Loom warp tension control method, device, loom and readable storage medium

Abstract

The present invention discloses a method, device, loom, and readable storage medium for controlling warp tension in a loom. The method comprises: obtaining current operating parameters of a direct-drive shedding mechanism, determining the current warp tension of the loom based on the current operating parameters; determining the tension deviation between the current warp tension and a preset warp tension, and controlling at least one of the direct-drive shedding mechanism, the warp let-off mechanism, and the take-up mechanism based on the tension deviation. By applying the method to a loom, closed-loop control of the warp tension can be achieved, preventing defects on the loom's fabric and significantly improving the quality and yield of the fabric produced by the loom.

Description

Technical Field

[0001] The present invention relates to the technical field of textile weaving, and in particular to a method and device for controlling warp tension of a loom, a loom and a computer-readable storage medium. Background Art

[0002] A loom is a machine that interweaves two or more sets of yarns at right angles to form fabric. It primarily consists of five mechanisms: the shedding mechanism, the beating-up mechanism, the warp let-off mechanism, the take-up mechanism, and the water spray mechanism. Loom defects (start-up defects and stop-end defects) are a common problem plaguing the industry, significantly impacting fabric quality and, in severe cases, even resulting in waste and defective fabric.

[0003] In order to improve the yield rate of cloth (fabric) and reduce defects on loom cloth, closed-loop control of warp tension is the most important link in the process of loom cloth production. In order to perform closed-loop control of warp tension, the current electronic warp let-off and winding loom adopts an additional warp tension sensor at the back beam to indirectly measure the real-time warp tension through the action of the cantilever lever connecting rod and the back beam. However, due to the fact that this indirect method of measuring warp tension has multiple technical defects such as tension measurement feedback lag and inaccurate real-time warp tension measurement, the closed-loop control effect of the warp tension of the loom is not ideal, resulting in poor cloth quality. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, device, loom and computer-readable storage medium for controlling the warp tension of a loom, aiming to solve the technical problems that the closed-loop control effect of the warp tension of the current electronic let-off and winding loom is not ideal and the cloth quality is poor.

[0005] To achieve the above-mentioned object, the present invention provides a method for controlling warp tension of a loom, wherein the method is applied to a loom, wherein the loom includes a direct-drive shedding mechanism, a warp let-off mechanism, and a take-up mechanism; wherein the direct-drive shedding mechanism includes a direct-drive motor and a heald frame, wherein the direct-drive motor is mechanically connected to the heald frame; and the direct-drive motor is used to drive the heald frame to move up and down;

[0006] The loom warp tension control method comprises the following steps:

[0007] Acquiring current operating parameters of the direct-drive shedding mechanism, and determining a current warp tension of the loom according to the current operating parameters;

[0008] A tension deviation between the current warp tension and the preset warp tension is determined, and at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism is controlled according to the tension deviation.

[0009] Optionally, the direct drive motor is a linear motor; the current operating condition parameters include the rotor acceleration and electromagnetic force of the linear motor, the horizontal half-opening angle between the warp yarn and the cloth fell, and the overall mass of the linear motor and the heald frame;

[0010] The step of determining the current warp tension of the loom according to the current working condition parameters comprises:

[0011] The current warp tension of the loom is determined according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass.

[0012] Optionally, the step of determining the current warp tension of the loom according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass includes:

[0013] Determining a total gravity value corresponding to the linear motor and the heald frame according to the total mass, and determining a first product value between the mover acceleration and the total mass;

[0014] determining a first sum value between the total gravity value and the first product value, and determining a first difference value between the electromagnetic force and the first sum value;

[0015] The current warp tension of the loom is determined according to the first difference and the sine value of the horizontal half opening angle.

[0016] Optionally, the step of determining a tension deviation between the current warp tension and a preset warp tension, and controlling at least one of the direct-drive shedding mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation includes:

[0017] subtracting the current warp tension from the preset warp tension to obtain a tension deviation, and determining whether an absolute value of the tension deviation is greater than or equal to a preset deviation threshold;

[0018] If the absolute value of the tension deviation is greater than or equal to a preset deviation threshold, at least one of the direct-drive opening mechanism, the warp feed mechanism and the take-up mechanism is controlled according to the tension deviation so that the absolute value of the tension deviation is less than the preset deviation threshold.

[0019] Optionally, the step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation includes:

[0020] Determining a target opening stroke corresponding to the tension deviation, and controlling the direct-drive opening mechanism to operate at the target opening stroke; and / or,

[0021] determining a target warp let-off speed corresponding to the tension deviation, and controlling the warp let-off mechanism to operate at the target warp let-off speed; and / or,

[0022] A target winding speed corresponding to the tension deviation is determined, and the winding mechanism is controlled to operate at the target winding speed.

[0023] Optionally, the step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation includes:

[0024] If the current warp tension is greater than the preset warp tension, at least one of the three control operations of reducing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, reducing the current winding speed of the winding mechanism to the target winding speed, and increasing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0025] Optionally, the step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation includes:

[0026] If the current warp yarn tension is less than the preset warp yarn tension, at least one of the three control operations of increasing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, increasing the current winding speed of the winding mechanism to the target winding speed, and reducing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0027] In addition, to achieve the above-mentioned purpose, the present invention also provides a loom, which includes: a direct-drive opening mechanism, a warp feeding mechanism and a winding mechanism; wherein, the direct-drive opening mechanism includes a direct-drive motor and a heald frame, and the direct-drive motor is mechanically connected to the heald frame; the direct-drive motor is used to drive the heald frame to move up and down.

[0028] In addition, to achieve the above-mentioned object, the present invention further provides a loom warp tension control device, the loom warp tension control device comprising:

[0029] a tension calculation module, configured to obtain current operating parameters of the direct-drive shedding mechanism and determine the current warp tension of the loom according to the current operating parameters;

[0030] An operation adjustment module is used to determine the tension deviation between the current warp tension and the preset warp tension, and control at least one of the direct-drive opening mechanism, the warp let-off mechanism and the take-up mechanism according to the tension deviation.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also provides a loom warp tension control device, comprising a processor, a memory, and a loom warp tension control program stored in the memory and executable by the processor, wherein when the loom warp tension control program is executed by the processor, the steps of the loom warp tension control method as described above are implemented.

[0032] The present invention also provides a computer-readable storage medium, on which a loom warp tension control program is stored, wherein when the loom warp tension control program is executed by a processor, the steps of the loom warp tension control method as described above are implemented.

[0033] The loom warp tension control method of the present invention comprises the following steps: obtaining current operating parameters of the direct-drive shedding mechanism, determining the loom's current warp tension based on the current operating parameters; determining the tension deviation between the current warp tension and a preset warp tension, and controlling at least one of the direct-drive shedding mechanism, the warp let-off mechanism, and the take-up mechanism based on the tension deviation. This invention addresses the technical problem of unsatisfactory closed-loop control of warp tension in current electronic let-off and take-up looms, resulting in poor fabric quality.

[0034] The present invention mainly improves the opening mechanism in the traditional electronic warp let-off and winding loom into a direct-drive opening mechanism that can be directly driven by a direct-drive motor, and separately sets a direct-drive motor for the opening mechanism, and mechanically connects the direct-drive motor to the heald frame, so that the motion state parameters such as the up and down displacement, speed, acceleration, etc. of the heald frame can be directly, accurately and stably controlled, which is beneficial to improving the quality of the cloth produced by the loom. More importantly, based on the direct-drive opening mechanism of the loom in the present invention, the current warp tension of the loom can be determined in a virtual detection manner by obtaining the current working parameters of the direct-drive opening mechanism, thereby eliminating the warp tension sensor set in the traditional electronic warp let-off and winding loom, saving hardware and economic costs, and compared with the traditional method of using a warp tension sensor to detect the warp tension, it is more real-time, that is, the current warp tension can be obtained in real time. Since the warp tension sensor itself has low accuracy and is easily affected by the vibration of the loom, and the warp tension sensor still measures the warp tension indirectly, the present invention directly determines the warp tension through various accurate and easily available working parameters, which is much more accurate and reliable than the traditional electronic warp letting and winding loom detecting the warp tension through the warp tension sensor. Then, the tension deviation between the two is determined by comparing the precise current warp tension with the preset warp tension expected by the user, and at least one of the direct-drive opening mechanism, the warp letting mechanism and the winding mechanism is controlled according to the tension deviation. This method can not only well realize the closed-loop control of the warp tension of the loom, but also can perform fine, timely and stable control of the production process of the loom from multiple aspects, greatly improving the quality grade and yield rate of the cloth produced by the loom. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of the hardware operating environment of the warp tension control device for a loom involved in an embodiment of the present invention;

[0036] Figure 2 1. It is a flow chart of a first embodiment of a method for controlling warp tension of a loom according to the present invention;

[0037] Figure 3 This is a detailed flow chart of step S10 of an embodiment of a method for controlling warp tension of a loom according to the present invention;

[0038] Figure 4 This is a detailed flow chart of step S20 of an embodiment of a method for controlling warp tension of a loom according to the present invention;

[0039] Figure 5 Schematic diagram of the structure of a conventional mechanical loom involved in the loom of the present invention;

[0040] Figure 6 Schematic diagram of the structure of a conventional electronic let-off and winding loom involved in the loom of the present invention;

[0041] Figure 7 This is a schematic diagram of the structure of a new loom involved in the loom of the present invention;

[0042] Figure 8 Schematic diagram of the force acting on the direct-drive shedding structure involved in the warp tension control method for a loom according to the present invention;

[0043] Figure 9 This is a schematic diagram of the framework structure of the warp tension control device for a loom according to the present invention;

[0044] Figure 10 Schematic diagram of the framework structure of the warp tension control device of the loom of the present invention.

[0045] Description of Figure Numbers:

[0046] Label name Label name 1 Direct drive opening mechanism 2 Winding mechanism 3 Ware delivery agency 4 Later Liang 5 Weft insertion mechanism 6 Beating mechanism 7 chest beam 8 spindle 9 Warp tension virtual sensing detection module 10 Tension controller 11 Speed ​​Co-Processor 12 Let-off controller 13 Opening controller 14 Winding controller 15 Direct drive motor 16 Warp let-off motor 17 Winding motor

[0047] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] In order to facilitate understanding of the various embodiments of the present invention, it is necessary to respectively describe a conventional mechanical loom and a conventional electronic let-off and take-up loom:

[0050] Please refer to Figure 5 As shown in the figure, a traditional mechanical loom is mainly composed of five major mechanisms, including the shedding mechanism, the beating-up mechanism, the warp let-off mechanism, the take-up mechanism, and the water spray mechanism (not shown in the figure). The warp let-off mechanism drives the warp beam to release the warp yarn, and the take-up mechanism winds the woven fabric onto the cloth winding shaft; the heald frame moves up and down in layers, allowing the warp yarn passing through the center eye of the heald frame to move in layers to form a shed, so that the weft insertion mechanism can smoothly pass the ejected weft yarn through the shed, and the beating-up mechanism beats the weft yarn to the cloth surface to form the fabric. Each mechanism operates according to a certain timing at a specific angle range of the main shaft as the main shaft moves.

[0051] The five major mechanisms of the traditional mechanical loom are all coupled to the main shaft, and the main shaft provides the system's primary power source. The warp let-off and take-up mechanism of a traditional mechanical loom is responsible for transporting the warp yarn, interweaving it with the weft yarn to form cloth, and then winding and collecting it. This mechanism also draws its power from the main shaft, using a multi-stage gear transmission to synchronize warp let-off and cloth winding. The main problem lies in the strong, nonlinear coupling of the operating state of each mechanism with the main shaft, or in the fact that inherent mechanical limitations constrain the warp let-off and take-up volume, influenced by the gear ratio. This makes it difficult to effectively control and adjust fabric defects using only the main shaft, limiting product adaptability and making process adjustments difficult.

[0052] The above description of the traditional mechanical loom will help you understand the working principle of a general loom.

[0053] Please refer to Figure 6 As shown in the figure, the traditional electronic let-off and winding loom is an improvement on the traditional mechanical loom mentioned above. The traditional mechanical let-off and winding system eliminates the multi-stage gear transmission of the main shaft, and the let-off and winding mechanisms are driven by independent servo motors. However, in order to achieve closed-loop control of the warp tension during electronic let-off and winding, the system must use a warp tension sensor to measure the real-time warp tension through a lever-link mechanism and feed it back to the let-off and winding control system. In actual application, there are many drawbacks:

[0054] (1) The method of using a warp tension sensor to measure the real-time warp tension through a cantilever lever linkage mechanism is actually an indirect measurement rather than a direct measurement method, making the measurement results unreliable;

[0055] (2) The system operation fluctuates periodically, and the warp tension also fluctuates periodically. The high-frequency periodic fluctuation of the back beam and other factors will cause the warp tension measurement feedback to lag significantly, and the real-time warp tension measurement will be inaccurate.

[0056] (3) The warp tension sensor itself is not accurate enough, which makes the actual electronic let-off and take-up mechanism's warp tension closed-loop control effect unsatisfactory, and in severe cases even causes the fabric quality to deteriorate;

[0057] (4) Long-term vibration of the warp tension sensor affects its reliability;

[0058] (5) Warp tension sensor will add additional cost.

[0059] Please refer to Figure 7The loom of the present invention is shown in the figure. In response to the various technical defects of the above-mentioned traditional electronic warp let-off and winding loom, an embodiment of the present invention proposes a loom, which includes: a direct-drive opening mechanism 1, a warp let-off mechanism 3 and a winding mechanism 2; wherein, the direct-drive opening mechanism 1 includes a direct-drive motor and a heald frame, and the direct-drive motor is mechanically connected to the heald frame; the direct-drive motor is used to directly drive the heald frame to move up and down.

[0060] The direct-drive shedding mechanism 1 eliminates traditional top-mounted, bottom-mounted, or spindle-crank shedding mechanisms. Each heald frame is directly driven up and down by a linear drive unit. The linear drive unit can be a direct-drive motor, or more specifically, a linear motor. Its key feature is that adjusting the linear drive unit allows for precise and reliable control of the heald frame's vertical displacement, velocity, acceleration, and other motion states.

[0061] In addition, the loom also includes a rear beam 4, a weft insertion mechanism 5, a weft beating mechanism 6, a main shaft 8, a breast beam 7 and other mechanisms (structures) necessary to realize the functions of the loom. The winding mechanism 2 and the warp feeding mechanism 3 are independently driven by their corresponding motors (winding motor and warp feeding motor), and the main shaft 8 is also independently driven by its corresponding motor. It should be noted that in the traditional electronic warp feeding and winding loom, the motor (spindle motor) connected to the main shaft 8 and driving the main shaft 8 is also required to drive the secondary shaft in the opening mechanism through the connecting belt, so the general specifications (such as power) are relatively large. In the loom of the present invention, the motor driving the main shaft 8 does not need to drive the secondary shaft of the opening mechanism, nor does it need a secondary shaft. Instead, it is driven by an independent direct drive motor to directly drive the heald frame up and down, so the specifications of its main shaft motor can be smaller than the main shaft motor in the traditional electronic warp feeding and winding loom, thereby achieving the purpose of cost saving.

[0062] Since the loom of the present invention is mainly an improvement on the shedding mechanisms of the above-mentioned conventional looms, other structures of the loom will not be described in detail here.

[0063] An embodiment of the present invention provides a warp tension control device for a loom.

[0064] like Figure 1 As shown, Figure 1 It is a structural diagram of the hardware operating environment of the loom warp tension control device involved in the embodiment of the present invention.

[0065] like Figure 1As shown, the loom warp tension control device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display, an input unit such as an adjustment panel, and optionally the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WIFI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. The memory 1005, which is a computer storage medium, may include a loom warp tension control program.

[0066] Those skilled in the art will understand that Figure 1 The hardware structure shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0067] Continue to refer to Figure 1 , Figure 1 The memory 1005 as a computer-readable storage medium may include an operating device, a user interface module, a network communication module, and a loom warp tension control program.

[0068] exist Figure 1 In the example, the network communication module is mainly used to connect to the server and perform data communication with the server; and the processor 1001 can call the loom warp tension control program stored in the memory 1005 and perform the following operations:

[0069] Acquiring current operating parameters of the direct-drive shedding mechanism, and determining a current warp tension of the loom according to the current operating parameters;

[0070] A tension deviation between the current warp tension and the preset warp tension is determined, and at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism is controlled according to the tension deviation.

[0071] Furthermore, the processor 1001 may call the loom warp tension control program stored in the memory 1005 and perform the following operations:

[0072] The current warp tension of the loom is determined according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass.

[0073] Furthermore, the processor 1001 may call the loom warp tension control program stored in the memory 1005 and perform the following operations:

[0074] Determining a total gravity value corresponding to the linear motor and the heald frame according to the total mass, and determining a first product value between the mover acceleration and the total mass;

[0075] determining a first sum value between the total gravity value and the first product value, and determining a first difference value between the electromagnetic force and the first sum value;

[0076] The current warp tension of the loom is determined according to the first difference and the sine value of the horizontal half opening angle.

[0077] Furthermore, the processor 1001 may call the loom warp tension control program stored in the memory 1005 and perform the following operations:

[0078] subtracting the current warp tension from the preset warp tension to obtain a tension deviation, and determining whether an absolute value of the tension deviation is greater than or equal to a preset deviation threshold;

[0079] If the absolute value of the tension deviation is greater than or equal to a preset deviation threshold, at least one of the direct-drive opening mechanism, the warp feed mechanism and the take-up mechanism is controlled according to the tension deviation so that the absolute value of the tension deviation is less than the preset deviation threshold.

[0080] Furthermore, the processor 1001 may call the loom warp tension control program stored in the memory 1005 and perform the following operations:

[0081] Determining a target opening stroke corresponding to the tension deviation, and controlling the direct-drive opening mechanism to operate at the target opening stroke; and / or,

[0082] determining a target warp let-off speed corresponding to the tension deviation, and controlling the warp let-off mechanism to operate at the target warp let-off speed; and / or,

[0083] A target winding speed corresponding to the tension deviation is determined, and the winding mechanism is controlled to operate at the target winding speed.

[0084] Furthermore, the processor 1001 may call the loom warp tension control program stored in the memory 1005 and perform the following operations:

[0085] If the current warp tension is greater than the preset warp tension, at least one of the three control operations of reducing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, reducing the current winding speed of the winding mechanism to the target winding speed, and increasing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0086] Furthermore, the processor 1001 may call the loom warp tension control program stored in the memory 1005 and perform the following operations:

[0087] If the current warp yarn tension is less than the preset warp yarn tension, at least one of the three control operations of increasing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, increasing the current winding speed of the winding mechanism to the target winding speed, and reducing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0088] In one embodiment, please refer to Figure 9 The warp tension control device of the loom may specifically include: a warp tension virtual sensing detection module 9, a tension controller 10, a speed co-processor 11, a winding controller 14, an opening controller 13, and a warp let-off controller 12; wherein the input end of the warp tension virtual sensing detection module 9 is electrically connected to the output end of the direct drive motor 15 (which may be a linear motor or other types of motors) of the loom; the output end of the warp tension virtual sensing detection module 9 is electrically connected to the input end of the tension controller 10; the first output end of the tension controller 10 is electrically connected to the input end of the speed co-processor 11 The second output of the tension controller 10 is electrically connected to the input of the shedding controller 13; the first output of the speed co-processor 11 is electrically connected to the input of the take-up controller 14; the second output of the speed co-processor 11 is electrically connected to the input of the warp let-off controller 12; the output of the take-up controller 14 is electrically connected to the input of the take-up motor 17 of the loom; the output of the shedding controller 13 is electrically connected to the input of the direct drive motor 15 of the loom; and the output of the warp let-off motor 16 is electrically connected to the input of the warp let-off motor 16 of the loom. It should be noted that each of the above-mentioned controllers can be an editable logic controller.

[0089] In addition, it should be noted that the loom warp tension control device can be a part of the loom of the present invention or an external device connected to the loom, which is not limited here.

[0090] Based on the hardware structure of the above-mentioned loom warp tension control device, various embodiments of the loom warp tension control method of the present invention are proposed.

[0091] An embodiment of the present invention provides a method for controlling warp tension of a loom.

[0092] Please refer to Figure 2 , Figure 2 1 is a flow chart of a first embodiment of a method for controlling warp tension of a loom according to the present invention; in the first embodiment of the present invention, the method for controlling warp tension of a loom comprises the following steps:

[0093] Step S10, obtaining current operating parameters of the direct-drive shedding mechanism, and determining the current warp tension of the loom according to the current operating parameters;

[0094] In this embodiment, the current operating parameters of the direct-drive opening mechanism may include multiple operating parameters of the direct-drive motor, the horizontal semi-opening angle between the warp yarn and the loom, and the weight of the direct-drive opening mechanism. The current operating parameters obtained by detection can be used to determine the current warp tension of the loom through comprehensive calculation in a virtual detection warp tension manner.

[0095] In one embodiment, the direct drive motor is a linear motor; the current operating condition parameters include the rotor acceleration and electromagnetic force of the linear motor, the horizontal half-opening angle between the warp yarn and the cloth fell, and the total mass of the linear motor and the heald frame;

[0096] The step S10, determining the current warp tension of the loom according to the current working condition parameters, includes:

[0097] The current warp tension of the loom is determined according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass.

[0098] In this embodiment, based on the connection between the warp tension virtual sensing detection module and the linear motor, the linear motor's rotor acceleration and electromagnetic force can be directly obtained. Specifically, the linear motor's electromagnetic force can be determined in real time based on the linear motor's control current characteristics, and the linear motor's acceleration can also be determined in real time based on the linear motor's control current characteristics. In other words, both the rotor acceleration and electromagnetic force can be obtained by directly detecting the linear motor's current. The horizontal semi-opening angle between the warp yarn and the cloth fell can be determined using the real-time position information of the linear motor and the horizontal distance between the direct-drive opening mechanism and the cloth fell through simple trigonometric geometry. The combined total mass of the linear motor and the heald frame can be preset in the loom's control system after weighing both mechanisms, allowing the combined total mass of the linear motor and the heald frame to be directly read.

[0099] After obtaining the parameters of the mover acceleration, the electromagnetic force, the horizontal half-opening angle and the overall mass, the warp tension virtual sensing detection module can determine the current warp tension of the loom according to preset calculation rules, that is, it can determine the warp tension of the loom in real time.

[0100] Please refer to Figure 3 In one embodiment, the step of determining the current warp tension of the loom according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass comprises:

[0101] Step S11, determining a total gravity value corresponding to the linear motor and the heald frame according to the total mass, and determining a first product value between the mover acceleration and the total mass;

[0102] Step S12, determining a first sum value between the total gravity value and the first product value, and determining a first difference value between the electromagnetic force and the first sum value;

[0103] Step S13: determining the current warp tension of the loom according to the first difference and the sine value of the horizontal half-opening angle.

[0104] The above steps S11 to S13 are refinements of step S10. For easier understanding of the process and principle of determining the current warp tension of the loom in this embodiment, please refer to Figure 8 , as shown in the figure, where m is the total mass of the linear motor and the heald frame mechanism, v is the running speed of the linear motor mover, a is the acceleration of the linear motor mover, and the mover acceleration can also be calculated from the mover running speed v, Fe is the electromagnetic force of the linear motor, Fj is the current warp tension, and θ is the horizontal half-opening angle.

[0105] Perform stress analysis on the linear motor and heald frame as a whole to meet the requirements

[0106] Transform formula 1 to get Therefore, the process of determining the current warp tension of the loom can be as follows: obtain the total gravity value mg based on the total mass m, calculate the first product value ma between the mover acceleration a and the total mass m, determine the first sum value between the total gravity value and the first product value, that is, mg+ma, determine the first difference between the electromagnetic force and the first sum value, that is, Fe-(mg+ma)=Fe-mg-ma, and determine the current warp tension of the loom based on the first difference and the sine value of the horizontal half-opening angle, which is the above formula (2).

[0107] Through this embodiment, the real-time warp tension of the loom can be directly calculated based on the relevant parameters of the linear motor and some other easily available loom operating parameters, eliminating the warp tension sensor that must be installed on traditional electronic warp let-off and winding looms. Virtual sensing detection of the warp tension of the loom and closed-loop control of the warp tension can be achieved, and the real-time feedback of the warp tension is made more direct and accurate, thereby avoiding the potential unreliability risk of the physical warp tension sensor and saving the cost of the warp tension sensor.

[0108] Step S20: determining a tension deviation between the current warp tension and the preset warp tension, and controlling at least one of the direct-drive shedding mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation.

[0109] The current warp tension Tj can be subtracted from the preset warp tension (tension setting Tj0) to obtain the tension deviation △Tj, or the preset warp tension Tj0 can be subtracted from the current warp tension Tj to obtain the tension deviation △Tj. There is no restriction here. After obtaining the tension deviation between the two, the tension controller can selectively control the direct-drive opening mechanism (specifically, a direct-drive motor), the warp feeding mechanism and the winding mechanism. It can be selected to control only one of the three mechanisms, or multiple mechanisms or all of the three mechanisms. According to the tension deviation, the corresponding multiple target operating parameters are determined, and the current operating parameters of at least one mechanism are controlled and adjusted to their corresponding target operating parameters, so that the tension deviation of the loom is 0 or less than the preset deviation threshold, so as to accurately and stably control the warp tension to ensure the quality of the produced cloth.

[0110] In one embodiment, step S20 includes:

[0111] Step a, subtracting the current warp tension from the preset warp tension to obtain a tension deviation, and determining whether the absolute value of the tension deviation is greater than or equal to a preset deviation threshold;

[0112] Step b: If the absolute value of the tension deviation is greater than or equal to a preset deviation threshold, at least one of the direct-drive opening mechanism, the warp feed mechanism and the take-up mechanism is controlled according to the tension deviation so that the absolute value of the tension deviation is less than the preset deviation threshold.

[0113] The absolute value of the tension deviation obtained by subtracting the current warp tension from the preset warp tension is taken and compared with a preset deviation threshold. If the absolute value of the tension deviation is less than the preset deviation threshold, it indicates that the current warp tension meets the user's expectations for the fabric to be produced, and the quality of the produced fabric can be guaranteed, and no further processing is required. If the absolute value of the tension deviation is greater than or equal to the preset deviation threshold, it indicates that the current warp tension does not meet the user's expectations for the fabric to be produced, and continued production is likely to cause fabric defects and affect the quality grade of the fabric. Therefore, the tension controller can execute the step of controlling at least one of the direct-drive shedding mechanism, the warp let-off mechanism, and the take-up mechanism based on the tension deviation, so that the absolute value of the tension deviation is less than the preset deviation threshold, thereby ensuring that the current warp tension is always within a controllable ideal range and improving the quality and yield rate of the fabric. The preset deviation threshold can be set according to different specifications of looms and the user's requirements for fabric quality. Correspondingly, the higher the user's requirements for fabric quality, the smaller the preset deviation threshold can be set.

[0114] The present invention mainly improves the opening mechanism in the traditional electronic warp let-off and winding loom into a direct-drive opening mechanism that can be directly driven by a direct-drive motor, and separately sets a direct-drive motor for the opening mechanism, and mechanically connects the direct-drive motor to the heald frame, so that the motion state parameters such as the up and down displacement, speed, acceleration, etc. of the heald frame can be directly, accurately and stably controlled, which is beneficial to improving the quality of the cloth produced by the loom. More importantly, based on the direct-drive opening mechanism of the loom in the present invention, the current warp tension of the loom can be determined in a virtual detection manner by obtaining the current working parameters of the direct-drive opening mechanism, thereby eliminating the warp tension sensor set in the traditional electronic warp let-off and winding loom, saving hardware and economic costs, and compared with the traditional method of using a warp tension sensor to detect the warp tension, it is more real-time, that is, the current warp tension can be obtained in real time. Since the warp tension sensor itself has low accuracy and is easily affected by the vibration of the loom, and the warp tension sensor still measures the warp tension indirectly, the present invention directly determines the warp tension through various accurate and easily available working parameters, which is much more accurate and reliable than the traditional electronic warp letting and winding loom detecting the warp tension through the warp tension sensor. Then, the tension deviation between the two is determined by comparing the precise current warp tension with the preset warp tension expected by the user, and at least one of the direct-drive opening mechanism, the warp letting mechanism and the winding mechanism is controlled according to the tension deviation. This method can not only well realize the closed-loop control of the warp tension of the loom, but also can perform fine, timely and stable control of the production process of the loom from multiple aspects, greatly improving the quality grade and yield rate of the cloth produced by the loom.

[0115] Please refer to Figure 4In one embodiment, the step S20 of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation includes:

[0116] Step S21, determining a target opening stroke corresponding to the tension deviation, and controlling the direct-drive opening mechanism to operate at the target opening stroke; and / or,

[0117] Step S22, determining a target warp let-off speed corresponding to the tension deviation, and controlling the warp let-off mechanism to operate at the target warp let-off speed; and / or,

[0118] Step S23: determining a target winding speed corresponding to the tension deviation, and controlling the winding mechanism to operate at the target winding speed.

[0119] In this embodiment, different tension deviations correspond to different target opening strokes, different target warp feeding speeds and different target winding speeds. Specifically, the corresponding opening stroke adjustment amount, warp feeding speed adjustment amount and winding speed adjustment amount can be determined first through the tension deviation and the preset tension deviation-operating parameter adjustment amount mapping table, and then the current opening stroke of the direct-drive motor in the direct-drive opening mechanism, the current warp feeding speed of the warp feeding mechanism, and the current winding speed of the winding mechanism are respectively added to the opening stroke adjustment amount, the warp feeding speed adjustment amount and the winding speed adjustment amount through the tension controller to determine the target opening stroke, target warp feeding speed and target winding speed.

[0120] In addition, it should be noted that there can be multiple preset tension deviation-operating parameter adjustment amount mapping tables (hereinafter referred to as mapping tables), and different mapping tables correspond to different operating parameter adjustment amounts. For example, the tension deviation is 1, the winding speed adjustment amount in mapping table 1 is 2, the winding speed adjustment amount in mapping table 2 is 3, and the winding speed adjustment amount in mapping table 3 is 4. As for which mapping table to choose, it may depend on the mechanism to be controlled by the tension controller. For example, the tension controller only controls one of the direct drive motor, the warp feeding mechanism and the winding mechanism, then the target opening stroke, target warp feeding speed and target winding speed can be determined respectively according to the tension deviation and the first tension deviation-operating parameter adjustment amount mapping table; for another example, the tension controller controls two of the direct drive motor, the warp feeding mechanism and the winding mechanism at the same time, and the target opening stroke, target warp feeding speed and target winding speed can be determined respectively according to the tension deviation and the second tension deviation-operating parameter adjustment amount mapping table; for another example, the tension controller controls the above three mechanisms at the same time, and the target opening stroke, target warp feeding speed and target winding speed can be determined respectively according to the tension deviation and the third tension deviation-operating parameter adjustment amount mapping table.

[0121] You can continue to refer to Figure 9 , the target opening stroke Hk can be sent to the opening controller through the tension controller so that the opening controller controls the direct-drive motor in the direct-drive opening mechanism to run at the target opening stroke so that the tension deviation is less than the preset deviation threshold or equal to 0; the tension deviation (tension change information) can also be sent to the speed co-processor through the tension controller, and the speed co-processor can determine the target warp feeding speed Wsj based on the weft density setting Nw0 (preset by the user as needed) and the tension deviation, and then send the target warp feeding speed Wsj to the warp feeding controller through the speed co-processor so that the warp feeding controller controls the warp feeding motor of the warp feeding mechanism to run at the target warp feeding speed, so that the tension deviation is less than the preset deviation threshold or equal to 0; similarly, the determined target winding speed Wjq can also be sent to the winding controller through the speed co-processor so that the winding controller controls the winding motor of the winding mechanism to run at the target winding speed, so that the tension deviation is less than the preset deviation threshold or equal to 0. It is also possible to simultaneously control any two or all of the direct drive motor, warp feed mechanism, and take-up mechanism to operate according to the corresponding target operating parameters, thereby comprehensively coordinating the operation of each mechanism so that the tension deviation is less than the preset deviation threshold or equal to 0, thereby preventing fabric defects and improving fabric quality.

[0122] In one embodiment, the step S20, the step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation, includes:

[0123] If the current warp tension is greater than the preset warp tension, at least one of the three control operations of reducing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, reducing the current winding speed of the winding mechanism to the target winding speed, and increasing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0124] In this embodiment, after determining the target opening stroke, target winding speed and target warp feeding speed, if the current warp tension is greater than the preset warp tension, that is, the current warp tension is larger than the warp tension expected by the user, the purpose of reducing the current warp tension can be achieved by reducing the current opening stroke of the direct drive motor to the target opening stroke, so that the absolute value of the tension deviation is less than the preset deviation threshold to achieve the quality expectation of the produced fabric; the purpose of reducing the current warp tension can also be achieved by reducing the current winding speed and winding amount of the winding mechanism to the target winding speed, so that the absolute value of the tension deviation is less than the preset deviation threshold to achieve the quality expectation of the produced fabric; the purpose of reducing the current warp tension can also be achieved by increasing the current warp feeding speed and warp feeding amount of the warp feeding mechanism to the target warp feeding speed, so that the absolute value of the tension deviation is less than the preset deviation threshold to achieve the quality expectation of the produced fabric; any two of the above three control operations can also be selected or the three control operations can be performed simultaneously to make the absolute value of the tension deviation less than the preset deviation threshold to achieve the quality expectation of the produced fabric. By means of at least one of the above three control operations of this embodiment, accurate and reasonable closed-loop control of the warp tension of the loom is achieved in all directions, thereby greatly improving the yield rate of the cloth produced by the loom.

[0125] In one embodiment, the step S20, the step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation, includes:

[0126] If the current warp yarn tension is less than the preset warp yarn tension, at least one of the three control operations of increasing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, increasing the current winding speed of the winding mechanism to the target winding speed, and reducing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0127] In this embodiment, after determining the target opening stroke, target winding speed and target warp feeding speed, if the current warp tension is less than the preset warp tension, that is, the current warp tension is smaller than the warp tension expected by the user, the purpose of increasing the current warp tension can be achieved by increasing the current opening stroke of the direct drive motor to the target opening stroke, so that the absolute value of the tension deviation is less than the preset deviation threshold to achieve the quality expectation of the produced fabric; the purpose of increasing the current warp tension can also be achieved by increasing the winding amount of the current winding speed of the winding mechanism to the target winding speed, so that the absolute value of the tension deviation is less than the preset deviation threshold to achieve the quality expectation of the produced fabric; the purpose of increasing the current warp tension can also be achieved by reducing the current warp feeding speed and warp feeding amount of the warp feeding mechanism to the target warp feeding speed, so that the absolute value of the tension deviation is less than the preset deviation threshold to achieve the quality expectation of the produced fabric; any two of the above three control operations can also be selected or the three control operations can be performed simultaneously to make the absolute value of the tension deviation less than the preset deviation threshold to achieve the quality expectation of the produced fabric. By means of at least one of the above three control operations of this embodiment, accurate and reasonable closed-loop control of the warp tension of the loom is achieved in all directions, thereby greatly improving the yield rate of the cloth produced by the loom.

[0128] In addition, refer to Figure 10 The present invention further provides a loom warp tension control device, the loom warp tension control device comprising:

[0129] The tension calculation module A10 is used to obtain the current working condition parameters of the direct-drive shedding mechanism and determine the current warp tension of the loom according to the current working condition parameters;

[0130] The operation adjustment module A20 is used to determine the tension deviation between the current warp tension and the preset warp tension, and control at least one of the direct-drive opening mechanism, the warp let-off mechanism and the take-up mechanism according to the tension deviation.

[0131] Optionally, the tension calculation module A10 is further configured to:

[0132] The current warp tension of the loom is determined according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass.

[0133] Optionally, the tension calculation module A10 is further configured to:

[0134] Determining a total gravity value corresponding to the linear motor and the heald frame according to the total mass, and determining a first product value between the mover acceleration and the total mass;

[0135] determining a first sum value between the total gravity value and the first product value, and determining a first difference value between the electromagnetic force and the first sum value;

[0136] The current warp tension of the loom is determined according to the first difference and the sine value of the horizontal half opening angle.

[0137] Optionally, the operation adjustment module A20 is further configured to:

[0138] subtracting the current warp tension from the preset warp tension to obtain a tension deviation, and determining whether an absolute value of the tension deviation is greater than or equal to a preset deviation threshold;

[0139] If the absolute value of the tension deviation is greater than or equal to a preset deviation threshold, at least one of the direct-drive opening mechanism, the warp feed mechanism and the take-up mechanism is controlled according to the tension deviation so that the absolute value of the tension deviation is less than the preset deviation threshold.

[0140] Optionally, the operation adjustment module A20 is further configured to:

[0141] Determining a target opening stroke corresponding to the tension deviation, and controlling the direct-drive opening mechanism to operate at the target opening stroke; and / or,

[0142] determining a target warp let-off speed corresponding to the tension deviation, and controlling the warp let-off mechanism to operate at the target warp let-off speed; and / or,

[0143] A target winding speed corresponding to the tension deviation is determined, and the winding mechanism is controlled to operate at the target winding speed.

[0144] Optionally, the operation adjustment module A20 is further configured to:

[0145] If the current warp tension is greater than the preset warp tension, at least one of the three control operations of reducing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, reducing the current winding speed of the winding mechanism to the target winding speed, and increasing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0146] Optionally, the operation adjustment module A20 is further configured to:

[0147] If the current warp yarn tension is less than the preset warp yarn tension, at least one of the three control operations of increasing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, increasing the current winding speed of the winding mechanism to the target winding speed, and reducing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

[0148] The specific implementation of the loom warp tension control device of the present invention is basically the same as the embodiments of the loom warp tension control method described above, and will not be repeated here.

[0149] In addition, the present invention further provides a computer-readable storage medium having a loom warp tension control program stored thereon, wherein when the loom warp tension control program is executed by a processor, the steps of the loom warp tension control method described above are implemented.

[0150] The method implemented when the loom warp tension control program is executed can refer to the various embodiments of the loom warp tension control method of the present invention, and will not be described in detail here.

[0151] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0152] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0153] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0154] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0155] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third etc. does not indicate any order. These words may be interpreted as names.

[0156] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0157] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A method for controlling warp tension of a loom, characterized in that: The loom warp tension control method is applied to a loom, wherein the loom includes a direct-drive shedding mechanism, a warp let-off mechanism, and a take-up mechanism; wherein the direct-drive shedding mechanism includes a direct-drive motor and a heald frame, the direct-drive motor being mechanically connected to the heald frame; the direct-drive motor is used to drive the heald frame to move up and down; The loom warp tension control method comprises the following steps: Acquiring current operating parameters of the direct-drive shedding mechanism, and determining a current warp tension of the loom according to the current operating parameters; determining a tension deviation between the current warp tension and a preset warp tension, and controlling at least one of the direct-drive shedding mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation; The direct drive motor is a linear motor; the current operating parameters include the rotor acceleration and electromagnetic force of the linear motor, the horizontal half-opening angle between the warp yarn and the cloth fell, and the overall mass of the linear motor and the heald frame; The step of determining the current warp tension of the loom according to the current working condition parameters comprises: The current warp tension of the loom is determined according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass.

2. The loom warp tension control method according to claim 1, wherein: The step of determining the current warp tension of the loom according to the mover acceleration, the electromagnetic force, the horizontal half-opening angle, and the overall mass comprises: Determining a total gravity value corresponding to the linear motor and the heald frame according to the total mass, and determining a first product value between the mover acceleration and the total mass; determining a first sum value between the total gravity value and the first product value, and determining a first difference value between the electromagnetic force and the first sum value; The current warp tension of the loom is determined according to the first difference and the sine value of the horizontal half opening angle.

3. The method for controlling warp tension of a loom according to claim 1, wherein: The step of determining a tension deviation between the current warp tension and the preset warp tension, and controlling at least one of the direct-drive shedding mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation comprises: subtracting the current warp tension from the preset warp tension to obtain a tension deviation, and determining whether an absolute value of the tension deviation is greater than or equal to a preset deviation threshold; If the absolute value of the tension deviation is greater than or equal to a preset deviation threshold, at least one of the direct-drive opening mechanism, the warp feed mechanism and the take-up mechanism is controlled according to the tension deviation so that the absolute value of the tension deviation is less than the preset deviation threshold.

4. The method for controlling warp tension of a loom according to claim 1, wherein: The step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation comprises: Determining a target opening stroke corresponding to the tension deviation, and controlling the direct-drive opening mechanism to operate at the target opening stroke; and / or, determining a target warp let-off speed corresponding to the tension deviation, and controlling the warp let-off mechanism to operate at the target warp let-off speed; and / or, A target winding speed corresponding to the tension deviation is determined, and the winding mechanism is controlled to operate at the target winding speed.

5. The method for controlling warp tension of a loom according to claim 4, wherein: The step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation comprises: If the current warp tension is greater than the preset warp tension, at least one of the three control operations of reducing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, reducing the current winding speed of the winding mechanism to the target winding speed, and increasing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

6. The method for controlling warp tension of a loom according to claim 4, wherein: The step of controlling at least one of the direct-drive opening mechanism, the warp let-off mechanism, and the take-up mechanism according to the tension deviation comprises: If the current warp yarn tension is less than the preset warp yarn tension, at least one of the three control operations of increasing the current opening stroke of the direct-drive opening mechanism to the target opening stroke, increasing the current winding speed of the winding mechanism to the target winding speed, and reducing the current warp feeding speed of the warp feeding mechanism to the target warp feeding speed is performed.

7. A loom, characterized in that: The loom includes: a direct-drive opening mechanism, a warp feed mechanism and a winding mechanism; wherein, the direct-drive opening mechanism includes a direct-drive motor and a heald frame, and the direct-drive motor is mechanically connected to the heald frame; the direct-drive motor is used to drive the heald frame to move up and down, and the loom is used to implement the steps of the loom warp tension control method as described in any one of claims 1 to 6.

8. A loom warp tension control device, characterized in that: The loom warp tension control device includes a processor, a memory, and a loom warp tension control program stored in the memory and executable by the processor, wherein when the loom warp tension control program is executed by the processor, the steps of the loom warp tension control method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a loom warp tension control program, wherein when the loom warp tension control program is executed by a processor, the steps of the loom warp tension control method according to any one of claims 1 to 6 are implemented.

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