Method of controlling needle selection discrete speed for cylinder of intelligent glove machine

Abstract

A method of controlling needle selection discrete speed for a cylinder of an intelligent glove machine comprises the steps of 1) determining maximum sudden change velocity Delta vmax and minimum sudden change velocity Delta vmin that a step motor allows when the cylinder selects needles, according to the mechanical structure of the cylinder of the glove machine, type attribute of the step motor and a field test; 2) when acceleration is less than the maximum sudden change velocity Delta vmax, acquiring an acceleration table (a1, a2 to an) according to an acceleration-deceleration control algorithm; 3) setting startup velocity Vmin, planning period Delta t for the motor, and sequentially establishing a discrete velocity table (v1, v2 to v<n+1>) and a pulse step length table (p1, p2 to p<n+1>) in conjunction with the acceleration table (p1, p2 to p<n+1>); 4) comparing motion target distance l and target velocity Vp of the cylinder to the values in the discrete velocity table and the pulsestep length table, adjusting maximum velocity that the motor can reach actually, and planning an acceleration-deceleration curve of the step motor. The problem can be effectively solved that a cylinder step motor of an intelligent glove machine has low needle selection speed and easily experiences overload and step-out in case of high-speed motion and frequent acceleration and deceleration.

Description

technical field [0001] The invention relates to a speed control method, in particular to a discrete speed control method for needle selection of a drum of an intelligent glove machine, and belongs to the field of motion control. Background technique [0002] In recent years, with the rising pressure of domestic economic transformation, the glove machine industry has begun to adopt intelligent glove machines that use stepper motors instead of traditional mechanical transmission to drive the drum for needle selection, and have received widespread attention. [0003] The needle selection system of the smart glove machine mainly relies on the stepper motor to drive the drum to rotate for a certain distance, so that the drum pin pushes up the needle selection bird, so as to select the knitting needle indirectly connected to the needle selection bird. However, to push up the needle selection bird piece will make the stepping motor bear a large load, which is prone to overload, and...

AI Technical Summary

Problems solved by technology

However, to jack up the needle selection bird will cause the stepper motor to bear a large load, which is prone to overload, and once it is overloaded, it will cause out of step, resulting in mechanical collision of the glove machine and damage to the machine, especially in high-speed motion and acceleration and deceleration. Occurs more frequently

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