Servo motor group control method for pile warp variable height control system of double arrow beam loom

Abstract

The application provides a servo motor group control method of a pile warp variable height control system of a double arrow beam loom. When the pile warp of the double arrow beam loom is connected in series in space, the pile warp variable height control system uses multiple servo motors in a bus type common bus servo motor group as actuators, controls the driving of the actuators by the bus position command, drives the pile warp height pieces of the actuators, and controls the pile warp height of multiple nodes in the space weaving process. The current distribution of the bus current is used to implement a multi-axis servo motor current fuzzy control distribution method based on the bus current value constraint, and the bus power supply working condition of the pile warp variable height control system under the starting working condition, the following working condition or the locked-rotor working condition is optimized. The application can overcome the problem of the deterioration of the bus power supply working condition caused by the huge instantaneous current of the bus current of the pile warp variable height control system under the starting, following or locked-rotor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of loom technology, in particular to a servo motor group control method of pile warp variable height control system of double arrow shaft loom. BACKGROUND

[0002] Space cloth is a special material of three-dimensional weaving, which is composed of two layers of warp and weft lines to form the surface of the cloth by double arrow shaft loom, and the high-strength pile warp is controlled by the pile warp control system to control the up and down stringing of the warp and weft lines, and is connected to build a three-dimensional material, which has the characteristics of smooth surface, high strength and good toughness. The height of the pile warp of the existing ordinary double arrow shaft loom is generally controlled by fixed mechanical model or manual adjustment, so the three-dimensional horizontal surface model of the space cloth produced is single and the longitudinal node height does not change, and the three-dimensional shape is limited.

[0003] In order to produce space cloth with diversified pile warp height, the double arrow shaft loom needs to be equipped with a pile warp variable height numerical control system, and requires a large number of pile warp height control nodes with high torque density, and the mechanical structure is small and easy to install. SUMMARY

[0004] The present application proposes a servo motor group control method of pile warp variable height control system of double arrow shaft loom, which can overcome the problem of deterioration of bus power supply working condition caused by huge instantaneous load current of bus under start, follow or locked rotor of pile warp variable height control system.

[0005] The present application adopts the following technical solutions.

[0006] The servo motor group control method of pile warp variable height control system of double arrow shaft loom, when the pile warp of double arrow shaft loom stringing the warp and weft lines of space cloth up and down, the pile warp variable height control system uses multiple servo motors in the bus type common bus servo motor group as actuators, controls the driving of each actuator by the bus to control the height of each pile warp piece member, and controls the height of the pile warp of multiple nodes in the space cloth weaving process; the current distribution of multi-axis servo motor current fuzzy control based on bus current value constraint is implemented by the distribution of bus current, so as to optimize the bus power supply working condition of pile warp variable height control system under start working condition, follow working condition or locked rotor working condition.

[0007] The electric control part of the pile warp variable height control system includes a bus, an upper computer, a bus current sensor and a bus type integrated servo motor group with n motor working shafts, and the mechanical part includes n screw rod sliding tables driven by the motor working shafts and fixed height pieces connected with the screw rod sliding tables.

[0008] The n screw rod sliding tables and the fixed height pieces connected with the screw rod sliding tables are installed and arranged on the cross beam of the double arrow shaft loom at equal intervals.

[0009] In the mechanical part of the variable height control system of the pile warp, the 0 side of the height fixing piece boundary is fixed vertically to the screw rod sliding table driven by the servo motor by the fastener, forming n servo motor motion screw rod integrated machines, the servo motor motion screw rod integrated machines limit the movement of the height fixing piece by the photoelectric limit sensor, and the other side of the height fixing piece is provided with an inclined edge for supporting the space pile warp, and the height of the pile warp position is adjusted by the transverse movement of the height fixing piece.

[0010] In the electrical control part of the variable height control system of the pile warp, the bottom edge of the height fixing piece is the X axis, the position of the 0 side of the height fixing piece boundary reaching the photoelectric limit sensor trigger signal is the Y axis, that is, the intersection of the 0 side and the bottom edge of the height fixing piece boundary is the origin, and a coordinate system is established; the height h of the boundary point of the height fixing piece min is the minimum value of the pile warp height, the inclination angle of the inclined edge of the height fixing piece for positioning the space pile warp is θ, the upper end point of the inclined edge is the first boundary point, the lower end point of the inclined edge is the second boundary point, and the height of the height fixing point required by the system is h x . The distance between the height fixing point and the second boundary point is L1, a platform with a length of L2 is arranged at the minimum pile warp height of the inclined edge of the height fixing piece, and the screw rod pushing distance s is equal to

[0011]

[0012] The host computer controls the screw rod pushing distance {s1, s2, s3, …, sn} of each axis motor of the servo motor motion screw rod integrated machine of the first, second, third, …, nth axis to form space pile warp heights of different heights, and achieves the effect of variable height control of the pile warp of the space pile double arrow shaft loom. n

[0013] When weaving space pile, the variable height control system of the pile warp of the double arrow shaft loom has the following specific working process:

[0014] Step one, the host computer of the variable height control system of the pile warp calculates the height h x of each node pile warp of the space pile according to the height of each node pile warp of the space pile, substitutes the height into the above formula to calculate the screw rod pushing position of each axis servo motor, and converts the angle position data information of the motor into the angle position data information of the motor according to the lead of the screw rod.

[0015] Step two, the bus type integrated servo motor system is differentially given the enable command through two data lines D+ and D-.

[0016] Step three, the maximum current value i MAX of the bus and the rated working current of the motor are determined to determine the number of motor axes of the motor group, and the host computer gives the position zero command to the first, second, third, fourth, fifth, …, mth axis motor, if the position zero function of the motor of a certain axis is completed, the host computer gives the position zero command to the m+1th axis, and the position zero of the n-axis motor is completed by increasing in this way.​

[0017] Step four, the host computer of the pile yarn variable height control system drives the corresponding motor according to the bus current distribution algorithm, the motor drives the respective pile yarn height piece components, and the space cloth weaving process realizes the pile yarn height control of n nodes.

[0018] The multi-axis servo motor current fuzzy control distribution method based on bus current value constraint adopts a bus current distribution fuzzy controller, including the following steps:

[0019] Step S1, according to the main shaft speed of the double arrow shaft loom, the maximum bus current value i MAX And the rated current of the fixed height piece motor i p , determine the pile yarn height control period T1, the current distribution control period T2, define the domain, discrete fuzzy rule, input and output variables:

[0020] Step S2, set the pile yarn height control period T1 of the space cloth weaving process.

[0021] Step S3, set the current distribution control period T2 of the space cloth weaving process.

[0022] The step S1 includes the following steps:

[0023] Step A1, according to the maximum bus current value, the number of motor group motor working shafts under rated working condition m = Floor(i MAX / i p ) is obtained, that is, the total current of the motor group does not exceed the maximum bus current value;

[0024] Step A2, define the input and output fuzzy discrete domain of the bus current distribution fuzzy controller as X = {-6 -5-4 -3 -2 -1 0 1 2 3 4 5 6};

[0025] Step A3, define and quantify the input of the fuzzy controller: the relative error value of the bus real-time current and the maximum current: The relative error value difference is multiplied by the coefficient C i =ek1, where k1 = 6 / m;

[0026] The fuzzy controller input is divided into 8 fuzzy sets {NB NM NS NZ PZ PS PM PB};

[0027] Step A4, define the fuzzy controller output U C , which is divided into 7 fuzzy sets {NB NM NS ZE PS PM PB};

[0028] The fuzzy controller output Δm = Floor(k2U c), rounded down, where k2 = m / 12;

[0029] Step A5, define the 8-level fuzzy set membership matrix A of error 8×13 ; define the 7-level fuzzy set membership matrix B of output u 7×13 ;

[0030]

[0031]

[0032] Step A6, define the input-output fuzzy control rule table, the rules in the table are specifically expressed in pseudo code as follows:

[0033] if e = NB then u = NB;

[0034] if e = NM then u = NM;

[0035] if e = NS then u = NS;

[0036] if e = NZ then u = NS;

[0037] if e = PZ then u = ZE;

[0038] if e = PS then u = PS;

[0039] if e = PM then u = PM;

[0040] if e = PB then u = PB;

[0041] According to the control rule table, the fuzzy set operation in the rules takes intersection, and the fuzzy set operation between the rules takes union calculation. The fuzzy relation table R:

[0042] R = (A NB × B NB ) ∪ (A NM × B NM ) ∪ (A NS × B NS ) ∪ (A NZ × B NS ).

[0043] Step S2 includes the following steps:

[0044] Step B1, read the per-axis fixed-height piece position information required by the space layout process;

[0045] Step B2, enter current distribution control.

[0046] Step S3 includes the following steps:

[0047] Step C1, according to the absolute value of the error value of the instruction position and the actual motor position of each axis, arrange the position error value list in descending order, that is, { |Δθ1| |Δθ2| |Δθ3|,,, |Δθ n |};

[0048] Step C2, according to the position error value list, select the first m axes of { |Δθ1| |Δθ2| |Δθ3|,,, |Δθ m |} to work, that is, simultaneously collect the bus current value, and calculate the relative error value of the bus current and the maximum current: Calculate the input C of the fuzzy controller i , according to the fuzzy discrete domain quantization C i , determine the 8-level fuzzy set membership matrix A 8×13 of the ith row A i×13 , calculate the fuzzy controller output vector u i =A i×13 *R;

[0049] Step C3, according to the maximum membership principle, defuzzification is carried out: find the maximum membership of the vector u i , according to the maximum membership to obtain the fuzzy output control quantity U c , then the fuzzy controller output Δm j of the jth control period T2 is Floor(k2U c );

[0050] Step C4, set the motor group position error list of the previous period Motor shaft position tracking; if Δm is a positive integer, then the motor group has m j-1 +Δm j axes working, that is, the motor group position error list Motor shaft position tracking works; if Δm j is a negative integer, then the motor group position error list Motor shaft position tracking works, Motor shaft position keeps working;

[0051] Step C5, judge the control period T1 timing interrupt, if interrupted, execute step C2 in a loop, if not interrupted, execute step C3 in a loop.

[0052] The application adopts bus type common bus servo motor group as an actuator to drive pile warp height component of pile warp variable height control system, and adopts bus current value restricted multi-axis servo motor current fuzzy control distribution method aiming at bus current control problem of bus sharing bus type servo motor group caused by many shafts, so as to overcome bus power supply working condition deterioration problem caused by huge bus current instantaneous current carrying capacity of pile warp variable height control system under start, following or locked rotor.

[0053] The application can reduce bus power supply cost, reduce pile warp variable height control system structure, optimize double arrow shaft loom pile warp variable height control system working condition, realize space pile warp height diversification production, and widen space pile application scope and purpose.

[0054] The application adopts bus current value restricted multi-axis servo motor group current distribution fuzzy control method, so as to overcome working condition deterioration problem caused by huge bus current instantaneous current carrying capacity of double arrow shaft loom pile warp variable height control system under large load or locked rotor, the method can reduce multi-axis servo motor group bus power supply cost and reduce control system structure, and optimize double arrow shaft loom pile warp variable height control system working condition. BRIEF DESCRIPTION OF DRAWINGS

[0055] The application will be further explained in detail in combination with the drawings and specific embodiments:

[0056] ATTACHMENT Figure 1 It is a principle schematic diagram of pile warp variable height control system;

[0057] ATTACHMENT Figure 2 It is a structure schematic diagram of fixed height piece;

[0058] ATTACHMENT Figure 3 It is a flow schematic diagram of bus current control algorithm of pile warp variable height control system;

[0059] ATTACHMENT Figure 4 It is a forward schematic diagram of servo motor motion screw rod integrated machine;

[0060] ATTACHMENT Figure 5 It is a bottom view schematic diagram of servo motor motion screw rod integrated machine;

[0061] ATTACHMENT Figure 6 It is a side view schematic diagram of motor side of servo motor motion screw rod integrated machine;

[0062] ATTACHMENT Figure 7 It is a partial bottom view schematic diagram of pile warp variable height control system mechanical part composed of multiple servo motor motion screw rod integrated machines;

[0063] In the figure: 1-screw rod sliding table; 2-optical limit position sensor; 3-fastener; 4-fixed height piece; 5-pile warp. DETAILED DESCRIPTION

[0064] As shown in the figure, the servo motor group control method of the pile warp variable height control system of the double arrow loom, when the pile warp 5 of the double arrow loom is up and down stringed space warp and weft, the pile warp variable height control system uses multiple servo motors in the bus type common bus servo motor group as actuators, controls the driving of each actuator by the bus to control the height of each pile warp of the multiple nodes of the space weaving process; the multi-axis servo motor current fuzzy control distribution method based on bus current value constraint is implemented by the distribution of bus current, and the bus power supply working condition of the pile warp variable height control system under the starting working condition, the following working condition or the locked-rotor working condition is optimized;

[0065] The electric control part of the pile warp variable height control system includes a bus, an upper computer, a bus current sensor and a bus type integrated servo motor group with n motor working shafts, and the mechanical part includes n screw slides driven by the motor working shafts and height fixing pieces connected with the screw slides;

[0066] The n screw slides and the height fixing pieces 4 connected with the screw slides are installed and arranged on the cross beam of the double arrow loom at equal intervals.

[0067] In the mechanical part of the pile warp variable height control system, the 0 side of the height fixing piece boundary is fixed vertically at the screw slide 1 driven by the servo motor by the fastener 3, forming n servo motor motion screw slide integrated machines, the servo motor motion screw slide integrated machine limits the movement of the height fixing piece by the photoelectric limit sensor 2, and the other side of the height fixing piece is provided with an inclined edge for supporting the space pile warp, and the height of the pile warp position is adjusted by the transverse movement of the height fixing piece;

[0068] In the electric control part of the pile warp variable height control system, the bottom edge of the height fixing piece is taken as the X axis, and the position where the 0 edge of the height fixing piece boundary reaches the photoelectric limit sensor trigger signal is taken as the Y axis, that is, the intersection of the 0 edge and the bottom edge of the height fixing piece boundary is taken as the origin, and a coordinate system is established; the boundary point height h of the height fixing piece is min The height of the height fixing piece is the minimum value of the pile warp, the inclination angle of the inclined edge of the height fixing piece for positioning the space pile warp is θ, the upper end point of the inclined edge is the first boundary point, the lower end point of the inclined edge is the second boundary point, and the height of the height fixing point required by the system is h x Then the distance between the height fixing point and the second boundary point is L1, a platform with a length of L2 is arranged at the minimum pile warp height of the inclined edge of the height fixing piece, and the screw rod advancing distance s is equal to

[0069]

[0070] The upper computer controls the motor screw rod advancing distance {s1 s2 s3,..., sn} of each axis of the servo motor motion screw slide integrated machine of the first, second, third,..., n axis through the upper computer. nThe warp height of the space cloth is formed in different heights, and the warp height of the space cloth is controlled.

[0071] When the space cloth is woven, the warp height control system of the double arrow loom has the following specific working process:

[0072] Step one, the host computer of the warp height control system determines the height h of the warp of each node of the space cloth x , and substitutes it into the above formula to calculate the position of the lead screw of each servo motor, and converts it into the angle position data information of the motor according to the lead screw pitch;

[0073] Step two, enable commands are issued to the bus type integrated servo motor system through two data lines D+ and D-;

[0074] Step three, according to the bus maximum current value i MAX and the rated working current of the motor, the number of working motor axes of the motor group is determined, and the host computer issues a position zero command to the 1st, 2nd, 3rd, 4th, 5th, …, mth axis motor. If the position zero function of a certain axis motor is completed, the host computer issues a position zero command to the m+1th axis, and so on, to complete the position zero of the n-axis motor.

[0075] Step four, the host computer of the warp height control system drives the corresponding motor according to the bus current distribution algorithm, and the motor drives the warp height piece component to realize the warp height control of n nodes in the space cloth weaving process.

[0076] The multi-axis servo motor current fuzzy control distribution method based on bus current value constraint adopts a bus current distribution fuzzy controller, including the following steps.

[0077] Step S1, according to the main shaft speed of the double arrow loom, the bus maximum current value i MAX and the rated current i p of the height piece motor, the warp height control period T1 and the current distribution control period T2 are determined, and the domain, discrete fuzzy rule, input and output variables are defined:

[0078] Step S2, set the warp height control period T1 of the space cloth weaving process;

[0079] Step S3, set the current distribution control period T2 of the space cloth weaving process.

[0080] The step S1 includes the following steps:

[0081] Step A1, according to the bus maximum current value, the number of working motor axes m of the motor group under rated working condition is obtained MAX i pFloor (ek2U), where k2 = m / 12, down rounding, that is, the total current of the motor group does not exceed the maximum bus current value;

[0082] Step A2, define the input and output fuzzy discrete argument of the bus current distribution fuzzy controller, X = {-6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6};

[0083] Step A3, define and quantize the input of the fuzzy controller: the relative error value of the bus real-time current and the maximum current: For the input of the fuzzy controller in the discrete argument, multiply the relative error value difference by the coefficient C i = ek1, where k1 = 6 / m;

[0084] The input of the fuzzy controller is divided into 8 fuzzy sets {NB NM NS NZ PZ PS PM PB};

[0085] Step A4, define the output U of the fuzzy controller C divided into 7 fuzzy sets {NB NM NS ZE PS PM PB};

[0086] The output of the fuzzy controller Δm = Floor (k2U c ), down rounding, where k2 = m / 12;

[0087] Step A5, define the membership matrix A of the 8 fuzzy sets of the error 8×13 ; define the membership matrix B of the 7 fuzzy sets of the output u 7×13 ;

[0088]

[0089]

[0090] Step A6, define the input and output fuzzy control rule table, the rules in the table are specifically expressed in pseudo code:

[0091] if e = NB then u = NB;

[0092] if e = NM then u = NM;

[0093] if e = NS then u = NS;

[0094] if e = NZ then u = NS;

[0095] if e = PZ then u = ZE;

[0096] if e = PS then u = PS;

[0097] If e = PM, then u = PM;

[0098] If e = PB, then u = PB;

[0099] According to the control rule table, fuzzy set operations within rules are performed by taking the intersection, and fuzzy set operations between rules are performed by taking the union. Fuzzy relation table R:

[0100] R = (A NB ×B NB )∪(A NM ×B NM )∪(A NS ×B NS )∪(A NZ ×B NS ).

[0101] Step S2 includes the following steps;

[0102] Step B1: Read the position information of the fixed height sheet for each axis as required by the spatial fabric process;

[0103] Step B2: Enter current distribution control.

[0104] Step S3 includes the following steps;

[0105] Step C1: Based on the absolute values ​​of the errors between the commanded positions and the actual motor positions of each axis, arrange them from largest to smallest to obtain a list of position error values, i.e., {|Δθ1| |Δθ2| |Δθ3| ... |Δθ...} n |};

[0106] Step C2: According to the list of position error values, select {|Δθ1| |Δθ2| |Δθ3| ... |Δθ...} m The first m axis motors operate simultaneously, meaning the bus current value is collected at the same time. The relative error between the bus current and the maximum current is calculated. Calculate the input C of the fuzzy controller i Quantizing C based on fuzzy discrete universe of discourse i Determine the membership matrix A of the 8-level fuzzy set. 8×13 The i-th row A i×13 Find the output vector u of the fuzzy controller. i =A i×13 *R;

[0107] Step C3: Perform defuzzification according to the principle of maximizing membership degree: calculate vector u i Maximum membership degree, and the fuzzy output control quantity U is obtained based on the maximum membership degree. c Then, in the j-th control cycle T2, the fuzzy controller outputs Δm. j =Floor(k2U) c );

[0108] Step C4, set the cycle motor group position error list Motor shaft position tracking; if Δm is a positive integer, motor group m j-1 +Δm j Shaft work, motor group position error list Motor shaft position tracking work; if Δm j is a negative integer, motor group position error list Motor shaft position tracking work, Motor shaft position maintenance work;

[0109] Step C5, determine the control cycle T1 timing interrupt, if interrupted, execute step C2 in a loop, if not interrupted, execute step C3 in a loop.

[0110] In this example, one side of the fixed height piece is the boundary 0 edge, when the fixed height piece translates to make this edge reach the photoelectric limit sensor, the fixed height piece stops moving, the other side of the fixed height piece is provided with an inclined edge for supporting the pile warp, the pile warp is taut on the inclined edge, when the fixed height piece translates, the position of the pile warp on the inclined edge changes, thereby adjusting the height of the pile warp.

Claims

1. A method for controlling a group of servo motors of a pile warp variable height control system of a double arrow loom, characterized in that: When the double arrow shaft loom strings the warp and weft of space cloth, the pile warp variable height control system uses multiple servo motors in the bus type common bus servo motor group as actuators to control the driving of each pile warp height piece component by the bus position command, and controls the pile warp height of multiple nodes in the space cloth weaving process; the current fuzzy control distribution method of multi-axis servo motor based on bus current value constraint is implemented by the distribution of bus current to optimize the bus power supply working condition of the pile warp variable height control system under the starting working condition, following working condition or locked-rotor working condition; The electric control part of the pile warp variable height control system includes a bus, an upper computer, a bus current sensor and a bus type integrated servo motor group with n motor working shafts, and the mechanical part includes n screw rod slides driven by the motor working shafts and height fixing pieces connected with the screw rod slides; The n screw rod slides and the height fixing pieces connected with the screw rod slides are installed and arranged on the cross beam of the double arrow shaft loom at equal intervals; In the mechanical part of the pile warp variable height control system, the 0 side of the height fixing piece boundary is fixed vertically to the screw rod slide driven by the servo motor by a fastener to form n servo motor motion screw rod integrated machines, the servo motor motion screw rod integrated machine uses an optical limit sensor to limit the movement of the height fixing piece, and the other side of the height fixing piece is provided with an inclined edge for supporting the space cloth pile warp, and the height of the pile warp position is adjusted by the transverse movement of the height fixing piece. The electric control part of the variable height control system of the pile warp, with the bottom edge of the height fixing piece as the X axis, and the position of the photoelectric limit sensor trigger signal on the 0 edge of the height fixing piece boundary as the Y axis, that is, the intersection of the 0 edge and the bottom edge of the height fixing piece boundary as the origin, a coordinate system is established; the height h of the boundary point of the height fixing piece min The minimum value of the pile warp height is h, the inclination angle of the inclined edge of the height fixing piece for positioning the space pile warp is θ, the upper end point of the inclined edge is the first boundary point, the lower end point of the inclined edge is the second boundary point, and the height of the height fixing point required by the system is h x The distance between the height fixing point and the second boundary point is L1, a platform with a length of L2 is arranged at the minimum pile warp height of the inclined edge of the height fixing piece, and the pushing distance s of the lead screw is equal to The host computer controls the servo motor of the first, second, third, …, nth axis to move the motor lead screw of the integrated machine by a distance {s1s2s3……sn} n}, forming a space with different heights, achieving the effect of variable height control of the space cloth double arrow beam loom.

2. The servo motor group control method for the variable warp height control system of the double-arrow loom according to claim 1, characterized in that: When weaving space cloth, the specific working process of the pile warp variable height control system of the double arrow shaft loom is as follows: Step one, the host computer of the variable height control system of the pile warp according to the height h of each node of the space cloth x , the height of each node of the space cloth according to the height h of each node of the space cloth Step 2, enable command is given to the bus type integrated servo motor system 1, 2, 3, 4, 5…n shafts through two data lines D+, data line D- difference; Step three, according to the bus maximum current value i MAX And the motor rated working current determines the working motor shaft number of the motor group. The host computer issues a position zero command to the 1st, 2nd, 3rd, 4th, 5th, …, mth shaft motor. If the position zero function of a certain shaft motor is completed, the host computer issues a position zero command to the m+1th shaft, and so on, to complete the position zero of the n shaft motor. Step 4, the upper computer of the pile warp variable height control system drives the corresponding motor according to the bus current distribution algorithm, the motor drives the respective pile warp height piece component, and the pile warp height control of n nodes in the space cloth weaving process is realized.

3. The method of claim 2, wherein the servo motor group control method of the pile-warp variable height control system of the double arrow beam loom is characterized by: The multi-axis servo motor current fuzzy control distribution method based on bus current value constraint adopts a bus current distribution fuzzy controller, including the following steps: Step S1, according to the double arrow loom spindle speed, the bus maximum current value i MAX And the rated current of the fixed height piece motor i p Determine the pile warp height control period T1, current distribution control period T2, define the domain, discrete fuzzy rules, input and output variables: Step S2, set the pile warp height control period T1 of the space cloth weaving process; Step S3, set the current distribution control period T2 of the space cloth weaving process.

4. The servo motor group control method for the variable warp height control system of the double-arrow loom according to claim 3, characterized in that: The step S1 includes the following steps; Step A1, according to the bus maximum current value, the rated working condition of the motor group motor working shaft number m = Floor(i MAX / i p ), down to the total current of the motor group does not exceed the bus maximum current value; Step A2, define the input and output fuzzy discrete argument of the bus current distribution fuzzy controller as X={-6-5-4-3-2-1 0 1 2 3 4 5 6}; Step A3, Define, Quantify Fuzzy Controller Input: Relative Error Value of Bus Real Time Current to Maximum Current To fuzzify the controller input in a discrete universe, multiply the relative error value difference by a coefficient C i = ek1, where k1 = 6 / m; The input of the fuzzy controller is divided into 8 fuzzy sets {NB NM NS ZE PS PM PB}; Step A4, define fuzzy controller output U C Divide into 7 fuzzy sets {NB NM NS ZE PS PM PB}; The fuzzy controller outputs Δm = Floor(k2U c ), where k2 = m / 12; Step A5, define the 8-level fuzzy set membership matrix A of error 8×13 ; define the 7-level fuzzy set membership matrix B of output u 7×13 ; Step A6, define the input and output fuzzy control rule table, and the rules in the table are specifically expressed in pseudo code as follows: if e=NB then u=NB; if e=NM then u=NM; if e=NS then u=NS; if e=NZ then u=NS; if e=PZ then u=ZE; if e=PS then u=PS; if e=PM then u=PM; if e=PB then u=PB; According to the control rule table, the fuzzy set operation in the rule takes intersection, and the fuzzy set operation between the rules takes union calculation; Fuzzy relation table R: R = (A NB × B NB ) ∪ (A NM × B NM ) ∪ (A NS × B NS ) ∪ (A NZ × B NS ).

5. The method of claim 3, wherein the servo motor group control method of the pile-warp variable height control system of the double arrow beam loom is characterized by: Step S2 includes the following steps. Step B1, reading the position information of each axis height piece required by the space layout process; Step B2, entering current distribution control.

6. The method of claim 3, wherein the servo motor group control method of the pile-warp variable height control system of the double arrow beam loom is characterized by: Step S3 includes the following steps. Step C1, according to the absolute value of the error value of the instruction position of each axis and the actual motor position, arrange the position error value list from large to small, that is, { | Δθ1| | Δθ2| | Δθ3| … | Δθn|}. n |}. Step C2, according to the position error value list, select the |Δθ1| |Δθ2| |Δθ3| … |Δθ m |} The first m-axis motor works, that is, the bus current value is collected at the same time, and the relative error value of the bus current and the maximum current is calculated: Calculate the fuzzy controller input C i , according to the fuzzy discrete domain quantization C i , determine the membership matrix A of the 8-level fuzzy set 8×13 The i-th row of A i×13 , calculate the fuzzy controller output vector u i = A i×13 *R; Step C3, defuzzification according to the principle of maximum membership: find the vector u i Maximum membership, the fuzzy output control variable U is obtained according to the maximum membership c The fuzzy controller output in the jth control period T2 Δm j = Floor(k2U c ); Step C4, set the periodic motor group position error list Motor shaft position tracking; if Δm is a positive integer, then motor group position error list is updated by m j-1 + Δm j Shaft operation, i.e. motor group position error list is updated by m Motor shaft position tracking operation; if Δm j is a negative integer, then motor group position error list is updated by m Motor shaft position tracking operation, Motor shaft position maintaining work; Step C5, judging the control period T1 timing interrupt, if interrupted, executing step C2 cyclically, if not interrupted, executing step C3 cyclically.

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