Servo control based yarn formation optimization method

Abstract

This invention provides a servo-controlled yarn forming optimization method. The optimization method specifically includes: determining the yarn forming scenario based on yarn forming requirements; setting a control strategy for the servo motor according to the yarn forming scenario; based on the control strategy, the servo motor controls the yarn guide to perform reciprocating motion, coordinating with the winding motor's winding rotation to perform electronic yarn forming; during the electronic yarn forming process, real-time acquisition of the yarn guide's operating information and the servo motor's start / stop information; electromagnetic interference (EMI) judgment based on the yarn guide's operating information and the servo motor's start / stop information; and adjusting the control strategy based on the EMI judgment results. This invention can judge EMI based on the yarn guide's operating information and the servo motor's start / stop information, thereby adjusting the servo motor's control strategy to eliminate the impact of EMI on the servo motor's operation, ensuring the normal operation of the servo motor and guaranteeing yarn forming quality.

Description

Technical Field

[0001] This invention relates to the field of textile control technology, and in particular to a yarn forming optimization method based on servo control. Background Technology

[0002] Yarn guide motors are typically used to control parameters such as yarn winding, tension, and position, ensuring smooth spinning and weaving processes. Servo motors, on the other hand, convert electrical energy into mechanical energy. They mainly consist of a stator and a rotor, generating torque through the interaction of a magnetic field and current to rotate the rotor, thereby achieving precise yarn control and efficient transmission. Servo motors feature high control precision, good torque-frequency characteristics, and overload capacity, meeting the requirements for precise control and efficient operation of yarn guide motors within limited spaces. Therefore, the application of servo motors as yarn guide motors is becoming increasingly widespread in the textile machinery industry.

[0003] However, in the application of servo motors, they must cooperate with other motors to achieve yarn forming control. But in multi-motor scenarios, electromagnetic interference (EMI) is inevitable. The precise control characteristics of servo motors make them even more sensitive to EMI. Changes in the electromagnetic field generated by other motors during startup, shutdown, and operation can directly affect the normal operation of the servo motor through electromagnetic induction and electromagnetic radiation. Once subjected to EMI, the speed, position, and torque control accuracy of the servo motor will deviate, which will adversely affect the yarn guiding process, causing problems such as unstable yarn tension and yarn position deviation, thus affecting the yarn forming quality. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies in multi-motor control scenarios for yarn forming, where servo motors are susceptible to electromagnetic interference from other motors, leading to deviations in the speed, position, and torque control accuracy of the servo motors and affecting yarn forming quality. This invention provides a servo-controlled yarn forming optimization method. During the electronic yarn forming process, electromagnetic interference is assessed based on the operating information of the yarn guide and the start / stop information of the servo motor. This allows for adjustments to the servo motor control strategy to eliminate the impact of electromagnetic interference on the servo motor's operation, ensuring its normal operation and guaranteeing yarn forming quality.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A servo-controlled yarn forming optimization method includes,

[0007] Based on the yarn forming requirements, determine the yarn forming scenario, and set the control strategy for the servo motor according to the yarn forming scenario;

[0008] Based on the control strategy, the servo motor controls the yarn guide to reciprocate, and works in conjunction with the winding motor to perform electronic yarn forming.

[0009] During the electronic forming process of yarn, the operating information of the yarn guide and the start / stop information of the servo motor are collected in real time;

[0010] Electromagnetic interference is determined based on the operating information of the yarn guide and the start / stop information of the servo motor.

[0011] The control strategy is adjusted based on the electromagnetic interference assessment results.

[0012] Furthermore, the electromagnetic interference judgment based on the yarn guide's operating information and the servo motor's start / stop information includes,

[0013] The single-pass running time of the yarn guide is determined based on the start and stop information of the servo motor;

[0014] Using the yarn bobbin as a reference, the relative position information between the yarn guide and the yarn bobbin is determined based on the operating information of the yarn guide.

[0015] The operating curve of the yarn guide is constructed based on the relative position information of the yarn guide and the yarn bobbin;

[0016] Based on the single-pass running time of the yarn guide, a deviation analysis is performed on the constructed operating curve of the yarn guide, and electromagnetic interference is judged based on the deviation analysis results.

[0017] Furthermore, based on the single-trip running time of the yarn guide, a deviation analysis is performed on the constructed operating curve of the yarn guide, including:

[0018] The operating curve of the yarn guide is divided according to the single-pass running time of the yarn guide, and the operating sub-curve of the yarn guide is determined for each single-pass running time.

[0019] Determine the start and stop positions of the running sub-curve within each single-trip running time;

[0020] The operating deviation value of the servo motor is determined based on the starting and stopping positions of the operating sub-curve within each single-trip operating time.

[0021] Furthermore, determining the servo motor's operating deviation value based on the start and stop positions of the operating sub-curve within each single-trip operating time includes,

[0022] The starting and ending positions of the running sub-curves within each single-trip running time are compared with the corresponding standard positions.

[0023] Filter out the number of single-trip running times where the distance deviation between the starting or ending position and the corresponding standard position exceeds a preset threshold;

[0024] Calculate the first distance deviation between the starting position of each single-trip running time and the ending position of the previous single-trip running time, and the second distance deviation between the ending position of each single-trip running time and the starting position of the next single-trip running time;

[0025] Based on the first and second distance deviations of each single-trip running time, it is determined whether the running deviation of the servo motor has periodic characteristics, and the periodic characteristic factors are assigned values ​​according to the judgment results.

[0026] The running deviation value of the servo motor is obtained by weighted summation of the number of single-trip running times selected and the assigned periodic characteristic factors.

[0027] Furthermore, the step of judging electromagnetic interference based on the deviation analysis results includes comparing the operating deviation value of the servo motor with a preset deviation value threshold, and judging that electromagnetic interference exists when the operating deviation value exceeds the deviation value threshold.

[0028] Furthermore, adjusting the control strategy based on the electromagnetic interference judgment result includes,

[0029] When electromagnetic interference is detected, the corresponding operating deviation value of the servo motor is retrieved.

[0030] Collect the current yarn bobbin diameter and determine the yarn forming stage based on the current yarn bobbin diameter;

[0031] The control parameters of the current servo motor are obtained by matching the control strategy based on the yarn forming stage;

[0032] The operating deviation value of the servo motor is used as the input of the PID controller, and the operating adjustment value of the servo motor is output based on the PID controller.

[0033] The control parameters of the current servo motor are adjusted based on the operating adjustment value of the servo motor.

[0034] Furthermore, the control strategy of the servo motor includes speed control, position control, and synchronization control. The control parameters for speed control include speed proportional gain, speed integral time constant, and speed feedback filter factor. The position control includes position feedforward gain and maximum output torque setting.

[0035] Furthermore, the step of determining the yarn forming scenario based on yarn forming requirements and setting control strategies for the servo motor and winding motor according to the yarn forming scenario includes,

[0036] Determine the current yarn type, yarn application scenario, and forming bobbin parameters based on yarn forming requirements, and construct the yarn forming scenario based on the yarn type, yarn application scenario, and forming bobbin parameters;

[0037] Match the corresponding historical control data according to the yarn forming scenario, and set the control strategy of the servo motor according to the historical control data.

[0038] The beneficial effects of this invention are:

[0039] In the electronic yarn forming process, electromagnetic interference is judged based on the operation information of the yarn guide and the start / stop information of the servo motor. The control strategy of the servo motor is then adjusted to eliminate the impact of electromagnetic interference on the operation of the servo motor, ensure the normal operation of the servo motor, and ensure the yarn forming quality.

[0040] Based on the operating information of the yarn guide and the start / stop information of the servo motor, the operating deviation of the servo motor can be quantified. This not only ensures the accuracy of the judgment of electromagnetic interference, but also serves as the basis for subsequent operation adjustment of the servo motor, thereby ensuring the accuracy of servo motor optimization and adjustment.

[0041] Furthermore, the servo motor's operating adjustment value is determined based on the PID controller. The PID controller can calculate and respond to the input operating deviation value in real time, with a fast response speed. Moreover, the PID controller has high adaptability and flexibility, and the parameters in the PID controller can be adjusted according to specific needs to maintain the accuracy of the output servo motor's operating adjustment value. Attached Figure Description

[0042] Figure 1 This is a flowchart illustrating the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of an electronic yarn guiding yarn forming device according to Embodiment 2 of the present invention.

[0044] The components include: 1. winding motor, 2. yarn guide, 3. yarn guide motor, 4. single spindle control system, 5. machine head centralized controller, 6. yarn, and 7. yarn bobbin. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0046] Example:

[0047] Servo-controlled yarn forming optimization methods, such as Figure 1 As shown, including,

[0048] Based on the yarn forming requirements, determine the yarn forming scenario, and set the control strategy for the servo motor according to the yarn forming scenario;

[0049] Based on the control strategy, the servo motor controls the yarn guide to reciprocate, and works in conjunction with the winding motor to perform electronic yarn forming.

[0050] During the electronic forming process of yarn, the operating information of the yarn guide and the start / stop information of the servo motor are collected in real time;

[0051] Electromagnetic interference is determined based on the operating information of the yarn guide and the start / stop information of the servo motor.

[0052] The control strategy is adjusted based on the electromagnetic interference assessment results.

[0053] Electromagnetic interference (EMI) can be caused by a variety of factors, including changes in the electromagnetic field generated during the starting, stopping, and operation of other motors. These changes in electromagnetic field can affect the normal operation of servo motors through electromagnetic induction, electromagnetic wave radiation, and other means. The electromagnetic induction effect on servo motors can be determined from multiple perspectives.

[0054] If the abnormal behavior of the servo motor is used to make a judgment, such as irregular rotation during operation, random position feedback after stopping, or the encoder value read during operation not matching the command value (random or irregular error), it can be determined that there is electromagnetic interference.

[0055] Alternatively, one can judge from the pulse loss of the servo motor. If a particularly large number of pulses are lost during operation, it is determined that there is electromagnetic interference.

[0056] However, in order to quantify the impact of electromagnetic interference on the operation of the servo motor, this embodiment specifically selects the abnormal behavior of the servo motor as the basis for judging electromagnetic interference.

[0057] The abnormal behavior of the servo motor is mainly reflected in its abnormal positioning. Therefore, real-time acquisition of the yarn guide's operating information and the servo motor's start and stop information is necessary to identify abnormal conditions of the servo motor and determine the electromagnetic interference situation of the servo motor.

[0058] Furthermore, since the servo motor needs to work in conjunction with the winding motor to form yarn, after adjusting the control strategy based on the electromagnetic interference judgment results, the operation control of the winding motor can be adaptively adjusted according to the synchronization between the servo motor and the winding motor.

[0059] The electromagnetic interference judgment based on the yarn guide's operating information and the servo motor's start / stop information includes,

[0060] The single-pass running time of the yarn guide is determined based on the start and stop information of the servo motor;

[0061] Using the yarn bobbin as a reference, the relative position information between the yarn guide and the yarn bobbin is determined based on the operating information of the yarn guide.

[0062] The operating curve of the yarn guide is constructed based on the relative position information of the yarn guide and the yarn bobbin;

[0063] Based on the single-pass running time of the yarn guide, a deviation analysis is performed on the constructed operating curve of the yarn guide, and electromagnetic interference is judged based on the deviation analysis results.

[0064] During the electronic forming of yarn, a servo motor controls the yarn guide to reciprocate, which, in conjunction with the winding motor's rotation, allows the yarn guide to evenly wind the yarn onto the bobbin. If the servo motor is affected by electromagnetic interference, the yarn guide's movement will deviate from its intended trajectory.

[0065] Furthermore, since the yarn guide moves back and forth, its trajectory is different in each single-pass operation. In order to refine the judgment of the yarn guide's operation abnormality, the yarn guide's operation trajectory is distinguished based on the start and stop information of the servo motor. During the start of the servo motor, the yarn guide performs one single-pass operation. After the servo motor stops and restarts, it is determined that the yarn guide will perform the next reverse single-pass operation.

[0066] Secondly, the number of times the servo motor is started can also determine the single-trip running direction of the yarn guide and the stage of electronic yarn forming.

[0067] To more intuitively demonstrate the operation of the yarn guide, the yarn bobbin is used as a reference object, and one of the bottom surfaces of the yarn bobbin is used as a reference plane to determine the relative position of the yarn guide and the yarn bobbin. This converts the operation of the yarn guide into specific coordinate values, thereby constructing the operation curve of the yarn guide.

[0068] The operation curve can intuitively display the position information of the yarn guide during operation. The position of the yarn guide is directly related to the operation of the servo motor. Once the servo motor exhibits abnormal behavior such as irregular rotation, random position feedback after stopping, or random and irregular errors, it will be intuitively displayed on the operation curve.

[0069] Therefore, deviation analysis is performed directly on the operating curve to determine whether the servo motor is currently subject to electromagnetic interference.

[0070] The deviation analysis of the constructed yarn guide's operating curve based on each single-trip running time of the yarn guide includes:

[0071] The operating curve of the yarn guide is divided according to the single-pass running time of the yarn guide, and the operating sub-curve of the yarn guide is determined for each single-pass running time.

[0072] Determine the start and stop positions of the running sub-curve within each single-trip running time;

[0073] The operating deviation value of the servo motor is determined based on the starting and stopping positions of the operating sub-curve within each single-trip operating time.

[0074] Because the servo motor's position control of the yarn guide will deviate from the expected position after being subjected to electromagnetic interference, and the operation of the yarn guide is a repetitive back-and-forth motion, once the position control deviates, even if there are fluctuations in the middle of the operation, the starting position or stopping position of the corresponding running sub-curve within the corresponding single running time will also deviate from the expected position.

[0075] Therefore, in this embodiment, the running deviation value of the servo motor is specifically analyzed based on the starting position and stopping position of the running sub-curve within each single running time, so as to ensure the accuracy of the electromagnetic interference judgment result.

[0076] The determination of the servo motor's operating deviation value based on the start and stop positions of the operating sub-curve within each single-trip operating time includes,

[0077] The starting and ending positions of the running sub-curves within each single-trip running time are compared with the corresponding standard positions.

[0078] Filter out the number of single-trip running times where the distance deviation between the starting or ending position and the corresponding standard position exceeds a preset threshold;

[0079] Calculate the first distance deviation between the starting position of each single-trip running time and the ending position of the previous single-trip running time, and the second distance deviation between the ending position of each single-trip running time and the starting position of the next single-trip running time;

[0080] Based on the first and second distance deviations of each single-trip running time, it is determined whether the running deviation of the servo motor has periodic characteristics, and the periodic characteristic factors are assigned values ​​according to the judgment results.

[0081] The running deviation value of the servo motor is obtained by weighted summation of the number of single-trip running times selected and the assigned periodic characteristic factors.

[0082] Considering the characteristics of servo motors exhibiting erratic position feedback and random or irregular errors after stopping due to electromagnetic interference, the single-trip running time where the distance deviation between the starting position or stopping position and the corresponding standard position exceeds a preset threshold is selected.

[0083] The error regularity of the servo motor is determined based on the first distance deviation between the starting position of each single-trip operation and the ending position of the previous single-trip operation, and the second distance deviation between the ending position of each single-trip operation and the starting position of the next single-trip operation, thereby determining whether the current position deviation is caused by electromagnetic interference.

[0084] If any one of the first distance deviation, the second distance deviation, or a combination of the first and second distance deviations exhibits a periodic characteristic, then the periodic characteristic factor is assigned a value of 0. Otherwise, the periodic characteristic factor is assigned a value of 1.

[0085] The step of judging electromagnetic interference based on deviation analysis results includes comparing the operating deviation value of the servo motor with a preset deviation value threshold, and judging that electromagnetic interference exists when the operating deviation value exceeds the deviation value threshold.

[0086] The adjustment of the control strategy based on the electromagnetic interference judgment result includes,

[0087] When electromagnetic interference is detected, the corresponding operating deviation value of the servo motor is retrieved.

[0088] Collect the current yarn bobbin diameter and determine the yarn forming stage based on the current yarn bobbin diameter;

[0089] The control parameters of the current servo motor are obtained by matching the control strategy based on the yarn forming stage;

[0090] The operating deviation value of the servo motor is used as the input of the PID controller, and the operating adjustment value of the servo motor is output based on the PID controller.

[0091] The control parameters of the current servo motor are adjusted based on the operating adjustment value of the servo motor.

[0092] Since the control parameters of yarn vary at different stages depending on the yarn forming requirements and the type of yarn bobbin, the specific yarn forming stage can be determined by matching a preset yarn bobbin diameter range with the yarn bobbin diameter.

[0093] The diameter range of the yarn bobbin can be set according to factors such as the specific type of yarn, production speed, and the initial and final diameter of the yarn bobbin.

[0094] After determining the specific yarn forming stage, the corresponding control parameters of the servo motor can be determined, and then the proportional, integral, and derivative parameters of the PID controller can be set according to the control parameters of the servo motor.

[0095] The operating deviation of a servo motor can directly reflect the impact of electromagnetic interference on the control error of the servo motor, and the PID controller can achieve fine control adjustment based on the specific error.

[0096] The control strategy of the servo motor includes speed control, position control and synchronization control. The control parameters of speed control include speed proportional gain, speed integral time constant and speed feedback filter factor. The position control includes position feedforward gain and maximum output torque setting.

[0097] In addition to speed and position control, because the servo motor needs to work together with the winding motor for yarn forming control, additional synchronization control is required to achieve synchronous control between the servo motor and the winding motor. Specifically, this synchronization can be achieved by setting synchronization parameters.

[0098] The process of determining the yarn forming scenario based on yarn forming requirements and setting control strategies for the servo motor and winding motor according to the yarn forming scenario includes,

[0099] Determine the current yarn type, yarn application scenario, and forming bobbin parameters based on yarn forming requirements, and construct the yarn forming scenario based on the yarn type, yarn application scenario, and forming bobbin parameters;

[0100] Match the corresponding historical control data according to the yarn forming scenario, and set the control strategy of the servo motor according to the historical control data.

[0101] Example 2:

[0102] This embodiment provides an electronic yarn guiding yarn forming device that executes the servo control-based yarn forming optimization method described in Embodiment 1. The electronic yarn guiding yarn forming device is specifically as follows: Figure 2 As shown, the system includes a winding motor 1, a yarn guide 2, a yarn guide motor 3, a single-spindle control system 4, and a machine head centralized controller 5. The yarn 6 passes through the yarn guide and, under the control of the yarn guide motor, is wound onto the yarn bobbin 7 in conjunction with the winding motor's rotation, thus realizing electronic yarn guiding and forming.

[0103] The yarn guide motor is a servo motor.

[0104] The single-spindle control system is a drive and control integrated system based on a single-chip microcomputer, which includes a signal acquisition module, an external communication module, a parameter management module, a yarn forming process control module, an electronic yarn guiding control module, and a motor drive module.

[0105] The signal acquisition module includes information acquisition components such as tension sensors, diameter sensors, yarn sensors, and infrared sensors to collect various information generated in real time during the yarn guiding process of the electronic yarn guiding yarn forming device, such as the operation information of the yarn guide and the start and stop information of the servo motor.

[0106] The machine head centralized controller is a touch screen. The touch screen and the single spindle control system are connected via a 485 communication bus. The external communication module in the single spindle control system can receive the molding requirement information selected by the user through the touch screen, such as yarn type, yarn application scenario and program yarn bobbin parameters.

[0107] The parameter management module allows users to set the forming parameters of the electronic yarn guide based on the forming requirements selected by the user.

[0108] The yarn forming process control module determines the corresponding yarn forming scenario based on the forming parameters of the electronic yarn guide, and then determines the corresponding yarn forming process based on the yarn forming scenario.

[0109] The electronic yarn guiding control module then sets the electronic yarn guiding control strategy according to the yarn forming process, including the control strategy of the servo motor, namely the control strategy of the yarn guiding motor and the control strategy of the winding motor.

[0110] Finally, the motor drive module drives the winding motor and the yarn guide motor respectively according to the corresponding control strategy.

[0111] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Other variations and modifications may be made without departing from the technical solutions described in the claims.

Claims

1. A method of yarn formation optimization based on servo control, characterized by, include, Based on the yarn forming requirements, determine the yarn forming scenario, and set the control strategy for the servo motor according to the yarn forming scenario; Based on the control strategy, the servo motor controls the yarn guide to reciprocate, and works in conjunction with the winding motor to perform electronic yarn forming. During the electronic forming process of yarn, the operating information of the yarn guide and the start / stop information of the servo motor are collected in real time; Electromagnetic interference is determined based on the operating information of the yarn guide and the start / stop information of the servo motor. The single-pass running time of the yarn guide is determined based on the start and stop information of the servo motor; Using the yarn bobbin as a reference, the relative position information between the yarn guide and the yarn bobbin is determined based on the operating information of the yarn guide. The operating curve of the yarn guide is constructed based on the relative position information of the yarn guide and the yarn bobbin; Based on the single-pass running time of the yarn guide, a deviation analysis is performed on the constructed running curve of the yarn guide, and electromagnetic interference is judged based on the deviation analysis results. The control strategy is adjusted based on the electromagnetic interference assessment results. When electromagnetic interference is detected, the corresponding operating deviation value of the servo motor is retrieved. Collect the current yarn bobbin diameter and determine the yarn forming stage based on the current yarn bobbin diameter; The control parameters of the current servo motor are obtained by matching the control strategy based on the yarn forming stage; The operating deviation value of the servo motor is used as the input of the PID controller, and the operating adjustment value of the servo motor is output based on the PID controller. The control parameters of the current servo motor are adjusted based on the operating adjustment value of the servo motor.

2. The servo control based yarn formation optimization method of claim 1, wherein, The deviation analysis of the constructed yarn guide's operating curve based on each single-trip running time of the yarn guide includes: The operating curve of the yarn guide is divided according to the single-pass running time of the yarn guide, and the operating sub-curve of the yarn guide is determined for each single-pass running time. Determine the start and stop positions of the running sub-curve within each single-trip running time; The operating deviation value of the servo motor is determined based on the starting and stopping positions of the operating sub-curve within each single-trip operating time.

3. The servo control based yarn formation optimization method of claim 2, wherein, The determination of the servo motor's operating deviation value based on the start and stop positions of the operating sub-curve within each single-trip operating time includes, The starting and ending positions of the running sub-curves within each single-trip running time are compared with the corresponding standard positions. Filter out the number of single-trip running times where the distance deviation between the starting or ending position and the corresponding standard position exceeds a preset threshold; Calculate the first distance deviation between the starting position of each single-trip running time and the ending position of the previous single-trip running time, and the second distance deviation between the ending position of each single-trip running time and the starting position of the next single-trip running time; Based on the first and second distance deviations of each single-trip running time, it is determined whether the running deviation of the servo motor has periodic characteristics, and the periodic characteristic factors are assigned values ​​according to the judgment results. The running deviation value of the servo motor is obtained by weighted summation of the number of single-trip running times selected and the assigned periodic characteristic factors.

4. The servo control based yarn formation optimization method of claim 3, wherein, The step of judging electromagnetic interference based on deviation analysis results includes comparing the operating deviation value of the servo motor with a preset deviation value threshold, and judging that electromagnetic interference exists when the operating deviation value exceeds the deviation value threshold.

5. The servo control based yarn formation optimization method of claim 1, wherein, The control strategy of the servo motor includes speed control, position control and synchronization control. The control parameters of speed control include speed proportional gain, speed integral time constant and speed feedback filter factor. The position control includes position feedforward gain and maximum output torque setting.

6. The servo control based yarn formation optimization method of claim 1, wherein, The process of determining the yarn forming scenario based on yarn forming requirements and setting control strategies for the servo motor and winding motor according to the yarn forming scenario includes, Determine the current yarn type, yarn application scenario, and forming bobbin parameters based on yarn forming requirements, and construct the yarn forming scenario based on the yarn type, yarn application scenario, and forming bobbin parameters; Match the corresponding historical control data according to the yarn forming scenario, and set the control strategy of the servo motor according to the historical control data.

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