaft runs independently off-line through a shaft, and the corresponding shaft is driven by a warp yarn feeding shaft in a servo mode;
and (2) an off-line operation mode II: the weft shaft of the yarn feeding shaft runs independently off-line, and the corresponding driven shaft is the weft yarn feeding shaft for servo driving;
and (3) an off-line operation mode III: the warp shaft and the weft shaft of the yarn feeding shaft simultaneously run off-line, and the warp shaft and the weft shaft correspondingly serve as a warp yarn feeding shaft servo drive and a weft yarn feeding shaft servo drive;
and (4) an offline operation mode four: the extension shafts are independently operated in an off-line mode through the shafts, and the corresponding shafts are driven by the warp second-stage extension shaft servo and the warp first-stage extension shaft servo;
the off-line operation mode five: the extending shaft and the weft shaft are independently operated off-line, and the corresponding shaft is a weft yarn second-stage extending shaft servo drive and a weft yarn first-stage extending shaft servo drive;
offline operating mode six: each shaft of the extension shaft runs independently in an off-line mode, and the corresponding driven shafts are warp yarn second-stage extension shaft servo drive, warp yarn first-stage extension shaft servo drive, weft yarn second-stage extension shaft servo drive and weft yarn first-stage extension shaft servo drive;
the offline operation mode seven: all warp shafts simultaneously run off-line, and the corresponding driven shafts are a warp yarn feeding shaft servo drive, a warp second-stage extension shaft servo drive and a warp first-stage extension shaft servo drive;
the off-line operation mode eight: all weft yarn shafts simultaneously run off-line, and the corresponding driven shafts are weft yarn feeding shaft servo drive, weft yarn second-stage extension shaft servo drive and weft yarn first-stage extension shaft servo drive;
offline mode of operation nine: each shaft of the warp yarn and each shaft of the weft yarn simultaneously run off-line, and the corresponding driven shafts are a warp yarn feeding shaft servo drive, a warp yarn second-stage extension shaft servo drive and a warp yarn first-stage extension shaft servo drive; the weft yarn feeding shaft servo drive, the weft yarn second-stage extension shaft servo drive and the weft yarn first-stage extension shaft servo drive are respectively connected with the weft yarn feeding shaft servo drive, the weft yarn second-stage extension shaft servo drive and the weft yarn first-stage extension shaft servo drive;
offline operating mode ten: the pulling shafts are independently operated in an off-line mode, and the corresponding driven shafts are driven by the gray fabric pulling shafts in a servo mode.
Compared with the prior art, the invention has the following advantages and effects:
1. according to the electronic yarn feeding control system and method for the warp knitting machine with the hot stretching machine, provided by the invention, the whole-process integrated control of the warp knitting machine from film cutting, flat filament stretching and grey cloth knitting is realized innovatively, a multi-process production link is highly integrated, the whole-process production efficiency is improved, and the production field consumption and the labor cost are reduced by more than half.
2. According to the invention, through the mode of creating the virtual warp knitting machine main shaft, the corresponding driven shafts keep relatively independent motion in form in the off-line operation mode, but the differential ratio of the driven shafts is still strictly according to the parameter ratio set by the process, and through the electronic gear following of the virtual warp knitting machine main shaft, all the driven shafts can keep drafting of the flat filament in a constant ratio even in the acceleration and deceleration process in the off-line operation mode, so that the constant tension of the flat filament yarn feeding is ensured.
3. The virtual warp knitting machine main shaft and the real warp knitting machine main shaft are logically superposed in real time in the software to form a unique main shaft signal, the control software only needs to change the slave shaft combination following the main shaft according to the machine operation mode, and the corresponding slave shaft can cooperatively complete specified actions according to the constant draft ratio and the tension under various operation modes, so the control idea is clear, and the control method is simple.
Drawings
FIG. 1 is a schematic view of an electronic yarn feeding control system of a warp knitting machine with a hot spreader according to the present invention.
FIG. 2 is a control mode selection panel diagram of the electronic let-off control system of the warp knitting machine with hot spreader according to the present invention.
FIG. 3 is a schematic diagram of the function and position distribution of servo drive shafts on a machine in the control system of the present invention.
Fig. 4 is a key control flow chart of the control method of the present invention.
FIG. 5 is a logic diagram of a method for combining two shafts of a real warp knitting machine main shaft and a virtual warp knitting machine main shaft according to the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention essentially develops an electronic warp let-off control system of a warp knitting machine based on a virtual main shaft technology and a double-main shaft superposition technology, and further realizes that a plurality of servo shafts complete the multi-shaft synchronous start/stop and operation cooperative operation strictly according to the differential ratio under different combination modes in an off-line operation mode on the basis of realizing the warp let-off control requirement of the common warp knitting machine in an on-line operation mode.
As shown in fig. 1, the electronic yarn feeding control system of the warp knitting machine with the thermal stretcher comprises a warp yarn feeding shaft servo drive 1, a weft yarn feeding shaft servo drive 2, a weft yarn second-stage extension shaft servo drive 3, a weft yarn first-stage extension shaft servo drive 4, a warp yarn second-stage extension shaft servo drive 5, a warp yarn first-stage extension shaft servo drive 6, a gray fabric drawing shaft servo drive 7, a hub 8, a mode selection panel 9, a multi-shaft motion controller 10, an incremental encoder 11, a PLC module 12, a switch box 13 and a main shaft frequency converter 14; the multi-axis motion controller 10 is a system core main control unit, contains an eight-axis servo independent real-time motion control function, and is directly connected with the concentrator 8 through a shielding cable for information interaction; the hub 8 takes charge of the task of centralizing and switching various peripheral physical wiring, the incremental encoder 11 is interconnected with the hub 8 through an auxiliary encoder input channel 809, the mode selection panel 9 and the PLC module 12 are interconnected with the hub 8 through an I/O terminal interface, the warp yarn feeding shaft servo drive 1 is connected with the hub 8 through a first shaft control channel 801, the weft yarn feeding shaft servo drive 2 is connected with the hub 8 through a second shaft control channel 802, the weft yarn second-stage extension shaft servo drive 3 is connected with the third shaft control channel 803, the weft yarn first-stage extension shaft servo drive 4 is connected with the fourth shaft control channel 804, the warp yarn second-stage extension shaft servo drive 5 is connected with the hub 8 through a fifth shaft control channel 805, the warp yarn first-stage extension shaft servo drive 6 is connected with the hub 8 through a sixth shaft control channel 806, and the grey cloth drawing shaft servo drive 7 is connected with the hub 8 through a seventh shaft.
The incremental encoder 11 is used for representing the actual angle and speed of the real main shaft of the warp knitting machine in the control system, the real main shaft of the warp knitting machine is synchronously driven through the proportion of 1:1, and an output pulse sequence is input into the system through an auxiliary encoder input channel 809.
As shown in fig. 2, the mode selection panel 9 includes three mode selection knobs, wherein the yarn feeding shaft knob 901 has three-gear rotation positions, which respectively represent selection of an individual warp yarn feeding shaft, selection of an individual weft yarn feeding shaft, and linkage selection; the extension shaft knob 903 is provided with three-gear rotation positions which respectively represent selection of first-stage and second-stage extension shafts of single warps, selection of first-stage and second-stage extension shafts of single wefts and linkage selection; the function combination knob 902 has five-gear rotation positions, which respectively represent independent pulling shaft motion selection, independent yarn feeding shaft motion selection, independent extension shaft motion selection, independent yarn feeding shaft and extension shaft common motion selection and system linkage selection.
As shown in fig. 3, the warp yarn feeding shaft servo drive 1, the warp yarn second stage extension shaft servo drive 5 and the warp yarn first stage extension shaft servo drive 6 cooperate with each other three shafts to complete the warp yarn electronic yarn feeding action of the warp knitting machine; the weft yarn feeding shaft servo drive 2, the weft yarn second-stage extension shaft servo drive 3 and the weft yarn first-stage extension shaft servo drive 4 are in three-shaft cooperation to complete electronic yarn feeding of weft yarns and weft yarns of the warp knitting machine.
The eighth shaft control channel 808 on the hub 8 is in an externally connected suspended state, and is not connected with any servo driving device outside, so that when the motion control card is expanded for the system, a main shaft signal output serial channel formed by logically superposing and combining the real warp knitting machine main shaft and the virtual warp knitting machine main shaft is reserved.
The PLC module 12 is connected with the concentrator 8, the switch box 13 and the main shaft frequency converter 14, the switch box 13 is used for providing control instruction signals of three systems of fast turning, slow turning and parking, the main shaft frequency converter 14 is used for executing the actions of fast turning, slow turning and parking of the main shaft of the real warp knitting machine, and the PLC module 12 receives the control instruction signals of the three systems given by the switch box 13.
According to the electronic yarn feeding control method of the warp knitting machine with the hot stretching machine, as shown in fig. 4, a main body can be divided into three steps of double main shaft superposition, system control mode identification, controlled driven shaft configuration and main shaft operation starting.
The method comprises the following steps: as shown in fig. 5, the dual spindles are superimposed: mapping a shaft control software resource corresponding to a shaft control channel 808 into a virtual warp knitting machine main shaft of a system in a control software body, outputting a position planning value of the virtual warp knitting machine main shaft to a position feedback value register of the shaft control channel 808, then superposing a position pulse value of a real warp knitting machine main shaft recorded in the position feedback value register of an incremental encoder 11 through an input channel 809 to the position feedback value register of the virtual warp knitting machine main shaft in real time in an algebraic sum operation mode, and taking a real-time superposition result of the register as a unique main shaft signal after the virtual warp knitting machine main shaft and the real warp knitting machine main shaft are combined; under the strict logic control, the running of the real warp knitting machine main shaft and the virtual warp knitting machine main shaft is not overlapped in time, so that the following of the controlled slave shaft at any time to the only main shaft signal of the system is directly following to the real warp knitting machine main shaft or the virtual warp knitting machine main shaft which is running at any time.
Step two: system operation pattern recognition and controlled slave axis configuration:
online mode of operation: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is in the "linkage" selection position, the yarn feeding shaft knob 901 is in the "linkage" selection position, and the extension shaft knob 903 is in the "linkage" selection position, the control software recognizes that the system is currently in the on-line operation mode, so as to control the following slave shafts: the device comprises a warp yarn feeding shaft servo drive 1, a weft yarn feeding shaft servo drive 2, a weft yarn second-stage extension shaft servo drive 3, a weft yarn first-stage extension shaft servo drive 4, a warp yarn second-stage extension shaft servo drive 5, a warp yarn first-stage extension shaft servo drive 6 and a grey cloth drawing shaft servo drive 7, wherein all seven shafts are configured to synchronously follow main shaft signals in an electronic gear mode, and the following electronic gear ratio of each shaft is determined by mechanical transmission parameters and process parameters of each shaft;
the off-line operation mode one: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "yarn feeding shaft" selection gear and the yarn feeding shaft knob 901 is located at the "warp" selection gear, the control software recognizes that the system is currently in the offline operation mode one, and needs to configure the yarn feeding shaft to run offline alone, so that the shaft of the warp yarn feeding shaft servo drive 1 is configured to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of the shaft;
and (2) an off-line operation mode II: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "yarn feeding shaft" selection gear and the yarn feeding shaft knob 901 is located at the "weft" selection gear, the control software recognizes that the system is currently in the off-line operation mode two, and needs to configure the weft shaft of the yarn feeding shaft to operate separately off-line, so that the shaft of the weft yarn feeding shaft servo drive 2 is configured to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of the shaft;
and (3) an off-line operation mode III: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "yarn feeding shaft" selection gear and the yarn feeding shaft knob 901 is located at the "linkage" selection gear, the control software recognizes that the system is currently in the off-line operation mode three, and needs to configure the warp shaft and the weft shaft of the yarn feeding shaft to simultaneously operate off-line, so that the two shafts of the warp yarn feeding shaft servo drive 1 and the weft yarn feeding shaft servo drive 2 are configured to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of each shaft;
and (4) an offline operation mode four: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "extension shaft" selection position and the extension shaft knob 903 is located at the "warp" selection position, the control software recognizes that the system is currently in the off-line operation mode four, and needs to configure two stages of extension shaft warp shafts to operate off-line at the same time, so that the two shafts of the warp second stage extension shaft servo drive 5 and the warp first stage extension shaft servo drive 6 are configured to follow the main shaft signal synchronously in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of each shaft;
the off-line operation mode five: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "extension shaft" selection position and the extension shaft knob 903 is located at the "weft" selection position, the control software recognizes that the system is currently in the off-line operation mode five, and two stages of extension shaft weft shafts need to be configured to operate off-line at the same time, so that the two shafts of the weft yarn second stage extension shaft servo drive 3 and the weft yarn first stage extension shaft servo drive 4 are configured to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of each shaft;
offline operating mode six: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "extension shaft" selection gear and the extension shaft knob 903 is located at the "linkage" selection gear, the control software recognizes that the system is currently in the offline operation mode six, and needs to configure two stages of extension shafts to simultaneously operate offline through the warp shaft and the weft shaft, so that the four shafts of the warp second stage extension shaft servo drive 5, the warp first stage extension shaft servo drive 6, the weft second stage extension shaft servo drive 3, and the weft first stage extension shaft servo drive 4 are configured to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of each shaft;
the offline operation mode seven: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "let-off & extend" selection position, the yarn feeding shaft knob 901 is located at the "warp" selection position, and the extending shaft knob 903 is located at the "warp" selection position, the control software recognizes that the system is currently in the offline operation mode seven, and it is necessary to configure each of the warp yarns to operate offline at the same time, so that the three shafts of the warp yarn feeding shaft servo drive 1, the warp second stage extending shaft servo drive 5, and the warp first stage extending shaft servo drive 6 are configured to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of each shaft;
the off-line operation mode eight: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "let-off & extension" selection position, the yarn feeding shaft knob 901 is located at the "weft" selection position, and the extension shaft knob 903 is located at the "weft" selection position, the control software will recognize that the system is currently in the offline operation mode eight, and it is necessary to configure the weft yarn shafts to operate offline at the same time, so that the three shafts of the weft yarn feeding shaft servo drive 2, the weft yarn second-stage extension shaft servo drive 3, and the weft yarn first-stage extension shaft servo drive 4 are configured to follow the main shaft signal synchronously in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of each shaft;
offline mode of operation nine: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "let-off & extend" selection position, the yarn feeding shaft knob 901 is located at the "linkage" selection position, and the extending shaft knob 903 is located at the "linkage" selection position, the control software will recognize that the system is currently in the offline operation mode nine, and it is necessary to configure each shaft of weft yarn and each shaft of warp yarn to simultaneously operate offline, so that the six shafts of the weft yarn feeding shaft servo drive 2, the weft yarn second stage extending shaft servo drive 3, the weft yarn first stage extending shaft servo drive 4, the warp yarn feeding shaft servo drive 1, the warp yarn second stage extending shaft servo drive 5, and the warp yarn first stage extending shaft servo drive 6 are configured to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of each shaft;
offline operating mode ten: as shown in fig. 2, when the function combination knob 902 in the mode selection panel 9 is located at the "pull" selection position, the control software recognizes that the system is currently in the offline operation mode ten, and needs to configure the pulling shaft to operate independently offline, so as to configure the gray fabric pulling shaft servo drive 7, that is, the shaft, to synchronously follow the main shaft signal in the electronic gear mode, and the following electronic gear ratio is determined by the mechanical transmission parameters and the process parameters of the pulling shaft.
Step three: starting the main shaft to operate: according to the current system operation mode identified in the step two, if the system operation mode is a linkage operation mode, the PLC module 12 controls the main shaft frequency converter 14 to execute fast turning, slow turning and parking of the real warp knitting machine main shaft, and at the moment, main shaft signals which are configured in the step two and are followed by all controlled auxiliary shafts are actually real feedback values which are sent into the system by the incremental encoder 11 and are used for detecting the physical position of the real warp knitting machine main shaft; if the operation mode is the off-line operation mode, the PLC module 12 outputs signals indicating fast turning, slow turning and stopping of the virtual warp knitting machine main shaft to the hub 8, the multi-shaft motion controller 10 controls the virtual warp knitting machine main shaft to start running, and the main shaft signals followed by the controlled slave shafts configured in the step two are actually virtual planning values in the process of simulating the motion of the virtual warp knitting machine main shaft in the control software.
Claims (9)
1. An electronic yarn feeding control system of a warp knitting machine with a hot stretching machine is characterized in that: the device comprises a warp yarn feeding shaft servo drive (1), a weft yarn feeding shaft servo drive (2), a weft yarn second-stage extension shaft servo drive (3), a weft yarn first-stage extension shaft servo drive (4), a warp yarn second-stage extension shaft servo drive (5), a warp yarn first-stage extension shaft servo drive (6), a grey cloth pulling shaft servo drive (7), a hub (8), a mode selection panel (9), a multi-shaft motion controller (10), an incremental encoder (11), a PLC module (12), a switch box (13) and a main shaft frequency converter (14); the multi-axis motion controller (10) is connected with the hub (8) through a shielding cable and performs information interaction; the incremental encoder (11) is interconnected with the hub (8) through an auxiliary encoder input channel (809), the mode selection panel (9) and the PLC module (12) are interconnected with the hub (8) through an I/O terminal interface, the warp yarn feeding shaft servo drive (1) is connected with the hub (8) through a first shaft control channel (801), the weft yarn feeding shaft servo drive (2) is connected with the hub (8) through a second shaft control channel (802), the weft yarn second-stage extension shaft servo drive (3) is connected with a third shaft control channel (803), the weft yarn first-stage extension shaft servo drive (4) is connected with the fourth shaft control channel (804), the warp yarn second-stage extension shaft servo drive (5) is connected with the hub (8) through a fifth shaft control channel (805), the warp yarn first-stage extension shaft servo drive (6) is connected with a sixth shaft control channel (806), and the grey cloth pulling shaft servo drive (7) is connected with the hub (8) through a seventh shaft control channel (807).
2. The electronic yarn feeding control system of a warp knitting machine with a hot spreader as set forth in claim 1, wherein: the incremental encoder (11) is synchronously driven by a real warp knitting machine main shaft in a ratio of 1:1, the number and frequency of output pulses are input into a system through an auxiliary encoder input channel (809), and the incremental encoder is used for representing the actual angle and speed of the real warp knitting machine main shaft in a control system.
3. The electronic yarn feeding control system of a warp knitting machine with a hot spreader as set forth in claim 1, wherein: the mode selection panel (9) comprises a yarn feeding shaft knob (901), a function combination knob (902) and an extension shaft knob (903).
4. The electronic yarn feeding control system of a warp knitting machine with a hot spreader as set forth in claim 1, wherein: the PLC module (12) is connected with the hub (8), the switch box (13) and the main shaft frequency converter (14), the switch box (13) is used for providing three system control instruction signals of fast turning, slow turning and parking, the main shaft frequency converter (14) is used for executing the actions of fast turning, slow turning and parking of a real main shaft of the warp knitting machine, and after the PLC module (12) receives the three system control instruction signals given by the switch box (13), if the system operation mode given by the hub (8) is a linkage mode, the PLC module (12) controls the main shaft frequency converter (14) to execute the fast turning, slow turning and parking of the real main shaft of the warp knitting machine; if the system running mode given by the hub (8) is the offline mode, signals indicating fast running, slow running and stopping of the virtual warp knitting machine main shaft are output to the hub (8).
5. The electronic yarn feeding control system of a warp knitting machine with a hot spreader as set forth in claim 1, wherein: the concentrator (8) is provided with an eighth shaft control channel (808) which is in an external connection suspension state.
6. An electronic yarn feeding control method of a warp knitting machine with a hot stretcher is characterized in that an electronic yarn feeding control system of the warp knitting machine with the hot stretcher comprises a warp yarn feeding shaft servo drive (1), a weft yarn feeding shaft servo drive (2), a weft yarn second-stage extension shaft servo drive (3), a weft yarn first-stage extension shaft servo drive (4), a warp yarn second-stage extension shaft servo drive (5), a warp yarn first-stage extension shaft servo drive (6), a grey cloth pulling shaft servo drive (7) and an incremental encoder (11); the incremental encoder (11) is interconnected with the hub (8) through an auxiliary encoder input channel (809), a warp yarn feeding shaft servo drive (1) is connected with the hub (8) through a first shaft control channel (801), a weft yarn feeding shaft servo drive (2) is connected with the second shaft control channel (802), a weft yarn second-stage extension shaft servo drive (3) is connected with the hub (8) through a third shaft control channel (803), a weft yarn first-stage extension shaft servo drive (4) is connected with a fourth shaft control channel (804), a warp yarn second-stage extension shaft servo drive (5) is connected with a fifth shaft control channel (805), a warp yarn first-stage extension shaft servo drive (6) is connected with the hub (8) through a sixth shaft control channel (806) and a grey cloth pulling shaft servo drive (7) are connected with the hub (8) through a seventh shaft control channel (807);
the electronic yarn feeding control method of the warp knitting machine with the hot stretching machine comprises the following steps:
firstly, combining the position planning value of the virtual warp knitting machine main shaft and the position feedback value of the real warp knitting machine main shaft through real-time superposition operation, and taking the combined position superposition value as a unique main shaft signal of a control software; secondly, when the command information of fast driving or slow driving arrives, the control software configures the corresponding slave shaft to follow the main shaft signal in an electronic gear mode according to the current system operation mode; and finally, the control software starts the virtual warp knitting machine main shaft to run or the real warp knitting machine main shaft to run according to the current system operation mode.
7. The method of controlling the electronic yarn feeding of a warp knitting machine with a hot spreader as set forth in claim 6, wherein: the method for combining the double main shafts comprises the following steps: firstly, mapping shaft control software resources corresponding to a shaft control channel (808) into a virtual warp knitting machine main shaft of a system, outputting a position planning value of the virtual warp knitting machine main shaft to a position feedback value register of the shaft control channel (808), then superposing a position pulse value of a real warp knitting machine main shaft recorded in the position feedback value register of an incremental encoder (11) through an input channel (809) to the position feedback value register of the virtual warp knitting machine main shaft in real time in an algebraic sum operation mode, and taking a real-time superposition result of the register as a unique main shaft signal after the virtual warp knitting machine main shaft and the real warp knitting machine main shaft are combined.
8. The method of controlling the electronic yarn feeding of a warp knitting machine with a hot spreader as set forth in claim 6, wherein: the current system operation mode comprises an online operation mode and an offline operation mode; the online operation mode is a real warp knitting machine main shaft synchronous operation mode characterized in that all controlled driven shafts follow the incremental encoder (11); all slave axes for the online mode of operation are: the system comprises a warp yarn feeding shaft servo drive (1), a weft yarn feeding shaft servo drive (2), a weft yarn second-stage extension shaft servo drive (3), a weft yarn first-stage extension shaft servo drive (4), a warp yarn second-stage extension shaft servo drive (5), a warp yarn first-stage extension shaft servo drive (6) and a grey cloth pulling shaft servo drive (7); the off-line operation mode is an operation mode in which the control section is required to be controlled to operate the driven shaft because the local yarn path needs to be adjusted.
9. The method of controlling the electronic yarn feeding of a warp knitting machine with a hot spreader as set forth in claim 8, wherein: the offline operating modes include the following ten:
the off-line operation mode one: the yarn feeding shaft runs independently off-line through a shaft, and the corresponding shaft is a warp yarn feeding shaft for servo driving (1);
and (2) an off-line operation mode II: the weft shaft of the yarn feeding shaft runs independently off-line, and the corresponding driven shaft is the weft yarn feeding shaft for servo driving (2);
and (3) an off-line operation mode III: the warp shaft and the weft shaft of the yarn feeding shaft run off-line simultaneously, and the warp shaft and the weft shaft are correspondingly a warp yarn feeding shaft servo drive (1) and a weft yarn feeding shaft servo drive (2);
and (4) an offline operation mode four: the extension shafts run separately off-line through the shafts, and the corresponding shafts are a warp second-stage extension shaft servo drive (5) and a warp first-stage extension shaft servo drive (6);
the off-line operation mode five: the extension shaft and the weft shaft run separately off-line, and the corresponding slave shafts are a weft second-stage extension shaft servo drive (3) and a weft first-stage extension shaft servo drive (4);
offline operating mode six: each shaft of the extension shaft runs independently off line, and the corresponding shaft comprises a warp second-stage extension shaft servo drive (5), a warp first-stage extension shaft servo drive (6), a weft second-stage extension shaft servo drive (3) and a weft first-stage extension shaft servo drive (4);
the offline operation mode seven: all warp shafts simultaneously run off-line, and the corresponding driven shafts are a warp yarn feeding shaft servo drive (1), a warp second-stage extension shaft servo drive (5) and a warp first-stage extension shaft servo drive (6);
the off-line operation mode eight: all weft yarn shafts simultaneously run off-line, and the corresponding driven shafts are a weft yarn feeding shaft servo drive (2), a weft yarn second-stage extension shaft servo drive (3) and a weft yarn first-stage extension shaft servo drive (4);
offline mode of operation nine: each warp shaft and each weft shaft simultaneously run off-line, and the corresponding driven shafts are a warp yarn feeding shaft servo drive (1), a warp yarn second-stage extension shaft servo drive (5) and a warp yarn first-stage extension shaft servo drive (6); a weft yarn feeding shaft servo drive (2), a weft yarn second-stage extension shaft servo drive (3) and a weft yarn first-stage extension shaft servo drive (4);
offline operating mode ten: the pulling shaft runs independently off line, and the corresponding shaft is a grey cloth pulling shaft servo drive (7).
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| CN112612245A (en) * | 2020-12-08 | 2021-04-06 | 深圳市英威腾电气股份有限公司 | Shaft motion control method and device, terminal device and computer readable storage medium |
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| DE10234545B4 (en) * | 2002-07-30 | 2005-12-15 | Memminger-Iro Gmbh | Method and device for delivering threads |
| CN100396834C (en) * | 2006-04-13 | 2008-06-25 | 康盘方 | Electronic warp feeding system of warp knitting machine |
| CN102634910B (en) * | 2012-04-17 | 2013-09-04 | 烟台宋和科技股份有限公司 | Fully-independent servo drive rapier loom |
| CN103488142A (en) * | 2013-09-11 | 2014-01-01 | 昆山市万丰制衣有限责任公司 | Real-time double-bus control system applied to multiaxial warp knitting machine |
| CN104131410B (en) * | 2014-08-14 | 2016-06-01 | 江南大学 | Warp knitting machine controlled in wireless device and wireless control method |
| CN105256457B (en) * | 2015-11-25 | 2017-03-22 | 江南大学 | Two-stage multispeed warp knitting machine electronic let-off device and control method thereof |
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