Servo control method and device for loom spindle motor

Abstract

The application discloses a loom spindle motor servo control method and device. The loom spindle motor servo control method comprises the following steps: obtaining a current target rotating speed of the spindle motor; determining at least one current running state information corresponding to the current target rotating speed; determining a rotating speed setting value of the spindle motor according to the current running state information; and controlling the spindle motor based on the rotating speed setting value. The application solves the technical problem that the existing technology has a relatively large impact on the loom system.

Description

Technical Field

[0001] This application relates to the field of textile technology, and in particular to a servo control method and device for a loom spindle motor. Background Technology

[0002] Currently, a typical direct-drive loom mainly consists of five mechanisms: a shedding mechanism, a beat-up mechanism, a warp feed mechanism, a winding mechanism, and a water jet mechanism. The warp feed mechanism drives the warp beam to release the warp yarns, and the winding mechanism winds the woven fabric onto the take-up beam. The heald frames, through their layered movement, allow the warp yarns passing through the center eye of the healds to move in layers, forming the shed. This ensures that the weft insertion mechanism can smoothly pass the ejected weft yarns through the shed, and the beat-up mechanism beats the weft yarns onto the fabric surface to form the woven fabric. Each mechanism operates in a specific sequence within a certain angular range of the main shaft's movement cycle.

[0003] The spindle plays a particularly crucial role, serving as the primary power source for the weft-beating mechanism and shedding mechanism. Control of the direct-drive spindle motor is typically achieved by setting a constant target speed. However, because the actual load on the loom fluctuates significantly with the spindle angle, it's difficult to maintain a constant target speed. Existing technologies can mitigate spindle fluctuations to some extent by enhancing control effects, employing vibration suppression control methods, or increasing spindle inertia. However, forcibly suppressing spindle fluctuations is not entirely beneficial to the entire system. Especially at high speeds, the oscillating kinetic energy of the weft-beating mechanism increases, and the acceleration during the weft-beating mechanism's back-and-forth centering is significant, leading to increased equivalent load fluctuations on the loom spindle. Forcibly suppressing spindle fluctuations at this time increases the impact at the mechanical joints connected to the spindle, resulting in increased system vibration and noise, and in severe cases, damage to the loom spindle and its related connecting mechanisms. Summary of the Invention

[0004] The main objective of this application is to provide a servo control method and device for the spindle motor of a loom, which aims to solve the technical problems that have a significant impact on the loom system caused by the prior art.

[0005] To achieve the above objectives, this application provides a servo control method for a loom spindle motor, the servo control method for the loom spindle motor comprising:

[0006] Obtain the current target speed of the spindle motor;

[0007] Determine at least one current operating status information corresponding to the current target rotational speed;

[0008] Based on the current operating status information, determine the spindle motor speed setting value;

[0009] The spindle motor is controlled based on the set speed value.

[0010] Optionally, the step of determining the spindle motor speed setpoint based on the current operating status information includes:

[0011] Determine the corresponding target speed fluctuation characteristic information based on the current operating status information;

[0012] Based on the target speed fluctuation characteristic information, the speed setting value of the spindle motor is determined.

[0013] Optionally, the target speed fluctuation characteristic information includes target speed-angle fluctuation characteristic information of speed fluctuating with spindle angle, and the step of determining the speed setpoint of the spindle motor based on the target speed fluctuation characteristic information includes:

[0014] Obtain the current spindle angle of the spindle motor;

[0015] Based on the current spindle angle and the target speed-angle fluctuation characteristic information, the speed setting value of the spindle motor is determined.

[0016] Optionally, the current operating status information includes the current spindle angle, the current rotational speed, and the current loom operating condition information. The step of determining the corresponding target rotational speed fluctuation characteristic information based on the current operating status information includes:

[0017] Acquire at least one historical operating status information at at least one historical moment, wherein the historical operating status information includes historical spindle angle, historical rotation speed value, and historical loom operating condition information;

[0018] Based on the historical loom operating condition information, the historical speed values, the historical spindle angles, the current spindle angle, the current speed value, and the current loom operating condition information, the target speed-angle fluctuation characteristic information corresponding to the current loom operating condition information is determined.

[0019] Optionally, the step of determining the corresponding target speed fluctuation characteristic information based on the current operating status information includes:

[0020] The current loom operating condition is determined based on the current operating status information.

[0021] Based on the preset mapping relationship between loom operating conditions and speed fluctuation characteristics, the target speed fluctuation characteristics corresponding to the current loom operating condition are determined from the preset fluctuation characteristics information.

[0022] Optionally, the target speed fluctuation characteristic information includes a target speed-time fluctuation characteristic curve of the speed fluctuating with the motor running time, and the step of determining the speed setpoint of the spindle motor based on the target speed fluctuation characteristic information includes:

[0023] The target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve.

[0024] Optionally, the target speed-time fluctuation characteristic curve includes a speed rising phase and a speed fluctuation adjustment phase. In the rising phase, the speed rises linearly from a preset initial speed to the current target speed. When the speed rises to the current target speed, the speed fluctuation adjustment phase is entered. The speed fluctuation adjustment phase includes at least one adjustment cycle. Whenever the speed is less than or equal to a preset lower speed limit, an adjustment cycle is entered. In each adjustment cycle, the speed changes in a wave-like manner.

[0025] Optionally, the step of calling the target speed-time fluctuation characteristic curve and controlling the speed setpoint of the spindle motor based on the target speed-time fluctuation characteristic curve includes:

[0026] The target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve;

[0027] Obtain the actual speed-time fluctuation characteristic curve of the spindle motor as the current actual speed fluctuates with the motor running time;

[0028] The target speed-time fluctuation characteristic curve is adjusted based on the actual speed-time fluctuation characteristic curve so that the target speed-time fluctuation characteristic curve follows the actual speed-time fluctuation characteristic curve.

[0029] Optionally, the step of determining the spindle motor speed setpoint based on the current operating status information includes:

[0030] Obtain the current load characteristics of the spindle motor;

[0031] The current target speed is adjusted by gain based on the current operating status information and the current load characteristics to obtain the speed setting value of the spindle motor.

[0032] Optionally, the step of controlling the spindle motor based on the speed setpoint includes:

[0033] Obtain the speed feedback value of the spindle motor;

[0034] The spindle motor is controlled based on the difference between the set speed value and the speed feedback value.

[0035] Optionally, the step of controlling the spindle motor based on the difference between the speed setpoint and the speed feedback value includes:

[0036] The reference current value is determined based on the difference between the speed setpoint and the speed feedback value;

[0037] Collect the current feedback value of the spindle motor;

[0038] The stationary coordinate system voltage value is determined based on the difference between the reference current value and the current feedback value.

[0039] A pulse width modulation signal corresponding to the voltage value in the stationary coordinate system is generated, and the spindle motor is controlled by the pulse width modulation signal.

[0040] This application also provides a servo control device for a loom spindle motor, which is applied to a servo control equipment for a loom spindle motor. The servo control device includes:

[0041] The acquisition module is used to acquire the current target speed of the spindle motor;

[0042] The current operating status information determination module is used to determine at least one current operating status information corresponding to the current target rotational speed;

[0043] The speed setting value determination module is used to determine the speed setting value of the spindle motor based on the current operating status information;

[0044] The spindle motor control module is used to control the spindle motor based on the set speed value.

[0045] This application provides a servo control method and apparatus for a loom spindle motor. By acquiring the current target speed of the spindle motor and determining at least one current operating state information corresponding to the current target speed, the method achieves the determination of the current target speed required for the current operation of the spindle motor and the current operating state information of the loom. By determining the speed setting value of the spindle motor based on the current operating state information, the method achieves the determination of a speed setting value that conforms to the current operating state of the loom. Furthermore, by controlling the spindle motor based on the speed setting value, the method achieves speed control of the spindle motor that conforms to the current operating state of the loom. During the actual operation of the loom, the actual speed of the spindle motor will fluctuate around the target speed as the motor's operating state changes. Therefore, by making the speed of the spindle motor conform to the current operating state information of the loom, the deviation between the actual speed and the speed setting value can be effectively reduced, speed loop saturation can be avoided, and the forced suppression of spindle fluctuations can be reduced. This avoids the vibration and impact at the relevant mechanical joint connection mechanisms caused by the forced control of speed fluctuations, thus reducing the impact on the loom system and overcoming the technical problem of the large impact on the loom system caused by the prior art. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating an embodiment of the servo control method for the spindle motor of a loom according to this application;

[0049] Figure 2 This is a schematic diagram illustrating a possible implementation of the vector control-based control method in the loom spindle motor servo control method of this application.

[0050] Figure 3 This is a flowchart illustrating another embodiment of the servo control method for the spindle motor of a loom according to this application;

[0051] Figure 4 This is a schematic diagram of the speed change corresponding to the speed fluctuation control mode of the loom spindle motor servo control method in this application;

[0052] Figure 5This is a schematic diagram of the speed change corresponding to the constant target speed control mode in the servo control method of the loom spindle motor in the embodiments of this application.

[0053] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0054] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] This application provides a servo control method for a loom spindle motor. In the first embodiment of the servo control method for a loom spindle motor of this application, refer to... Figure 1 The servo control method for the loom spindle motor includes:

[0056] Step S10: Obtain the current target speed of the spindle motor;

[0057] Step S20: Determine at least one current operating state information corresponding to the current target rotational speed;

[0058] In this embodiment, it should be noted that the spindle motor servo control method is applied to a spindle direct-drive loom. A spindle direct-drive loom is a loom in which the spindle motor is directly connected to the spindle, drives the spindle to operate, and the spindle drives other mechanisms to operate. The spindle direct-drive loom includes a spindle, shedding mechanism, weft insertion mechanism, warp feeding mechanism, crimping mechanism, and water jet mechanism, etc. The main power source of each mechanism comes from the spindle. The overall control method of the spindle direct-drive loom adopts a speed loop plus current loop control method. The current loop control can be a traditional vector control method, a model predictive control method, a direct torque control method, or other control methods with equivalent effects such as neural network control.

[0059] Specifically, the current target speed of the main spindle motor is obtained, and the operation process of each mechanism in the loom system at the current target speed is simulated through a preset equivalent model of the loom system. The current operating status information of the loom at the current target speed is output through the equivalent model of the loom system. The equivalent model of the loom system is an equivalent model of the loom system, which is used to reflect the operating status of each mechanism of the loom system, the motion and force state of each link, and the final fabric production process. It can be a digital prototype or virtual prototype corresponding to the theoretical model of the loom system, electromechanical coupling model, etc. It can output part or all of the operating status of the loom system. The operating status information includes the motion state of each mechanism of the loom, the direction of force, the equivalent load, inertia, speed, acceleration, torque, etc. The current target speed can be set and adjusted by technicians from the outside, or it can be automatically set and adjusted according to the actual needs of the loom under the current loom operating conditions or the execution of the corresponding work program.

[0060] Step S30: Determine the spindle motor speed setting value based on the current operating status information;

[0061] In this embodiment, specifically, the spindle motor speed setting value is determined based on one or more of the current operating state information. The method for determining the spindle motor speed setting value based on the current operating state information can be to determine the gain value of each current operating state information on the speed based on the current operating state information through weighting, model building, or artificial intelligence, and then adjust the current target speed according to the gain value to obtain the spindle motor speed setting value corresponding to each of the current operating state information. The method for determining the spindle motor speed setting value based on the current operating state information can be... To directly determine the current speed of the spindle motor from the current operating status information as the set speed value of the spindle motor; the method of determining the set speed value of the spindle motor based on the current operating status information can also be to predict the speed value of the spindle motor at a future preset time based on the current operating status information and at least one preset historical operating status information, and then determine the predicted speed value as the set speed value of the spindle motor. The future preset time can be determined according to the actual time required by the loom spindle motor servo control method, for example, the time required from obtaining the current operating status information to setting the set speed value.

[0062] Optionally, the step of determining the spindle motor speed setpoint based on the current operating status information includes:

[0063] Step A10: Obtain the current load characteristics of the spindle motor;

[0064] In this embodiment, specifically, the current load characteristics of the spindle motor are obtained, wherein the current load characteristics are determined by collecting and calculating parameters such as the current and voltage of the spindle motor.

[0065] Step A20: Adjust the gain of the current target speed according to the current operating status information and the current load characteristics to obtain the speed setting value of the spindle motor.

[0066] In this embodiment, specifically, a first speed gain value corresponding to the current target speed is determined based on the current operating status information. Based on the equivalent model of the loom system and the current load characteristics, the influence of the actual speed of the spindle motor is determined, and then the gain of the current target speed is adjusted to obtain the speed setting value of the spindle motor. For example, if the actual speed of the spindle motor is determined to be ar / min higher than the current target speed based on the current operating status information and the current load characteristics, then the value obtained by adding ar / min to the current target speed is determined as the speed setting value. It is easy to understand that the influence of the current operating status information and the current load characteristics on the gain value can be determined according to the actual situation, such as through weights, algorithms, etc.

[0067] During the actual operation of a loom, the actual load on the loom fluctuates significantly with the spindle angle, making it difficult to control the actual spindle speed at a constant target speed. Instead, it fluctuates considerably with the load. Therefore, by directly collecting relevant data (e.g., current, voltage) from the spindle motor, the current load characteristics of the spindle motor can be determined. These current load characteristics can provide real-time feedback on the load fluctuations of the spindle motor. By combining the current load characteristics of the spindle motor with the current operating status information determined based on a preset equivalent model of the loom system, the accuracy of the observations or predictions of the equivalent model can be monitored and corrected. For example, the load characteristics can be used to determine whether the equivalent model of the loom system is erroneous or has deviated. The current operating status information determined by the equivalent model of the loom system can be used to determine whether there is a time lag. By combining the current load characteristics, deviations and lags can be corrected, thereby improving the accuracy of the speed setpoint.

[0068] Step S40: Control the spindle motor based on the set speed value.

[0069] In this embodiment, specifically, the spindle motor is controlled by a current loop based on the set speed value. The inner loop control method can be a traditional vector control method, a model predictive control method, a direct torque control method, or other control methods with equivalent effects such as neural network control. This embodiment does not limit the method.

[0070] Optionally, the step of controlling the spindle motor based on the speed setpoint includes:

[0071] Step S41: Obtain the speed feedback value of the spindle motor;

[0072] In this embodiment, specifically, the rotational speed feedback value of the current loop of the spindle motor to the speed loop is collected, wherein the rotational speed feedback value can be determined by an encoder or a speed-sensorless algorithm.

[0073] Step S42: Control the spindle motor based on the difference between the set speed value and the feedback speed value.

[0074] In this embodiment, specifically, the difference between the speed setpoint and the speed feedback value is calculated to obtain the speed deviation, and the current loop control of the spindle motor is performed based on the speed deviation.

[0075] Optionally, the step of controlling the spindle motor based on the difference between the speed setpoint and the speed feedback value includes:

[0076] Step S421: Determine the reference current value based on the difference between the speed setting value and the speed feedback value;

[0077] Step S422: Collect the current feedback value of the spindle motor;

[0078] Step S423: Determine the stationary coordinate system voltage value based on the difference between the reference current value and the current feedback value;

[0079] Step S424: Generate a pulse width modulation signal corresponding to the voltage value in the stationary coordinate system, and control the spindle motor using the pulse width modulation signal.

[0080] In this embodiment, specifically, the difference between the speed setpoint and the speed feedback value is calculated to obtain the speed deviation. The speed deviation is used as the input of the current loop to generate corresponding direct-axis reference current values ​​and quadrature-axis reference current values. Direct-axis current feedback values ​​and quadrature-axis current feedback values ​​are collected from the spindle motor. The difference between the direct-axis reference current value and the direct-axis current feedback value is calculated to obtain the direct-axis current deviation. The difference between the quadrature-axis reference current value and the quadrature-axis current feedback value is calculated to obtain the quadrature-axis current deviation. The direct-axis command voltage is determined based on the direct-axis current deviation. The quadrature-axis command voltage is determined based on the quadrature-axis current deviation. The direct-axis command voltage and the quadrature-axis command voltage are subjected to coordinate transformation to obtain a stationary coordinate system voltage value. Based on the stationary coordinate system voltage value, a preset SVPWM (Space Vector Pulse Width Modulation) algorithm is used to generate a PWM (Pulse Width Modulation) signal for driving the inverter bridge arm switch. The spindle motor is controlled by the pulse width modulation signal.

[0081] In one feasible approach, refer to Figure 2 The equivalent model of the loom system feeds back the current operating status information of the loom system to the speed setpoint determination module in real time based on the current target speed. The loom load observation module collects relevant parameters of the spindle motor in real time and feeds back the current load characteristics of the spindle motor to the speed setpoint determination module. The speed setpoint determination module determines the speed setpoint ω based on the current operating status information and the current load characteristics. ref The speed / angle feedback module collects the speed feedback value ω of the spindle motor. fdb The magnetic pole position transformation angle θ required by the voltage and current coordinate transformation module e Calculate ω ref and ω fdb The difference is used to obtain the speed deviation Δω. Δω is then used by the speed controller to generate the quadrature axis reference current I. qref and direct-axis reference current I dref The three-phase current I of the spindle motor is acquired through the current acquisition module. a I b I c The three-phase current is processed by the current coordinate transformation module to obtain the quadrature-axis current feedback value I. qfdb and direct-axis current feedback value I dfdb Calculate I qref with I qfdb The difference is used to obtain the quadrature axis current deviation ΔI. q Calculate I dref with I dfdbThe difference is used to obtain the direct-axis current deviation ΔI. d The direct-axis current deviation and quadrature-axis current deviation are respectively controlled by the direct-axis current controller and the quadrature-axis current controller to generate the direct-axis command voltage U. d and cross-axis command voltage U q Then, the stationary coordinate system voltage U is obtained through the voltage coordinate transformation module. α and U β The SVPWM module then generates a PWM signal to drive the inverter arm switch, and the spindle motor is controlled by the PWM signal.

[0082] In this embodiment, by acquiring the current target speed of the spindle motor and determining at least one current operating state information corresponding to the current target speed, the current target speed required for the current operation of the spindle motor and the current operating state information of the loom are determined. Based on the current operating state information, the speed setting value of the spindle motor is determined, achieving a speed setting value that conforms to the current operating state of the loom. Furthermore, by controlling the spindle motor based on the speed setting value, speed control of the spindle motor that conforms to the current operating state of the loom is achieved. During the actual operation of the loom, the actual speed of the spindle motor fluctuates around the target speed as the motor's operating state changes. Therefore, by ensuring that the speed of the spindle motor conforms to the current operating state information of the loom, the deviation between the actual speed and the speed setting value can be effectively reduced, speed loop saturation can be avoided, and the forced suppression of spindle fluctuations can be reduced. This avoids vibration and impact at related mechanical joint connection mechanisms caused by forced control of speed fluctuations, reducing the impact on the loom system and overcoming the technical problem of significant impact on the loom system in existing technologies.

[0083] Furthermore, in another embodiment of the servo control method for the loom spindle motor of this application, referring to... Figure 3 The step of determining the spindle motor speed setpoint based on the current operating status information includes:

[0084] Step S31: Determine the corresponding target speed fluctuation characteristic information based on the current operating status information;

[0085] In this embodiment, it should be noted that the speed fluctuation characteristic information is the information about how the motor speed changes with the dependent variable. The form of the speed fluctuation characteristic information can be a curve, a change law, or an algorithm, etc., and this embodiment does not limit this. The dependent variable can be the motor running time, the spindle angle, or other operating states, etc. The speed fluctuation characteristic information can be the change trend at the current moment. For example, the speed fluctuation characteristic information can be a linear increase at the current moment, or an increase of a preset speed value. The speed fluctuation characteristic information can also be an observed or predicted change process over a period of time, for example, based on the current actual speed and the current spindle angle in the current operating state information. In addition to the previously collected historical actual speed and historical spindle angle, the variation law of speed fluctuation with spindle angle is determined. During the operation of the loom, the actual operating state of each mechanism of the loom will be different due to the different weaving patterns, weaving methods or loom working modes, and may play different roles in the change of speed. Therefore, it is necessary to combine some or all parameters other than the current actual speed and current spindle angle in the current operating status information to jointly determine the target speed fluctuation characteristics. It is easy to understand that the motor speed and the motor angular velocity are directly proportional. That is, in a unit of time, the faster the motor speed, the faster the angular velocity. The motor speed and the motor angular velocity can be converted to each other.

[0086] Specifically, based on the current operating status information, the current loom operating condition is determined, and the target speed fluctuation characteristic information corresponding to the current loom operating condition is determined. The speed fluctuation characteristic information can be obtained by predefining the spindle motor speed under any motor running time, spindle angle, target speed, or load loom operating condition through offline calibration testing or theoretical fitting of the actual loom system. This allows for the determination of the mapping relationship between different loom operating conditions and different fluctuation characteristic information corresponding to each operating status information, so that the corresponding target speed fluctuation characteristic information can be directly obtained based on the current loom operating condition corresponding to the current operating status information during actual control. Alternatively, the speed fluctuation characteristic information can be obtained by collecting historical and / or current operating status data in real time and determining the corresponding target speed fluctuation characteristic information according to a preset algorithm.

[0087] Optionally, the current operating status information includes the current spindle angle, the current rotational speed, and the current loom operating condition information. The step of determining the corresponding target rotational speed fluctuation characteristic information based on the current operating status information includes:

[0088] Step B10: Obtain at least one historical operating status information at at least one historical moment, wherein the historical operating status information includes historical spindle angle, historical rotation speed value and historical loom operating condition information;

[0089] Step B20: Based on the historical loom operating condition information, the historical rotational speed values, the historical spindle angles, the current spindle angle, the current rotational speed value, and the current loom operating condition information, determine the target rotational speed-angle fluctuation characteristic information corresponding to the current loom operating condition information.

[0090] In this embodiment, specifically, at least one historical operating state collected and stored at a preset storage address at one or more historical moments prior to the current moment is acquired. Based on the historical loom operating condition information, the historical rotational speed values, the historical spindle angles, the current spindle angle, the current rotational speed value, and the current loom operating condition information, the changing trend of the loom operating condition can be determined according to a preset prediction model or prediction algorithm. This allows for the prediction of the target rotational speed-angle fluctuation characteristic information as the rotational speed fluctuates with the spindle angle. The historical operating state information includes historical spindle angles, historical rotational speed values, and historical loom operating condition information. Each moment's historical loom operating condition information has a corresponding historical spindle angle and historical rotational speed value. The loom operating condition information is relevant information used to determine the operating state of each mechanism of the loom, including some or all operating state information. The prediction model and prediction algorithm can be curve fitting, fuzzy algorithms, neural network models, etc., and this embodiment does not impose any limitations on this.

[0091] Optionally, the step of determining the corresponding target speed fluctuation characteristic information based on the current operating status information includes:

[0092] Step B10: Determine the current loom operating condition based on the current operating status information;

[0093] Step B20: Based on the preset mapping relationship between loom operating conditions and speed fluctuation characteristic information, determine the target speed fluctuation characteristic information corresponding to the current loom operating condition from the preset fluctuation characteristic information.

[0094] In this embodiment, specifically, the current loom operating condition is determined based on the combination of the current operating status information, a preset mapping relationship table between loom operating conditions and speed fluctuation characteristic information is queried, and the target speed fluctuation characteristic information corresponding to the current operating status information is determined from the preset speed fluctuation characteristic information.

[0095] Step S32: Based on the target speed fluctuation characteristic information, determine the speed setting value of the spindle motor.

[0096] In this embodiment, specifically, the method of determining the spindle motor speed setpoint based on the target speed fluctuation characteristic information can be to obtain the current data of the dependent variable corresponding to the target speed fluctuation characteristic information, substitute the current data of the dependent variable into the target speed fluctuation characteristic information, and then determine the speed setpoint corresponding to the current data of the dependent variable. Alternatively, the method of determining the spindle motor speed setpoint based on the target speed fluctuation characteristic information can be to directly call the target speed fluctuation characteristic information to control the spindle motor speed setpoint.

[0097] Optionally, the target speed fluctuation characteristic information includes target speed-angle fluctuation characteristic information of speed fluctuating with spindle angle, and the step of determining the speed setpoint of the spindle motor based on the target speed fluctuation characteristic information includes:

[0098] Step S321: Obtain the current spindle angle of the spindle motor;

[0099] Step S322: Determine the spindle motor speed setting value based on the current spindle angle and the target speed-angle fluctuation characteristic information.

[0100] In this embodiment, specifically, the current spindle angle of the spindle motor is collected, and the target speed-angle fluctuation characteristic information is queried based on the current spindle angle to determine the speed setting value corresponding to the current spindle angle.

[0101] Optionally, the target speed fluctuation characteristic information includes a target speed-time fluctuation characteristic curve of the speed fluctuating with the motor running time, and the step of determining the speed setpoint of the spindle motor based on the target speed fluctuation characteristic information includes:

[0102] The target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve.

[0103] In this embodiment, specifically, the target speed-time fluctuation characteristic curve of the rotational speed as the motor runs is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve.

[0104] In this embodiment, the speed setpoint is determined based on the fluctuation of the spindle angle. Using this speed setpoint, which fluctuates with the spindle angle, as the actual target speed of the speed loop helps reduce speed loop deviation, thereby reducing the impact of speed control adjustments. This is beneficial in preventing speed loop saturation. Furthermore, using the speed setpoint, which fluctuates with the spindle angle, as the actual target speed of the speed loop better matches the load fluctuation characteristics of the loom, effectively avoiding vibration impacts at related mechanical joints caused by forcibly controlling speed fluctuations. This helps reduce vibration and noise, and is beneficial to the system's reliability and lifespan. (Refer to...) Figure 4 , Figure 4 In the coordinate system above, the horizontal axis represents the motor running time, and the vertical axis represents the principal axis angle. The curve in the upper coordinate system represents the change of the principal axis angle over time, where Tr represents the acceleration time. Figure 4 In the lower coordinate system, the horizontal axis represents the motor running time, and the vertical axis represents the rotational speed. The ω value in the lower coordinate system... ref The wavy dashed line represents the target speed-time fluctuation characteristic curve, which shows the change of the speed setpoint determined based on the current operating status information over time. ω fdb The solid wavy line represents the actual speed-time fluctuation characteristic curve of the detected speed feedback value changing over time. This shows that at each moment, for each spindle angle, a corresponding speed setpoint can be determined. (Refer to...) Figure 5 , Figure 5 This diagram illustrates the speed variation corresponding to the constant target speed control method. Compared with the constant target speed control method, the speed adjustment method based on fluctuation characteristics adopted in this embodiment has a smaller difference between the speed setpoint and the speed feedback value. This can effectively avoid speed loop saturation, thereby reducing the forced suppression of spindle fluctuations and avoiding vibration and impact at the relevant mechanical joint connection mechanisms caused by forced control of speed fluctuations. This reduces the impact on the loom system and overcomes the technical problem of the existing technology causing a large impact on the loom system.

[0105] Optionally, the target speed-time fluctuation characteristic curve includes a speed rising phase and a speed fluctuation adjustment phase. In the rising phase, the speed rises linearly from a preset initial speed to the current target speed. When the speed rises to the current target speed, the speed fluctuation adjustment phase is entered. The speed fluctuation adjustment phase includes at least one adjustment cycle. Whenever the speed is less than or equal to a preset lower speed limit, an adjustment cycle is entered. In each adjustment cycle, the speed changes in a wave-like manner.

[0106] In this embodiment, specifically, the target speed-time fluctuation characteristic curve includes a speed rise phase and a speed fluctuation adjustment phase. During the rise phase, the speed increases linearly from a preset initial speed to the current target speed. When the speed reaches the current target speed, the speed fluctuation adjustment phase begins. This phase includes at least one adjustment cycle, which is the time range from a point in time where the speed value is less than or equal to a preset lower speed limit to the next point in time where the speed value is less than or equal to the preset lower speed limit. Each time the speed value is less than or equal to the preset lower speed limit, a new adjustment cycle begins. During each adjustment cycle, the speed changes in a wave-like pattern; that is, the target speed-time fluctuation characteristic curve is wave-like. It should be noted that during each adjustment cycle, the target speed-time fluctuation characteristic curve can be a sine wave or a waveform similar to... Figure 4 The irregular wavy shape shown is not limited in this embodiment.

[0107] In one feasible approach, refer to Figure 4 , Figure 4 In the lower coordinate system, the horizontal axis represents the motor running time, and the vertical axis represents the rotational speed. The ω value in the lower coordinate system... ref The wavy dashed line represents the target speed-time fluctuation characteristic curve, which shows the change of the speed setpoint determined based on the current operating status information over time. ω fdb The solid wavy line represents the actual speed-time fluctuation characteristic curve of the detected speed feedback value changing with time, ω. aim The current target rotational speed is located at ω. aim The corresponding horizontal dashed lines on both sides are parallel to ω. aim The two horizontal dashed lines represent the upper and lower limits of the rotational speed. As shown in the graph, in the target speed-time fluctuation characteristic curve, the motor's speed setpoint first accelerates to ω. aim Then, it circulates around the target speed. Whenever the speed setting value is less than or equal to the preset speed lower limit value, a new adjustment cycle is entered. In each adjustment cycle, the waveform of the target speed-time fluctuation characteristic curve is irregularly wavy.

[0108] Optionally, the step of calling the target speed-time fluctuation characteristic curve and controlling the speed setpoint of the spindle motor based on the target speed-time fluctuation characteristic curve includes:

[0109] Step A10: Invoke the target speed-time fluctuation characteristic curve and control the speed setpoint of the spindle motor based on the target speed-time fluctuation characteristic curve;

[0110] Step A20: Obtain the actual speed-time fluctuation characteristic curve of the current actual speed of the spindle motor as a function of motor running time;

[0111] Step A30: Adjust the target speed-time fluctuation characteristic curve based on the actual speed-time fluctuation characteristic curve so that the target speed-time fluctuation characteristic curve follows the actual speed-time fluctuation characteristic curve.

[0112] In this embodiment, specifically, the target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve. At the same time, the actual speed of the spindle motor fluctuates with the motor running time as the actual speed fluctuates, and the target speed-time fluctuation characteristic curve is adjusted based on the actual speed-time fluctuation characteristic curve so that the target speed-time fluctuation characteristic curve follows the actual speed-time fluctuation characteristic curve. This ensures that the difference between the speed setpoint and the actual speed value at any given time is controlled within a preset speed difference range.

[0113] In one feasible approach, refer to Figure 4 , Figure 4 In the lower coordinate system, the horizontal axis represents the motor running time, and the vertical axis represents the rotational speed. The ω value in the lower coordinate system... ref The wavy dashed line represents the target speed-time fluctuation characteristic curve, which shows the change of the speed setpoint determined based on the current operating status information over time. ω fdb The solid wavy line represents the actual speed-time fluctuation characteristic curve of the detected speed feedback value changing with time, ω. aim The current target rotational speed is located at ω. aim The corresponding horizontal dashed lines on both sides are parallel to ω. aim The two horizontal dashed lines corresponding to the speed limit are the upper limit and lower limit of the speed. As can be seen from the figure, the speed setting of the motor is to first accelerate to the target speed, and then fluctuate around the target speed. The target speed-time fluctuation characteristic curve corresponding to the speed setting value follows the actual speed-time fluctuation characteristic curve.

[0114] In this embodiment, the speed setpoint is determined based on the current operating status information, which allows the motor speed setpoint to fluctuate with different operating states. This reduces the deviation between the speed setpoint and the actual speed. Compared with the constant target speed control method, the speed adjustment control method based on fluctuation characteristics adopted in this embodiment results in a smaller difference between the speed setpoint and the speed feedback value. This effectively avoids speed loop saturation, thereby reducing the forced suppression of spindle fluctuations and avoiding vibration and impact at the relevant mechanical joint connection mechanisms caused by forced speed fluctuation control. This reduces the impact on the loom system and overcomes the technical problem of the large impact on the loom system caused by the prior art.

[0115] Furthermore, this application embodiment also provides a loom spindle motor servo control device, which is applied to a loom spindle motor servo control equipment, and the loom spindle motor servo control device includes:

[0116] The acquisition module is used to acquire the current target speed of the spindle motor;

[0117] The current operating status information determination module is used to determine at least one current operating status information corresponding to the current target rotational speed;

[0118] The speed setting value determination module is used to determine the speed setting value of the spindle motor based on the current operating status information;

[0119] The spindle motor control module is used to control the spindle motor based on the set speed value.

[0120] Optionally, the speed setpoint determination module is further configured to:

[0121] Determine the corresponding target speed fluctuation characteristic information based on the current operating status information;

[0122] Based on the target speed fluctuation characteristic information, the speed setting value of the spindle motor is determined.

[0123] Optionally, the speed setpoint determination module is further configured to:

[0124] Obtain the current spindle angle of the spindle motor;

[0125] Based on the current spindle angle and the target speed-angle fluctuation characteristic information, the speed setting value of the spindle motor is determined.

[0126] Optionally, the speed setpoint determination module is further configured to:

[0127] Acquire at least one historical operating status information at at least one historical moment, wherein the historical operating status information includes historical spindle angle, historical rotation speed value, and historical loom operating condition information;

[0128] Based on the historical loom operating condition information, the historical speed values, the historical spindle angles, the current spindle angle, the current speed value, and the current loom operating condition information, the target speed-angle fluctuation characteristic information corresponding to the current loom operating condition information is determined.

[0129] Optionally, the speed setpoint determination module is further configured to:

[0130] The current loom operating condition is determined based on the current operating status information.

[0131] Based on the preset mapping relationship between loom operating conditions and speed fluctuation characteristics, the target speed fluctuation characteristics corresponding to the current loom operating condition are determined from the preset fluctuation characteristics information.

[0132] Optionally, the speed setpoint determination module is further configured to:

[0133] The target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve.

[0134] Optionally, the speed setpoint determination module is further configured to:

[0135] The target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve;

[0136] Obtain the actual speed-time fluctuation characteristic curve of the spindle motor as the current actual speed fluctuates with the motor running time;

[0137] The target speed-time fluctuation characteristic curve is adjusted based on the actual speed-time fluctuation characteristic curve so that the target speed-time fluctuation characteristic curve follows the actual speed-time fluctuation characteristic curve.

[0138] Optionally, the speed setpoint determination module is further configured to:

[0139] Obtain the current load characteristics of the spindle motor;

[0140] The current target speed is adjusted by gain based on the current operating status information and the current load characteristics to obtain the speed setting value of the spindle motor.

[0141] Optionally, the spindle motor control module is further configured to:

[0142] Obtain the speed feedback value of the spindle motor;

[0143] The spindle motor is controlled based on the difference between the set speed value and the speed feedback value.

[0144] Optionally, the spindle motor control module is further configured to:

[0145] The reference current value is determined based on the difference between the speed setpoint and the speed feedback value;

[0146] Collect the current feedback value of the spindle motor;

[0147] The stationary coordinate system voltage value is determined based on the difference between the reference current value and the current feedback value.

[0148] A pulse width modulation signal corresponding to the voltage value in the stationary coordinate system is generated, and the spindle motor is controlled by the pulse width modulation signal.

[0149] The loom spindle motor servo control device provided by this invention adopts the loom spindle motor servo control method in the above embodiments, solving the technical problem that the prior art has a large impact on the loom system. Compared with the prior art, the beneficial effects of the loom spindle motor servo control device provided by this invention are the same as the beneficial effects of the loom spindle motor servo control method provided in the above embodiments, and other technical features in this loom spindle motor servo control device are the same as the features disclosed in the methods of the above embodiments, and will not be repeated here.

[0150] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A servo control method for a loom spindle motor, characterized in that, The servo control method for the loom spindle motor includes: Obtain the current target speed of the spindle motor; Determine at least one current operating status information corresponding to the current target speed, wherein the current operating status information includes the current spindle angle, the current speed value, the current loom operating condition information, and the first speed gain value corresponding to the current target speed; Based on the current operating status information, determine the spindle motor speed setting value; The spindle motor is controlled based on the set speed value.

2. The servo control method for the loom spindle motor as described in claim 1, characterized in that, The step of determining the spindle motor speed setpoint based on the current operating status information includes: Determine the corresponding target speed fluctuation characteristic information based on the current operating status information; Based on the target speed fluctuation characteristic information, the speed setting value of the spindle motor is determined.

3. The servo control method for the loom spindle motor as described in claim 2, characterized in that, The target speed fluctuation characteristic information includes target speed-angle fluctuation characteristic information of speed fluctuating with spindle angle. The step of determining the speed setpoint of the spindle motor based on the target speed fluctuation characteristic information includes: Obtain the current spindle angle of the spindle motor; Based on the current spindle angle and the target speed-angle fluctuation characteristic information, the speed setting value of the spindle motor is determined.

4. The servo control method for the loom spindle motor as described in claim 3, characterized in that, The step of determining the corresponding target speed fluctuation characteristic information based on the current operating status information includes: Acquire at least one historical operating status information at at least one historical moment, wherein the historical operating status information includes historical spindle angle, historical rotation speed value, and historical loom operating condition information; Based on the historical loom operating condition information, the historical speed values, the historical spindle angles, the current spindle angle, the current speed value, and the current loom operating condition information, the target speed-angle fluctuation characteristic information corresponding to the current loom operating condition information is determined.

5. The servo control method for the loom spindle motor as described in claim 2, characterized in that, The step of determining the corresponding target speed fluctuation characteristic information based on the current operating status information includes: The current loom operating condition is determined based on the current operating status information. Based on the preset mapping relationship between loom operating conditions and speed fluctuation characteristics, the target speed fluctuation characteristics corresponding to the current loom operating condition are determined from the preset fluctuation characteristics information.

6. The servo control method for the loom spindle motor as described in claim 2, characterized in that, The target speed fluctuation characteristic information includes a target speed-time fluctuation characteristic curve of the speed fluctuating with the motor running time. The step of determining the speed setpoint of the spindle motor based on the target speed fluctuation characteristic information includes: The target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve.

7. The servo control method for the loom spindle motor as described in claim 6, characterized in that, The target speed-time fluctuation characteristic curve includes a speed rise phase and a speed fluctuation adjustment phase. In the rise phase, the speed rises linearly from a preset initial speed to the current target speed. When the speed rises to the current target speed, it enters the speed fluctuation adjustment phase. The speed fluctuation adjustment phase includes at least one adjustment cycle. Whenever the speed is less than or equal to a preset lower speed limit, an adjustment cycle is entered. In each adjustment cycle, the speed changes in a wave-like manner.

8. The servo control method for the spindle motor of a loom as described in claim 6, characterized in that, The step of calling the target speed-time fluctuation characteristic curve and controlling the speed setpoint of the spindle motor based on the target speed-time fluctuation characteristic curve includes: The target speed-time fluctuation characteristic curve is invoked, and the speed setpoint of the spindle motor is controlled based on the target speed-time fluctuation characteristic curve; Obtain the actual speed-time fluctuation characteristic curve of the spindle motor as the current actual speed fluctuates with the motor running time; The target speed-time fluctuation characteristic curve is adjusted based on the actual speed-time fluctuation characteristic curve so that the target speed-time fluctuation characteristic curve follows the actual speed-time fluctuation characteristic curve.

9. The servo control method for the spindle motor of a loom as described in claim 1, characterized in that, The step of determining the spindle motor speed setpoint based on the current operating status information includes: Obtain the current load characteristics of the spindle motor; The current target speed is adjusted based on the first speed gain value and the current load characteristics to obtain the speed setting value of the spindle motor.

10. The servo control method for the spindle motor of a loom as described in claim 1, characterized in that, The step of controlling the spindle motor based on the speed setpoint includes: Obtain the speed feedback value of the spindle motor; The spindle motor is controlled based on the difference between the set speed value and the speed feedback value.

11. The servo control method for the spindle motor of a loom as described in claim 10, characterized in that, The step of controlling the spindle motor based on the difference between the speed setpoint and the speed feedback value includes: The reference current value is determined based on the difference between the speed setpoint and the speed feedback value; Collect the current feedback value of the spindle motor; The stationary coordinate system voltage value is determined based on the difference between the reference current value and the current feedback value. A pulse width modulation signal corresponding to the voltage value in the stationary coordinate system is generated, and the spindle motor is controlled by the pulse width modulation signal.

12. A servo control device for a loom spindle motor, characterized in that, The loom spindle motor servo control device includes: The acquisition module is used to acquire the current target speed of the spindle motor; The current operating status information determination module is used to determine at least one current operating status information corresponding to the current target speed. The current operating status information includes the current spindle angle, the current speed value, the current loom operating condition information, and the first speed gain value corresponding to the current target speed. The speed setting value determination module is used to determine the speed setting value of the spindle motor based on the current operating status information; The spindle motor control module is used to control the spindle motor based on the set speed value.

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