A discrete speed control method for roller needle selection of intelligent glove machine
A technology of discrete speed and control method, used in knitting, weft knitting, textiles and papermaking, etc., can solve problems such as overload, damage to the machine, loss of steps, etc., and achieve the effect of improving processing efficiency, improving control accuracy, and high real-time performance.
Active Publication Date: 2019-10-22
ZHEJIANG UNIV OF TECH
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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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[0018] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0019] refer to figure 1 and figure 2 , a discrete speed control method for roller needle selection of a smart glove machine, said method comprising the following steps:
[0020] 1) First, according to the mechanical structure of the glove machine drum, the model properties of the stepper motor and field tests, determine the maximum mutation speed Δv that the stepper motor can allow to operate when the drum is performing needle selection. max and the minimum mutation rate Δv min ;
[0021] 2) When the acceleration value is lower than the maximum sudden change speed Δv of the drum stepper motor max Under the condition of , according to the acceleration and deceleration control algorithm, the accelerometer (a 1 ,a 2 ,···,a n ), the subscripts 1 to n represent the planning sequence of the acceleration, and a represents the value of the acceleration;...
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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 roller needle selection of a smart glove machine, belonging to the field of motion control. Background technique [0002] In recent years, with the increasing pressure of domestic economic transformation, the glove machine industry has begun to adopt smart glove machines that use stepping motors instead of traditional mechanical transmission to drive rollers for needle selection, and have received widespread attention. [0003] The needle selection system of the smart glove machine mainly relies on the stepping motor to drive the roller to rotate a certain distance, so that the roller pin lifts the needle selection bird, thereby selecting the knitting needles that are indirectly connected to the needle selection bird. 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...
Claims
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IPC IPC(8): D04B15/66D04B15/68
Inventor 董辉童辉王亚男陈志璇康磊刘白龙吴祥
Owner ZHEJIANG UNIV OF TECH