CN109683549B - Rapier loom control system based on embedded soft PLC - Google Patents
Rapier loom control system based on embedded soft PLC Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
- D03D51/18—Automatic stop motions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention relates to a rapier loom control system based on an embedded soft PLC, which adopts a modularized design and comprises a soft PLC development module, a multi-power conversion module, a common input module, a common output module, a high-speed signal transmission module, a high-speed signal acquisition module, an analog input module, an analog output module, a Flash storage expansion module, a communication interface module, an SWD debugging module, an Ethernet module and a wireless module; the system mainly relies on an embedded control system platform, and the soft PLC is solidified to the embedded control system platform, so that the system has the advantages of high integration, low manufacturing cost, strong expansibility and capability of realizing real-time industrial interconnection, and meanwhile, the soft PLC system enables the whole rapier loom control system to have the function of realizing PLC programming, so that the system has simple programmability, reduces development cost and greatly reduces later maintenance investment.
Description
Technical Field
The invention relates to the technical field of rapier loom control systems, in particular to a rapier loom control system based on an embedded soft PLC.
Background
Since shuttleless looms replace shuttle looms, china has been the country of textile product production and export, which is also continuously pushing the development of the industry of rapier looms in China. The current foreign rapier loom is always advanced in China from the technologies of electromechanical integration, control effect, stability, selection and the like. Therefore, the research and development of the rapier loom has an autonomous core technology and great significance in improving the performance of the rapier loom.
From the control system of the rapier loom, the core of the current rapier loom control system mainly takes a PLC or a singlechip, and the patent of the rapier towel loom control system based on the singlechip with application number 201721758416.5 proposes the singlechip to build the rapier loom control system, which has the advantages that the singlechip control system has low manufacturing cost, easy manufacturing and strong integration, thus being favored by manufacturers, however, the singlechip control system has higher technical requirements, and once the system fault occurs, non-professional personnel are difficult to easily treat the fault, thus greatly increasing the later maintenance cost; the patent number ZL201710185288.8 discloses a gripper loom control system based on PLC, utilizes PLC to build the gripper loom control system, and has the advantages that the PLC system is simple and easy to learn due to the programming language of the PLC, and the principle mimics the hardware wiring principle, so that the PLC control system can easily learn the fault cause and process when faults occur, but the PLC system is expensive, and the PLC is rarely used as a core to build the gripper loom control system from the angles of users and manufacturers.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the problems that: a control system of a rapier loom based on an embedded soft PLC for the rapier loom is provided. The control system mainly depends on an embedded control system platform, and the soft PLC is solidified to the embedded control system platform, so that the control system has the effects of high integration, low manufacturing cost, strong expansibility and capability of realizing real-time industrial interconnection, and meanwhile, the soft PLC system enables the whole rapier loom control system to have the function of realizing PLC programming, so that the control system has simple programmability, reduces development cost and greatly reduces later maintenance investment.
The technical scheme adopted for solving the technical problems is as follows: the rapier loom control system based on the embedded soft PLC is characterized by adopting a modularized design, and comprising a soft PLC development module, a multi-power conversion module, a common input module, a common output module, a high-speed signal transmission module, a high-speed signal acquisition module, an analog input module, an analog output module, a Flash storage expansion module, a communication interface module, a SWD debugging module, an Ethernet module and a wireless module; the multi-power conversion module is respectively connected with the soft PLC development module, the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module, the Ethernet module and the wireless module to provide power for the soft PLC development module, the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module and the wireless module; the soft PLC development module is respectively connected with the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module, the Ethernet module and the wireless module to realize signal transmission;
the soft PLC development module is solidified into a bottom layer driver of a soft PLC lower computer;
the input device comprises a common input module, a rapier loom digital signal input mechanism, a soft PLC development module, a soft PLC control module and a control module, wherein the common input module is connected with the rapier loom digital signal input mechanism which comprises a switch, a proximity sensor, an absolute value encoder and a digital sensor, realizes the input of digital signals, and transmits the digital signals to the soft PLC development module connected with the common input module, and the soft PLC development module is used for processing and judging the input signals;
the high-speed signal acquisition module is connected with a servo coding feedback mechanism of the rapier loom, and the servo coding feedback mechanism of the rapier loom comprises a warp feeding mechanism servo coder and a coiling mechanism servo coder, so that acquisition of a rotating pulse signal of a servo motor is realized;
the device comprises a common output module, a rapier loom digital signal output mechanism, a soft PLC development module, a control module and a control module, wherein the common output module is connected with the rapier loom digital signal output mechanism, the rapier loom digital signal output mechanism comprises an opening mechanism, a weft selecting mechanism, a starting mechanism, a brake clutch mechanism, a main motor mechanism, a slow motor mechanism and an alarm indicator lamp mechanism of the rapier loom, and the soft PLC development module is used for sending specific control signals to the common output module to control the opening mechanism, the weft selecting mechanism, the starting mechanism, the brake clutch mechanism, the main motor mechanism, the slow motor mechanism and the alarm indicator lamp mechanism of the rapier loom to perform corresponding work;
the high-speed signal transmitting module is connected with a servo driving mechanism of the rapier loom, the servo driving mechanism of the rapier loom comprises a warp feeding mechanism servo motor and a coiling mechanism servo mechanism, and a soft PLC development module is used for transmitting a control signal to control the servo motor to realize the operation of the warp feeding mechanism and the coiling mechanism;
the analog input module and the analog output module are connected with an analog sensor mechanism of the rapier loom, the analog sensor mechanism comprises a tension sensor and a weft detector, sensor signals are transmitted into the soft PLC development module by the tension sensor and the weft detector, the signals are operated and processed, and further accurate control of the rapier loom is realized, and the analog output module transmits the analog signals to the tension sensor and the weft detector for adjusting the sensitivity of the sensor;
the Flash storage expansion module is used for storing user instructions of the rapier loom, namely development instructions of an upper computer of the rapier loom; the SWD debugging module is used for realizing debugging work of bottom layer driving of the soft PLC lower computer; the communication interface module is used for downloading the development instruction of the upper computer to the soft PLC development module to realize the function of writing the development instruction of the upper computer; the Ethernet module and the wireless module are connected with an industrial network, so that the functions of data real-time network sharing and remote monitoring are realized.
Compared with the prior art, the invention has the beneficial effects that:
1) The embedded soft PLC-based rapier loom control system applies the embedded soft PLC technology, the soft PLC technology embedded control system platform is driven and solidified to the soft PLC development module for the first time in the rapier loom field, the embedded control platform of the rapier loom (the rapier loom control system controlled by a single chip microcomputer) can realize the PLC function, the multi-power conversion module, the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module and the analog output module are all connected with the soft PLC development module, compared with the single chip microcomputer control system and the PLC control system in the prior rapier loom field, the PLC control system belongs to an input and output interface in a built-in fixed mode, the single chip microcomputer control system is required to be connected with an input and output channel to a pin of the single chip microcomputer, and the soft PLC development module is different from any one form of the single chip microcomputer and the PLC, and the soft PLC development module is a construction mode for realizing the PLC function by depending on GT 32F407 Z6. The Flash storage expansion module is used for expanding the memory space in the field of rapier loom control, and the memory space is divided into two aspects from the aspect of a memory structure, so that the purpose of controlling the rapier loom is achieved by the soft PLC development module through analyzing and compiling the development instruction of the upper computer by the soft PLC lower computer bottom layer drive is achieved on the one hand, and the development instruction of the upper computer is stored on the other hand. The method has the advantages of short development period, simple programmability and low post maintenance cost;
2) The rapier loom control system based on the embedded soft PLC improves the system integration, and realizes the advantages of simple module design, simple structure and strong functionality on the basis of realizing the soft PLC function;
3) The control system of the invention is added with the communication interface module, and the design of the RS232 module and the RS485 module in the technical field of soft PLC improves the communication capability and expansibility of the system; the Ethernet module and the wireless module are added, so that the system is close to the theme of industrial interconnection development in the current society, the informatization and the sharing property of the system are improved, and the system has the capability of remote monitoring; the existing PLC communication structure and the expansion function are single, and only single brand expansion communication can be realized, so that the communication interface module, the SWD debugging module, the Ethernet module and the wireless module are mainly used for realizing the functions of increasing the expansion function of the control system, increasing the communication structure of the PLC and realizing the function with strong expansibility.
4) The control system of the invention relates to the application of multiple sensors, and the sensors of the rapier loom are connected to the soft PLC development module, so that the system has the function of fault diagnosis, the stability of the system can be improved, and the occurrence frequency of faults can be reduced.
Drawings
FIG. 1 is a block diagram of an embedded control platform of a rapier loom control system based on an embedded soft PLC;
FIG. 2 is a diagram showing the connection structure of a rapier loom control system and a rapier loom mechanism based on an embedded soft PLC;
fig. 3 is a functional block diagram of a soft PLC in a rapier loom control system based on an embedded soft PLC according to the present invention.
In fig. 1: 1. the system comprises a soft PLC development module, a multi-power conversion module, a common input module, a common output module, a high-speed signal transmission module, a high-speed signal acquisition module, an analog input module, an analog output module, a flash memory expansion module, a communication interface module, an SWD debugging module, an Ethernet module, a wireless module, a 101.RS232 interface and a 102.RS485 interface, wherein the multi-power conversion module is arranged in the soft PLC development module, the common input module is arranged in the common output module, the high-speed signal transmission module is arranged in the common output module, the high-speed signal acquisition module is arranged in the high-speed signal transmission module, the analog input module is arranged in the analog output module, the analog output module is arranged in the high-speed signal transmission module, the flash memory expansion module is arranged in the flash memory expansion module, the communication interface module is arranged in the soft PLC development module, the SWD debugging module, the Ethernet module is arranged in the Ethernet module, and the wireless module is arranged in the Ethernet module.
In fig. 2: 3. common input module, 301, rapier digital signal input loom mechanism, 3011, switch, 3012, proximity sensor, 3013, absolute encoder, 3014, digital sensor, 4, common output module, 401, rapier loom digital signal output mechanism, 4011, shedding mechanism, 4012, weft selecting mechanism, 4013, starting mechanism, 4014, brake clutch mechanism, 4015, main motor mechanism, 4016, full motor mechanism, 4017, alarm indicator light mechanism, 5, high speed signal transmission module, 501, rapier loom servo drive mechanism, 5011, warp feeding mechanism servo motor, 5012, take-up mechanism servo mechanism, 6, high speed signal acquisition module, 601, rapier loom servo code feedback mechanism, 6011, warp feeding mechanism servo encoder, 6012, take-up mechanism servo code mechanism, 7, analog input module, 701, analog sensor mechanism, 7011, tension sensor, 7012, weft detector, 8, analog output module;
in fig. 3: the system comprises a 101S 232 interface, 1011S, an upper computer development instruction, 1012S, a soft PLC lower computer bottom driver, 1013S, an embedded soft PLC bottom main function, 1014S, a communication function, 1015S, an input sampling function, 1016S, an output refreshing function and 1017S.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for further detailed description of the present invention and do not limit the scope of the present application.
The invention relates to a rapier loom control system of an embedded soft PLC, which adopts a modularized design and comprises a soft PLC development module and a multi-power conversion module (the power supplies comprise 24V direct current power supplies, 12V, 5V and 3.3V direct current power supplies, the arrangement method is to connect the outside with the 24V direct current power supplies, and the multi-power conversion module converts the inside of the control system into 12V, 5V and 3.3V power supplies), a common input module, a common output module, a high-speed signal transmission module, a high-speed signal acquisition module, an analog input module, an analog output module, a Flash memory expansion module, a communication interface module, an SWD debugging module, an Ethernet module and a wireless module; the multi-power conversion module is respectively connected with the soft PLC development module, the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module, the Ethernet module and the wireless module to provide power for the soft PLC development module, the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module and the wireless module; the soft PLC development module is respectively connected with the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module, the Ethernet module and the wireless module to realize signal transmission;
when the rapier loom is controlled, the common input module 3 is required to be connected with the rapier loom digital signal input mechanism 301, the rapier loom digital signal input mechanism 301 comprises a switch 3011, a proximity sensor 3012, an absolute value encoder 3013 and a digital sensor connection 3014, so that digital signals are input and transmitted to the soft PLC development module 1 connected with the common input module 3, and the soft PLC development module 1 processes and judges the input signals; the high-speed signal acquisition module 6 is connected with a servo coding feedback mechanism 601 of the rapier loom, and the servo coding feedback mechanism 601 of the rapier loom comprises a warp feeding mechanism servo encoder 6011 and a coiling mechanism servo encoder 6012, so that acquisition of a rotating pulse signal of a servo motor is realized; the common output module 4 is connected with the digital signal output mechanism 401 of the rapier loom, and is respectively connected with an opening mechanism 4011, a weft selecting mechanism 4012, a starting mechanism 4013, a brake clutch mechanism 4014, a main motor mechanism 4015, a slow motor mechanism 4016 and an alarm indicator mechanism 4017 of the digital signal output mechanism 401 of the rapier loom, and a specific control signal is sent to the common output module 4 through the soft PLC development module 1 to control the opening mechanism 4011, the weft selecting mechanism 4012, the starting mechanism 4013, the brake clutch mechanism 4014, the main motor mechanism 4015, the slow motor mechanism 4016 and the alarm indicator mechanism 4017 of the rapier loom to perform corresponding work; the high-speed signal sending module 5 is connected with a servo driving mechanism 501 of the rapier loom, the servo driving mechanism 501 of the rapier loom comprises a warp feeding mechanism servo motor 5011 and a coiling mechanism servo mechanism 5012, and a soft PLC development module 1 sends out a control signal to control the servo motor to realize the operation of the warp feeding mechanism and the coiling mechanism. The analog input module 7 and the analog output module 8 are connected with an analog sensor mechanism 701 of the rapier loom, the analog sensor mechanism 701 comprises a tension sensor 7011 and a weft detector 7012, the tension sensor 7011 and the weft detector 7012 transmit sensor signals into the soft PLC development module 1, the soft PLC development module 1 carries out operation processing on the signals, and further accurate control of the rapier loom is achieved, and the analog output module 8 transmits analog signals to the tension sensor 7011 and the weft detector 7012 for adjusting the sensitivity of the sensor;
the Flash storage expansion module 9 of the rapier loom control system of the embedded soft PLC is used for storing user instructions of the rapier loom, namely, development instructions 101 of an upper computer of the rapier loom; the SWD debugging module 11 is used for realizing the debugging work of the bottom layer driver 102 of the soft PLC, and ensuring the functional accuracy of the bottom layer driver 102 of the soft PLC; the communication interface module 10 comprises an RS232 interface 101 and an RS485 interface 102, wherein the RS232 interface 101 mainly downloads an upper computer development instruction 1011 to the soft PLC development module 1, realizes the function of writing the upper computer development instruction 1011, and the RS485 interface 102 mainly plays a role of expanding an interface; the Ethernet module 12 and the wireless module 13 are both modules capable of being connected with an industrial network, and can realize the functions of sharing data in the network and remotely monitoring the data in real time;
the embedded soft PLC development module 1 of the rapier loom control system based on the embedded soft PLC is characterized in that a control core circuit is built by taking STM32F407ZGT6 as a core, a soft PLC lower computer bottom layer is driven and solidified to a control core circuit built by taking STM32F407ZGT6 as a core on software, so that the soft PLC development module is formed, the characteristics of strong expansibility of a singlechip and simple circuit structure are fully exerted, and the system is solidified from the aspect of the soft PLC, so that the singlechip has the function of the soft PLC. The embedded soft PLC development module 1 is solidified into a soft PLC lower computer bottom layer driver 1012, the bottom layer driver is designed and programmed according to the realization of specific control functions and a controlled object rapier loom to realize the PLC function of an embedded platform (in a singlechip control system and a PLC control system, a singlechip can only realize the recognition of converting a program into a machine language and can not directly read the PLC programming language, such as a ladder diagram program of a PLC, the popular speaking of the PLC function realized by the invention is that the singlechip is used for realizing the function of the PLC, namely the singlechip can read and recognize the ladder diagram program of the PLC); the embedded soft PLC lower computer bottom layer driver 1012 mainly uses an embedded soft PLC bottom layer main function 1013 as a main part, and is respectively connected with a communication function 1014, an input sampling function 1015, an output refreshing function 1016 and a cyclic scanning period function 1017 through a subroutine call function, so that the analysis and compiling work of the embedded soft PLC lower computer bottom layer driver 1012 on the upper computer development instruction 1011 in the soft PLC development module 1 is realized.
The control system herein is described below in the control example of a rapier loom:
the invention discloses a rapier loom control system based on an embedded soft PLC, which aims to realize the analysis and compiling work of an embedded soft PLC lower computer bottom layer driver 1012 on an upper computer development instruction 1011 in a soft PLC development module 1. The embedded soft PLC-based rapier loom control system has the characteristics of high modularization design integration, and meanwhile, the realization of analyzing and compiling the development instruction 1011 of the upper computer enables the control system to have the advantages of simple design process, low manufacturing cost, short development period, simple programmability and low later maintenance cost when the rapier loom control system is built;
the process of analyzing and compiling the development instruction 1011 of the upper computer by the rapier loom control system based on the embedded soft PLC is mainly described by a process of fig. 3.
The software structure of the rapier loom control system based on the embedded soft PLC is divided into an upper computer development instruction 1011 and a soft PLC lower computer bottom layer driver 1012, wherein the upper computer development instruction 1011 can also be called a user instruction, and is called a PLC program for controlling the motion of the rapier loom in the PLC field, and the rapier loom control system based on the embedded soft PLC is functionally divided into two stages: one stage is that the soft PLC lower computer bottom layer driver 1012 solidified by the soft PLC development module 1 analyzes and compiles the upper computer development instruction 1011 so that the upper computer development instruction 1011 can be read and identified by the control system, and then generates a corresponding control code for the analyzed and identified upper computer development instruction 1011; another stage is the actual control of the rapier loom by generating a logical relation of the control codes.
The invention discloses an object rapier loom controlled by a rapier loom control system based on an embedded soft PLC, which comprises a rapier loom digital signal input mechanism 301, a rapier loom digital signal output mechanism 401, a rapier loom servo driving mechanism 501, a rapier loom servo coding feedback mechanism 601 and an analog sensor mechanism 701, wherein the rapier loom digital signal input mechanism 301 comprises a switch 3011, a proximity sensor 3012, an absolute value encoder 3013 and a digital sensor connection 3014, the rapier loom digital signal output mechanism 401 comprises an opening mechanism 4011, a weft selecting mechanism 4012, a starting mechanism 4013, a brake clutch mechanism 4014, a main motor mechanism 4015, a slow motor mechanism 4016 and an alarm indicator mechanism 4017, the rapier loom servo driving mechanism 501 comprises a warp feeding mechanism servo motor 5011, a coiling mechanism servo mechanism 5012 and the rapier loom servo coding feedback mechanism 601 comprises a warp feeding mechanism servo encoder 6011 and a coiling mechanism servo encoder 6012, and the analog sensor mechanism comprises a tension sensor 7011 and a weft inspection device 7012; the control system of the rapier loom based on the embedded soft PLC mainly controls the mechanism, and further realizes the weaving function of the rapier loom.
The invention relates to a rapier loom control system based on an embedded soft PLC, which inputs signals of a rapier loom digital signal input mechanism 301 and a rapier loom servo coding feedback mechanism 601, and comprises the following angle analysis process realized by the soft PLC function: (the following is a simple description of the relationship between the rapier loom and the soft PLC around each communication module and the input/output module in fig. 1), the soft PLC development module 1 continuously scans the common input module 3 and the high-speed signal acquisition module 6 through the input sampling function 1013 called by the embedded soft PLC bottom layer main function 1013, judges the connection of the switch 3011, the proximity sensor 3012, the absolute value encoder 3013 and the digital sensor 3014 in the rapier loom digital signal input mechanism 301, the change of the signal state of the warp feeding mechanism servo encoder 6011 and the winding mechanism servo encoder 6012 in the rapier loom servo encoding feedback mechanism 601 is judged, the signal change condition is transmitted to the soft PLC development module 1, the soft PLC development module 1 processes the signal change state through the embedded soft PLC bottom layer driving main function 1013, gives the action response required to be made by the change of the input signal state through the analysis and compiling process of the upper computer development instruction 1011, and continuously refreshes and outputs the action response signals through the output refreshing function 1016 through the common output module 4 or the high-speed signal transmission module 5, and converts the output signals into the control signals to control the opening mechanism of the rapier loom servo motor servo encoder 6011, the servo motor 5011, the servo motor 4017, the servo motor 4012, the servo motor 4017, the servo motor servo mechanism 4017 and the servo motor, and the servo motor 4012 are controlled to drive the opening mechanism of the rapier loom mechanism 4011, the opening mechanism 4012, the servo motor 4017, the servo motor and the servo motor 4017; the analog signals collected by the tension sensor 7011 and the weft detector 7012 in the analog sensor mechanism 701 of the rapier loom are similar to the above processing process, and the analog signals are digitally converted by the embedded soft PLC bottom driving main function 1013 in the soft PLC development module 1 by scanning the signal change state of the analog input module 7 and transmitting the state information to the soft PLC development module 1, so that the collection process of the analog signals is realized; the communication function 1014 is used for continuously transmitting data signals to an upper computer through a corresponding RS485 interface 102, and the data are stored through the upper computer or can be uploaded to a network through the Ethernet module 12 and/or the wireless module 13 by selecting the communication function 1014, so that the function of remotely calling the data can be realized, the cyclic scanning periodic function 1017 is used for continuously cycling the operation process according to a certain scanning period in the period, and the aim of continuously controlling the rapier loom for a long time can be realized by the rapier loom control system based on the embedded soft PLC.
The invention relates to a rapier loom control system based on an embedded soft PLC, which has the following actual control process for the rapier loom:
the embedded soft PLC-based rapier loom control system described herein needs to determine the control time sequence according to the rotation angle of the absolute value encoder 3013 when controlling the shedding mechanism 4011, weft selecting mechanism 4012, starting mechanism 4013 and brake clutch mechanism 4014 of the rapier loom, after the starting mechanism 4013 starts the whole rapier loom by pressing the switch 3011, the control code generated by analyzing and compiling the upper machine development instruction 1011 through the soft PLC lower layer driver 1012 solidified by the soft PLC development module 1 reads the rotation angle of the absolute value encoder 3013, then controls the shedding mechanism 4011, weft selecting mechanism 4012, starting mechanism 4013 and brake clutch mechanism 4014 of the rapier loom at corresponding angles, the weft selecting mechanism 4012 continuously judges whether weft yarns are broken or not in the weft selecting process, if the situation occurs, the alarm indicator mechanism 4017 lights up to prompt a motor to be out of order, and controls the main brake mechanism 4015 to stop working, and if the rapier loom 4012 stops working, and the rapier loom 4012 stops working continuously, if the rapier loom is out of work, and the rapier loom 4012 stops working continuously;
the embedded soft PLC-based rapier loom control system controls the rapier loom warp let-off mechanism servo motor 5011 and the reeling mechanism servo mechanism 5012 to achieve synchronism, so that the tension sensor 7011 collects warp tension in real time, the synchronism of the two is mainly used for maintaining tension stability, and tension signals measured by the tension sensor 7011 are key factors for achieving normal weaving of the rapier loom; the warp feeding mechanism servo motor 5011 and the coiling mechanism servo mechanism 5012 transmit the rotation conditions of the warp feeding mechanism servo motor 5011 and the coiling mechanism servo mechanism 5012 into the soft PLC development module 1 in real time while realizing the warp feeding process and the coiling process, and the closed-loop control of the warp feeding mechanism servo motor 5011 and the coiling mechanism servo mechanism 5012 is achieved through the logic relation of control codes;
the rapier loom control system based on the embedded soft PLC can also be matched with the connection of the built-in proximity sensor 3012 and the built-in digital sensor 3014 of the rapier loom to judge the operation state of the rapier loom in the process of controlling the rapier loom, so that the functions of fault detection and diagnosis are achieved.
The invention is applicable to the prior art where nothing is involved.
Claims (3)
1. The rapier loom control system based on the embedded soft PLC is characterized in that the system adopts a modularized design and comprises a soft PLC development module, a multi-power conversion module, a common input module, a common output module, a high-speed signal transmission module, a high-speed signal acquisition module, an analog input module, an analog output module, a Flash storage expansion module, a communication interface module, a SWD debugging module, an Ethernet module and a wireless module; the multi-power conversion module is respectively connected with the soft PLC development module, the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module, the Ethernet module and the wireless module to provide power for the soft PLC development module, the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module and the wireless module; the soft PLC development module is respectively connected with the common input module, the common output module, the high-speed signal transmission module, the high-speed signal acquisition module, the analog input module, the analog output module, the Flash storage expansion module, the communication interface module, the SWD debugging module, the Ethernet module and the wireless module to realize signal transmission;
the soft PLC development module is solidified into a bottom layer driver of a soft PLC lower computer;
the input device comprises a common input module, a rapier loom digital signal input mechanism, a soft PLC development module, a soft PLC control module and a control module, wherein the common input module is connected with the rapier loom digital signal input mechanism which comprises a switch, a proximity sensor, an absolute value encoder and a digital sensor, realizes the input of digital signals, and transmits the digital signals to the soft PLC development module connected with the common input module, and the soft PLC development module is used for processing and judging the input signals;
the high-speed signal acquisition module is connected with a servo coding feedback mechanism of the rapier loom, and the servo coding feedback mechanism of the rapier loom comprises a warp feeding mechanism servo coder and a coiling mechanism servo coder, so that acquisition of a rotating pulse signal of a servo motor is realized;
the device comprises a common output module, a rapier loom digital signal output mechanism, a soft PLC development module, a control module and a control module, wherein the common output module is connected with the rapier loom digital signal output mechanism, the rapier loom digital signal output mechanism comprises an opening mechanism, a weft selecting mechanism, a starting mechanism, a brake clutch mechanism, a main motor mechanism, a slow motor mechanism and an alarm indicator lamp mechanism of the rapier loom, and the soft PLC development module is used for sending specific control signals to the common output module to control the opening mechanism, the weft selecting mechanism, the starting mechanism, the brake clutch mechanism, the main motor mechanism, the slow motor mechanism and the alarm indicator lamp mechanism of the rapier loom to perform corresponding work;
the high-speed signal transmitting module is connected with a servo driving mechanism of the rapier loom, the servo driving mechanism of the rapier loom comprises a warp feeding mechanism servo motor and a coiling mechanism servo mechanism, and a soft PLC development module is used for transmitting a control signal to control the servo motor to realize the operation of the warp feeding mechanism and the coiling mechanism;
the analog input module and the analog output module are connected with an analog sensor mechanism of the rapier loom, the analog sensor mechanism comprises a tension sensor and a weft detector, sensor signals are transmitted into the soft PLC development module by the tension sensor and the weft detector, operation processing is carried out on the signals, and further accurate control of the rapier loom is achieved, and the analog output module transmits analog signals to the tension sensor and the weft detector for adjusting the sensitivity of the sensor;
the Flash storage expansion module is used for storing user instructions of the rapier loom, namely development instructions of an upper computer of the rapier loom; the SWD debugging module is used for realizing debugging work of bottom layer driving of the soft PLC lower computer; the communication interface module is used for downloading the development instruction of the upper computer to the soft PLC development module to realize the function of writing the development instruction of the upper computer; the Ethernet module and the wireless module are connected with an industrial network to realize the functions of data real-time network sharing and remote monitoring;
the process of inputting signals to the digital signal input mechanism 301 of the rapier loom and the servo coding feedback mechanism 601 of the rapier loom from the soft PLC function is as follows:
the soft PLC development module 1 continuously scans the common input module 3 and the high-speed signal acquisition module 6 by calling the input sampling function 1015 through the embedded soft PLC bottom layer main function 1013, judges the connection of the switch 3011, the proximity sensor 3012, the absolute value encoder 3013 and the digital sensor 3014 in the digital signal input mechanism 301 of the rapier loom, converts the output signals into control signals for controlling the opening mechanism 4011, the weft selecting mechanism 4012, the starting mechanism 4013, the brake motor mechanism 4014, the main motor mechanism 4016, the servo motor mechanism 4017 and the servo mechanism 5012 in the digital signal output mechanism 401 of the rapier loom through the output refreshing function 1016, and converts the output signals into control signals for controlling the opening mechanism 4011, the weft selecting mechanism 4012, the starting mechanism 4013, the brake motor mechanism 4014, the main motor mechanism 4016, the servo mechanism 4017 and the servo mechanism 5012 of the rapier loom through the resolution compiling process of the embedded soft PLC bottom layer driving main function 1013 to process the signal change state, gives action response to be made by the development command of the upper computer, and refreshes the action response signals through the output refreshing function 1016; the signal change state of the analog input module 7 is scanned, state information is transmitted to the soft PLC development module 1, and the embedded soft PLC bottom layer driving master function 1013 in the soft PLC development module 1 performs digital conversion on analog signals, so that the acquisition process of the analog signals is realized; the communication function 1014 continuously transmits data signals to the upper computer through the corresponding RS485 interface 102, the upper computer stores or selects the communication function 1014 to upload data to the network through the Ethernet module 12 and/or the wireless module 13, the function of remotely calling the data is realized, the cyclic scanning periodic function 1017 continuously circulates and repeats the operation process according to the scanning period in the period, and the long-time uninterrupted control of the rapier loom is realized;
when controlling the shedding mechanism 4011, weft selecting mechanism 4012, starting mechanism 4013 and brake clutch mechanism 4014 of the rapier loom, the timing sequence of the determined control according to the rotation angle of the absolute value encoder 3013 is needed, after the start mechanism 4013 starts the whole rapier loom by pressing the switch 3011, the rapier loom control system based on the embedded soft PLC can read the rotation angle of the absolute value encoder 3013 through the control code generated by analyzing and compiling the upper computer development instruction 1011 by the soft PLC lower computer bottom layer driver 1012 solidified by the soft PLC development module 1, then the shedding mechanism 4011, weft selecting mechanism 4012, starting mechanism 4013 and brake clutch mechanism 4014 of the rapier loom are controlled at corresponding angles, the weft selecting mechanism 4012 continuously judges whether the weft is broken or multi-weft, if the weft is broken, the alarm indicator mechanism 4017 lights to prompt the failure, controls the main motor 4015 to stop working, controls the brake clutch mechanism 4014 to start working, and the rapier loom 4012 is not matched with the shedding mechanism 4012 if the weft selecting mechanism 4012 is in continuous working;
in order to control the servo motor 5011 of the warp feeding mechanism and the servo mechanism 5012 of the reeling mechanism of the rapier loom, the synchronicity of the two needs to be realized, so that the tension sensor 7011 collects the warp tension in real time, the synchronicity of the two is mainly used for maintaining the stability of the tension, and the tension signal measured by the tension sensor 7011 is a key factor for realizing the normal weaving of the rapier loom; the warp feeding mechanism servo motor 5011 and the coiling mechanism servo mechanism 5012 realize the warp feeding process and the coiling process, and simultaneously, the warp feeding mechanism servo encoder 6011 and the coiling mechanism servo encoder 6012 transmit the rotation conditions of the warp feeding mechanism servo motor 5011 and the coiling mechanism servo mechanism 5012 into the soft PLC development module 1 in real time, and the closed loop control of the warp feeding mechanism servo motor 5011 and the coiling mechanism servo mechanism 5012 is achieved through the logic relation of control codes.
2. The rapier loom control system based on the embedded soft PLC according to claim 1, wherein the embedded soft PLC lower computer bottom driver is mainly composed of an embedded soft PLC bottom main function, and is respectively connected with a communication function, an input sampling function, an output refreshing function and a cyclic scanning period function through corresponding subprogram calling functions, so that analysis and compiling work of the embedded soft PLC lower computer bottom driver on an upper computer development instruction by a soft PLC development module is realized.
3. The rapier loom control system based on the embedded soft PLC according to claim 1, wherein the soft PLC development module takes STM32F407ZGT6 as a core CPU.
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