Elastic yarn conveying tension stabilizing method and stabilizing system

Abstract

The invention discloses an elastic yarn conveying tension stabilizing method and system, and the method comprises the steps: driving a yarn conveying wheel to rotate to convey an elastic yarn, enabling the elastic yarn to sequentially pass through a yarn feeding frame, the yarn conveying wheel, a swing rod and a yarn discharging frame, and then feeding the elastic yarn into a loom; in the elastic yarn conveying process, the swing rod rotates under the action of the gravity of the swing rod and is oppositely pressed on the elastic yarn. The real-time inclination angle of the swing rod is detected through the angle sensor on the swing rod and is transmitted to the MCU controller for judgment, and then the speed of the motor is adjusted, so that the conveying tension of the elastic yarn is stabilized; the stabilizing system comprises a shell, a motor, a yarn conveying wheel, a yarn inlet frame and a yarn outlet frame, and a swing rod is arranged between the yarn outlet frame and the yarn conveying wheel. One swinging end part of the swinging rod is connected with a porcelain eye through which a yarn passes; an angle sensor for measuring the inclination angle of the swinging rod is arranged on the swinging rod; the motor is connected with an MCU controller, and the MCU controller is connected with the angle sensor. The device not only can stabilize the conveying tension of the elastic yarn, but also has the advantages of low cost, high reliability and wide application range.

Description

Technical Field

[0001] The invention relates to a yarn conveying tension stabilization method and a stabilization system, in particular to an elastic yarn conveying tension stabilization method and a stabilization system. Background Art

[0002] When the loom is working, a yarn feeding mechanism is required to feed the yarn to the loom, and then the loom eats the yarn to carry out the weaving operation. The yarn will be subjected to a certain tension during the weaving process. When the yarn used for weaving is an elastic yarn, since the elastic yarn itself has deformation properties, when the delivery tension is too small, the elastic yarn will be loosened, and when the delivery tension is too large, the elastic yarn will be deformed too much, which will affect the quality of the finished textile products of the textile machine. Therefore, there are now methods and yarn feeders for controlling the yarn feeding tension to adjust the tension during the yarn delivery process, such as the method and yarn feeder for controlling the yarn feeding disclosed in patent TWI568903B), which mainly detects the yarn tension through a tension sensor, and controls the driving component to drive the yarn delivery wheel to transfer according to the measured tension and a reference tension, thereby adjusting the yarn tension. However, the main control accuracy of this method depends on the measurement accuracy of the tension sensor, and the cost is relatively high. Moreover, when there is a problem with the accuracy of the tension sensor, the yarn delivery tension cannot be stably controlled, and the reliability is relatively low. Therefore, the existing yarn delivery tension stabilization method has the problems of high cost and low reliability. Summary of the invention

[0003] The object of the present invention is to provide a method and a system for stabilizing the conveying tension of an elastic yarn. The present invention can not only stabilize the conveying tension of the elastic yarn, but also has the advantages of low cost and high reliability.

[0004] The technical solution of the present invention is as follows: a method for stabilizing the tension of elastic yarn delivery, wherein a yarn delivery wheel is arranged between a yarn inlet frame and a yarn outlet frame, and a motor is connected to the yarn delivery wheel to drive the yarn delivery wheel to rotate so as to deliver the elastic yarn; then a rotatable swing rod is arranged between the yarn delivery wheel and the yarn outlet frame, and a ceramic eye for passing the elastic yarn is arranged on the swing rod; the elastic yarn is sequentially delivered to the loom after passing through the yarn inlet frame, the yarn delivery wheel, the swing rod and the yarn outlet frame; during the delivery of the elastic yarn, the swing rod rotates under the action of its own gravity and presses on the elastic yarn, and when the tension of the elastic yarn changes, it causes the swing rod to swing up and down; then the angle sensor on the swing rod detects the swing rod The real-time tilt angle α of the rod is transmitted to the MCU controller for judgment and then the motor speed is adjusted; the zero point is taken as the lowest position of the swing rod, and the tilt angle of the swing rod is the angle between the swing rod position and the zero point position; when the real-time tilt angle α is greater than the set tilt angle β, the MCU controller controls the motor to accelerate; when the real-time tilt angle α is less than the set tilt angle β, the MCU controller controls the motor to decelerate; when the real-time tilt angle α is equal to the set tilt angle β, the MCU controller controls the motor to maintain the current speed; thereby stabilizing the delivery tension of the elastic yarn when the yarn feeding speed of the loom changes.

[0005] In the aforementioned method for stabilizing the tension of elastic yarn delivery, the MCU controller controls the acceleration of the motor and the MCU controller controls the deceleration of the motor, both of which are controlled by the PID algorithm; an encoder for detecting the motor speed is connected to the motor, and the encoder transmits the motor speed to the MCU controller to realize FOC closed-loop control of the motor.

[0006] In the aforementioned method for stabilizing the tension of elastic yarn delivery, the maximum speed of the motor Vmax=Vs / (π*D), wherein Vs is the maximum yarn feeding speed of the loom, and D is the diameter of the yarn feeding wheel; the maximum yarn feeding speed of the loom Vs=π*Dm*Vm, wherein Dm is the diameter of the needle cylinder on the loom, and Vm is the maximum speed of the loom.

[0007] In the aforementioned method for stabilizing the tension of elastic yarn delivery, the rotation speed of the motor V=Ka*(α-β)+Kb*A, wherein α is the real-time inclination angle of the pendulum, β is the set inclination angle of the pendulum, Ka and Kb are setting parameters, and A is the rate of change of the inclination angle of the pendulum; A=(α-β)-(α1-β), wherein α1 is the previous inclination angle of the pendulum.

[0008] In the aforementioned method for stabilizing the tension of elastic yarn delivery, the speed change of the motor is ΔV=Ka*(α-β)+Kb*A, wherein α is the real-time inclination angle of the pendulum, β is the set inclination angle of the pendulum, Ka and Kb are setting parameters, and A is the rate of change of the inclination angle of the pendulum; A=(α-β)-(α1-β), wherein α1 is the previous inclination angle of the pendulum.

[0009] In the aforementioned method for stabilizing the elastic yarn conveying tension, when the angle sensor detects that the rocker arm is at the zero position, the MCU controller controls the motor to reverse; if the angle sensor detects that the inclination angle of the rocker arm has changed after the motor reverses, it is judged that the line is not broken, and the MCU controller controls the motor to resume forward rotation and decelerate; if the angle sensor detects that the inclination angle of the rocker arm has not changed after the motor reverses, it is judged that the line is broken, and the MCU controller controls the motor to stop and alarm.

[0010] The stabilization system constructed according to the aforementioned elastic yarn conveying tension stabilization method includes a shell, a motor is installed in the shell, and a yarn feed wheel located outside the shell is connected to the rotating shaft of the motor; a yarn inlet frame and a yarn outlet frame are respectively provided on both sides of the yarn feed wheel, and a swing rod rotatably connected to the shell is provided between the yarn outlet frame and the yarn feed wheel; a porcelain eye for passing the yarn is connected to one end of the swing rod, and an angle sensor for measuring the inclination angle or rotation angle of the swing rod is provided on the swing rod; an MCU controller is connected to the motor, and the MCU controller is connected to the angle sensor; an encoder is connected to the motor, and the encoder is connected to the MCU controller.

[0011] In the aforementioned stabilization system, the angle sensor is a Hall sensor, and a detachable counterweight is connected to one end of the swinging pendulum.

[0012] In the aforementioned stabilizing system, a yarn distribution rod is arranged between the yarn feeding frame and the yarn feeding wheel, and the yarn distribution rod is arranged obliquely.

[0013] In the aforementioned stabilizing system, a thread passing porcelain eye flush with the yarn outlet frame is provided between the yarn delivery wheel and the swing rod, so as to stabilize the elastic yarn coming out of the yarn delivery wheel and reduce the vibration of the elastic yarn.

[0014] Compared with the prior art, the present invention improves the existing elastic yarn conveying method, and uses a swing rod, an angle sensor and an MCU controller to judge the conveying tension of the elastic yarn and control the motor speed, and uses the deviation between the swing rod angle change and the set angle to control the motor speed, that is, to control the conveying speed of the yarn feeding wheel). The swing rod is rotated to the lowest position as the zero point, and the inclination angle of the swing rod is the angle between the swing rod position and the zero point position. When the inclination angle of the swing rod is too large, it means that the conveying tension of the elastic yarn is too large, and the restoring force becomes larger to move the swing rod upward. At this time, the speed of the yarn feeding wheel is accelerated, so that the length of the elastic yarn between the yarn feeding wheel and the yarn outlet frame can be increased, the conveying tension of the elastic yarn becomes smaller, the upward supporting force received by the swing rod becomes smaller, and the swing rod rotates downward under its own gravity, and the inclination angle of the swing rod can be reduced, which reflects the conveying tension. The tension becomes smaller; conversely, when the inclination angle of the pendulum rod is too small, it means that the conveying tension of the elastic yarn is too small, and the restoring force becomes smaller, which makes the supporting force received by the pendulum rod smaller and rotate downward. At this time, the speed of the yarn feeding wheel is reduced, the length of the elastic yarn between the yarn feeding wheel and the yarn output frame is shortened, the conveying tension of the elastic yarn becomes larger, and the upward supporting force received by the pendulum rod becomes larger and rotates upward, and the inclination angle of the pendulum rod can be increased, which reflects the increase in conveying tension; thereby eliminating the original tension sensor, utilizing the characteristic that the greater the tension of the elastic yarn, the greater the deformation restoring force, combining the pendulum rod and the angle sensor, cleverly converting the manifestation of the tension into the manifestation of the pendulum rod angle, and converting the detection of the tension into the detection of the pendulum rod angle, which can not only stabilize the conveying tension of the elastic yarn, but also has the advantages of simple structure, low cost and simple maintenance.

[0015] In addition, the present invention also uses an encoder structure to detect the motor speed, which is convenient for precise control; the real-time inclination angle of the swing rod and the rate of change of the inclination angle of the swing rod are used to calculate the adjustment control of the motor speed, which can quickly stabilize the inclination angle of the swing rod at the set inclination angle β of the swing rod, shorten the fluctuation time in the process of stabilizing the conveying tension, and achieve rapid stabilization of the conveying tension. The present invention also uses a Hall sensor as an angle sensor, and uses its zero damping characteristics to avoid the swing rod rotation damping affecting the sensitivity of the conveying tension. With the detachable counterweight, the deadweight of the swing rod can be adjusted to meet the tension adjustment requirements of elastic yarns with different elastic forces, and the application range is wide; a wire passing porcelain eye flush with the yarn outlet frame is provided between the yarn feeding wheel and the swing rod to stabilize the elastic yarn coming out of the yarn feeding wheel, reduce the vibration of the elastic yarn, and facilitate rapid stabilization of the elastic yarn conveying tension.

[0016] In summary, the present invention can not only stabilize the elastic yarn delivery tension, but also has the advantages of low cost, high reliability and wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention;

[0018] Figure 2 It is a winding schematic diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the connection structure of the MCU controller;

[0020] Figure 4 It is a schematic diagram of the pendulum at the set angle state;

[0021] Figure 5 It is a schematic diagram of the lowest point of the pendulum rotation;

[0022] Figure 6 It is a schematic diagram of the pendulum position in the initial state.

[0023] The markings in the attached drawings are: 1-housing, 2-motor, 3-yarn feeding wheel, 4-yarn inlet frame, 5-yarn outlet frame, 6-swing rod, 7-ceramic eye, 8-angle sensor, 9-MCU controller, 10-encoder, 11-yarn cloth rod, 12-elastic yarn. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the embodiments, but they are not intended to limit the present invention.

[0025] Embodiment 1. Method for stabilizing the tension of elastic yarn delivery, such as Figures 1 to 6As shown, a yarn feeding wheel 3 is arranged between a yarn feeding frame 4 (a thread clamp is arranged on the yarn feeding frame 4, and a plurality of thread clamps arranged side by side can be arranged to make the yarn feeding more stable) and a yarn outlet frame 5, and a motor 2 is connected to the yarn feeding wheel 3 to drive the yarn feeding wheel 3 to rotate to convey the elastic yarn 12; then a rotatable swing rod 6 is arranged between the yarn feeding wheel 3 and the yarn outlet frame 5, and a ceramic eye 7 for passing the elastic yarn 12 is arranged on the swing rod 6; the elastic yarn 12 is sequentially conveyed into the loom after passing through the yarn feeding frame 4, the yarn feeding wheel 3, the swing rod 6 and the yarn outlet frame 5; during the conveying process of the elastic yarn 12, the swing rod 6 rotates under the action of its own gravity and presses on the elastic yarn 12; then the angle sensor on the swing rod 6 is used to sense the elastic yarn 12. The device 8 detects the real-time inclination angle α of the pendulum rod 6, and transmits it to the MCU controller 9 for judgment and then adjusts the speed of the motor 2; the zero point is taken as the lowest position of the pendulum rod 6, and the inclination angle of the pendulum rod 6 is the angle between the position of the pendulum rod 6 and the zero point; when the real-time inclination angle α is greater than the set inclination angle β, the MCU controller 9 controls the motor 2 to accelerate; when the real-time inclination angle α is less than the set inclination angle β, the MCU controller 9 controls the motor 2 to decelerate; when the real-time inclination angle α is equal to the set inclination angle β, the MCU controller 9 controls the motor 2 to maintain the current speed; thereby stabilizing the delivery tension of the elastic yarn 12 when the yarn feeding speed of the loom changes.

[0026] The MCU controller 9 controls the acceleration of the motor 2 and the MCU controller 9 controls the deceleration of the motor 2, both of which are controlled by the PID algorithm (the target speed of the motor 2 is calculated by the PID algorithm); the motor 2 is connected with an encoder 10 for detecting the speed of the motor 2, and the encoder 10 transmits the speed of the motor 2 to the MCU controller 9, and the motor 2 is controlled by FOC closed loop according to the target speed obtained by the above PID algorithm control and the motor 2 encoding information measured by the encoder 10. The maximum speed of the motor 2 Vmax = Vs / (π*D), where Vs is the maximum yarn feeding speed of the loom, and D is the diameter of the yarn feeding wheel 3; the maximum yarn feeding speed of the loom Vs = π*Dm*Vm, where Dm is the diameter of the needle cylinder on the loom, and Vm is the maximum speed of the loom. The speed V of the motor 2 is Ka*(α-β)+Kb*A, where α is the real-time tilt angle of the pendulum 6, β is the set tilt angle of the pendulum 6, Ka and Kb are set parameters, and A is the rate of change of the tilt angle of the pendulum 6; A=(α-β)-(α1-β), where α1 is the previous tilt angle of the pendulum 6. When the angle sensor 8 detects that the pendulum 6 is at the zero position, the MCU controller 9 controls the motor 2 to reverse; if the angle sensor 8 detects that the tilt angle of the pendulum 6 changes after the motor 2 reverses, it is judged that the line is not broken, and the MCU controller 9 controls the motor 2 to resume forward rotation and decelerate; if the angle sensor 8 detects that the tilt angle of the pendulum does not change after the motor 2 reverses, it is judged that the line is broken, and the MCU controller 9 controls the motor 2 to stop and alarm.

[0027] The stabilization system constructed according to the above-mentioned elastic yarn conveying tension stabilization method is composed as follows: Figures 1 to 6 As shown, it includes a shell 1, in which a motor 2 is installed, and a yarn feed wheel 3 located outside the shell 2 is connected to the rotating shaft of the motor 2; a yarn inlet frame 4 and a yarn outlet frame 5 are respectively arranged on both sides of the yarn feed wheel 3, and a swing rod 6 rotatably connected to the shell 1 is arranged between the yarn outlet frame 5 and the yarn feed wheel 3; a porcelain eye 7 for passing the yarn is connected to one end of the swing rod 6, and an angle sensor 8 for measuring the tilt angle or rotation angle of the swing rod 6 is arranged on the swing rod 6; an MCU controller 9 is connected to the motor 2, and the MCU controller 9 is connected to the angle sensor 8; an encoder 10 is connected to the motor 1, and the encoder 10 is connected to the MCU controller 9.

[0028] The angle sensor 8 is a Hall sensor, and a detachable counterweight is connected to one end of the swinging rocker 6; a yarn distribution rod 11 is arranged between the yarn feeding frame 4 and the yarn feeding wheel 3, and the yarn distribution rod 11 is arranged obliquely.

[0029] Embodiment 2. Method for stabilizing the tension of elastic yarn delivery, such as Figures 1 to 6 As shown, a yarn feeding wheel 3 is arranged between a yarn feeding frame 4 (a thread clamp is arranged on the yarn feeding frame 4, and a plurality of thread clamps arranged side by side can be arranged to make the yarn feeding more stable) and a yarn outlet frame 5, and a motor 2 is connected to the yarn feeding wheel 3 to drive the yarn feeding wheel 3 to rotate to convey the elastic yarn 12; then a rotatable swing rod 6 is arranged between the yarn feeding wheel 3 and the yarn outlet frame 5, and a ceramic eye 7 for passing the elastic yarn 12 is arranged on the swing rod 6; the elastic yarn 12 is sequentially conveyed into the loom after passing through the yarn feeding frame 4, the yarn feeding wheel 3, the swing rod 6 and the yarn outlet frame 5; during the conveying process of the elastic yarn 12, the swing rod 6 rotates under the action of its own gravity and presses on the elastic yarn 12; then the angle sensor on the swing rod 6 is used to sense the elastic yarn 12. The device 8 detects the real-time inclination angle α of the pendulum rod 6, and transmits it to the MCU controller 9 for judgment and then adjusts the speed of the motor 2; the zero point is taken as the lowest position of the pendulum rod 6, and the inclination angle of the pendulum rod 6 is the angle between the position of the pendulum rod 6 and the zero point; when the real-time inclination angle α is greater than the set inclination angle β, the MCU controller 9 controls the motor 2 to accelerate; when the real-time inclination angle α is less than the set inclination angle β, the MCU controller 9 controls the motor 2 to decelerate; when the real-time inclination angle α is equal to the set inclination angle β, the MCU controller 9 controls the motor 2 to maintain the current speed; thereby stabilizing the delivery tension of the elastic yarn 12 when the yarn feeding speed of the loom changes.

[0030] The MCU controller 9 controls the acceleration of the motor 2 and the MCU controller 9 controls the deceleration of the motor 2, both of which are controlled by the PID algorithm (the target speed of the motor 2 is calculated by the PID algorithm); the motor 2 is connected with an encoder 10 for detecting the speed of the motor 2, and the encoder 10 transmits the speed of the motor 2 to the MCU controller 9, and the motor 2 is controlled by FOC closed loop according to the target speed obtained by the above PID algorithm control and the motor 2 encoding information measured by the encoder 10. The maximum speed of the motor 2 Vmax = Vs / (π*D), where Vs is the maximum yarn feeding speed of the loom, and D is the diameter of the yarn feeding wheel 3; the maximum yarn feeding speed of the loom Vs = π*Dm*Vm, where Dm is the diameter of the needle cylinder on the loom, and Vm is the maximum speed of the loom. The speed change of the motor 2 is ΔV=Ka*(α-β)+Kb*A, where α is the real-time tilt angle of the pendulum 6, β is the set tilt angle of the pendulum 6, Ka and Kb are set parameters, and A is the rate of change of the tilt angle of the pendulum 6; A=(α-β)-(α1-β), where α1 is the previous tilt angle of the pendulum 6. When the angle sensor 8 detects that the pendulum 6 is at the zero position, the MCU controller 9 controls the motor 2 to reverse; if the angle sensor 8 detects that the tilt angle of the pendulum 6 changes after the motor 2 reverses, it is judged that the line is not broken, and the MCU controller 9 controls the motor 2 to resume forward rotation and decelerate; if the angle sensor 8 detects that the tilt angle of the pendulum does not change after the motor 2 reverses, it is judged that the line is broken, and the MCU controller 9 controls the motor 2 to stop and alarm.

[0031] The stabilization system constructed according to the above-mentioned elastic yarn conveying tension stabilization method is composed as follows: Figures 1 to 6 As shown, it includes a shell 1, in which a motor 2 is installed, and a yarn feed wheel 3 located outside the shell 2 is connected to the rotating shaft of the motor 2; a yarn inlet frame 4 and a yarn outlet frame 5 are respectively arranged on both sides of the yarn feed wheel 3, and a swing rod 6 rotatably connected to the shell 1 is arranged between the yarn outlet frame 5 and the yarn feed wheel 3; a porcelain eye 7 for passing the yarn is connected to one end of the swing rod 6, and an angle sensor 8 for measuring the tilt angle or rotation angle of the swing rod 6 is arranged on the swing rod 6; an MCU controller 9 is connected to the motor 2, and the MCU controller 9 is connected to the angle sensor 8; an encoder 10 is connected to the motor 1, and the encoder 10 is connected to the MCU controller 9.

[0032] The angle sensor 8 is a Hall sensor, and a detachable counterweight is connected to one end of the swinging rod 6; a yarn distribution rod 11 is arranged between the yarn feeding frame 4 and the yarn feeding wheel 3, and the yarn distribution rod 11 is arranged obliquely. A thread passing porcelain eye flush with the yarn outlet frame 5 is arranged between the yarn feeding wheel 3 and the swing rod 6.

[0033] Working principle: When in use, the elastic yarn 12 is fed into the loom after passing through the yarn inlet frame 4, the yarn feed wheel 3, the swing rod 6 and the yarn outlet frame 5 in sequence. The yarn distribution rod 11 is tilted, which can evenly distribute the elastic yarn 12 in the axial direction of the yarn feed wheel 3 during the conveying process, and avoid the elastic yarn 12 being too much wound around the uniform position of the yarn feed wheel 3; because the elastic yarn 12 passes through the porcelain eye 7 on the swing rod 6, and the swing rod 6 is rotatably connected to the housing 1, the swing rod 6 rotates downward under the action of its own gravity and presses on the elastic yarn 12, and the deformation tension of the elastic yarn 12 can support the swing rod 6. When the deformation tension of the elastic yarn 12 is balanced with the downward gravity received by the swing rod 6, the swing rod 6 no longer rotates downward, that is, the swing rod 6 forms a stable tilt angle (such as Figure 5 As shown, the lowest position of the pendulum 6 is taken as the zero point, and the inclination angle of the pendulum 6 is the angle between the position of the pendulum 6 and the zero point position, as shown in FIG. Figure 4 The tilt angle of the swing rod 6 shown is the set tilt angle β) under the stable tension state. Figure 6 The figure shows the position of the swing rod 6 in the initial state of operation. Figure 6 If it is larger than shown in the figure, it means that the weight of the counterweight on the swing rod 6 is too small and the weight of the counterweight needs to be increased.

[0034] After operation, the real-time tilt angle α of the swing rod 6 is detected by the angle sensor 8 on the swing rod 6, and is transmitted to the MCU controller 9 for judgment and then the speed of the motor 2 is adjusted; the motor speed is controlled by the MCU controller in a FOC closed loop; when the real-time tilt angle α is greater than the set tilt angle β, the tension of the elastic yarn 12 is too large, and the MCU controller 9 controls the motor 2 to accelerate. After acceleration, the length of the elastic yarn 12 between the yarn feeding wheel 3 and the yarn outlet frame 5 increases, and the tension of the elastic yarn 12 decreases, and the swing rod 6 rotates downward to adjust the tilt angle α of the swing rod 6 to be equal to the set tilt angle β After that, the acceleration stops; on the contrary, when the real-time tilt angle α is less than the set tilt angle β, the tension of the elastic yarn 12 is too small, the MCU controller 9 controls the motor 2 to decelerate, the length of the elastic yarn 12 between the yarn feeding wheel 3 and the yarn outlet frame 5 is shortened, the tension of the elastic yarn 12 increases, and the swing rod 6 rotates upward, and after adjusting the tilt angle α of the swing rod 6 to be equal to the set tilt angle β, the deceleration stops; when the real-time tilt angle α is equal to the set tilt angle β, the MCU controller 9 controls the motor 2 to maintain the current speed; thereby stabilizing the delivery tension of the elastic yarn 12 when the yarn feeding speed of the loom changes. The specific speed adjustment method of the motor 2 is that the motor speed V = Ka*(α-β)+Kb*A, where α is the real-time tilt angle of the swing rod 6, β is the set tilt angle of the swing rod 6, Ka and Kb are set parameters, and A is the rate of change of the tilt angle of the swing rod 6; A = (α-β)-(α1-β), where α1 is the previous tilt angle of the swing rod 6.

Claims

1. A method for stabilizing the tension of elastic yarn, characterized in that: A yarn feeding wheel is arranged between a yarn inlet frame and a yarn outlet frame, and a motor is connected to the yarn feeding wheel to drive the yarn feeding wheel to rotate so as to convey the elastic yarn; then a rotatable swing rod is arranged between the yarn feeding wheel and the yarn outlet frame, and a ceramic eye for passing the elastic yarn is arranged on the swing rod; the elastic yarn is fed into the loom after passing through the yarn inlet frame, the yarn feeding wheel, the swing rod and the yarn outlet frame in sequence; during the conveying process of the elastic yarn, the swing rod rotates and presses on the elastic yarn under the action of its own gravity; then the real-time tilt angle α of the swing rod is detected by the angle sensor on the swing rod, and is transmitted to the MCU controller for judgment and then the motor speed is adjusted; the swing rod is rotated to the lowest position as the zero point, and the tilt angle of the swing rod is the angle between the swing rod position and the zero point position; when the real-time tilt angle α is greater than the set tilt angle β, the MCU controller controls the motor to accelerate; when the real-time tilt angle α is less than the set tilt angle β, the MCU controller controls the motor to decelerate; when the real-time tilt angle α is equal to the set tilt angle β, the MCU controller controls the motor to maintain the current speed; thereby stabilizing the conveying tension of the elastic yarn when the yarn feeding speed of the loom changes.

2. The method for stabilizing the tension of elastic yarn according to claim 1, characterized in that: The MCU controller controls the motor acceleration and the MCU controller controls the motor deceleration both through the PID algorithm; the motor is connected to an encoder for detecting the motor speed, and the encoder transmits the motor speed to the MCU controller to realize the FOC closed-loop control of the motor.

3. The method for stabilizing the tension of elastic yarn according to claim 1, characterized in that: The maximum rotation speed of the motor Vmax=Vs / (π*D), wherein Vs is the maximum yarn feeding speed of the loom and D is the diameter of the yarn feeding wheel; the maximum yarn feeding speed of the loom Vs=π*Dm*Vm, wherein Dm is the diameter of the needle cylinder on the loom and Vm is the maximum rotation speed of the loom.

4. The method for stabilizing the tension of elastic yarn according to claim 1, characterized in that: The speed of the motor V=Ka*(α-β)+Kb*A, wherein α is the real-time tilt angle of the pendulum, β is the set tilt angle of the pendulum, Ka and Kb are setting parameters, and A is the rate of change of the tilt angle of the pendulum; A=(α-β)-(α1-β), wherein α1 is the previous tilt angle of the pendulum.

5. The method for stabilizing the tension of elastic yarn conveying according to claim 1, characterized in that: The speed change of the motor ΔV=Ka*(α-β)+Kb*A, wherein α is the real-time tilt angle of the pendulum, β is the set tilt angle of the pendulum, Ka and Kb are set parameters, and A is the rate of change of the tilt angle of the pendulum; A=(α-β)-(α1-β), wherein α1 is the previous tilt angle of the pendulum.

6. The method for stabilizing the tension of elastic yarn conveying according to claim 1, characterized in that: When the angle sensor detects that the pendulum arm is at the zero position, the MCU controller controls the motor to reverse; if the angle sensor detects that the inclination angle of the pendulum arm has changed after the motor reverses, it is judged that the line is not broken, and the MCU controller controls the motor to resume forward rotation and slow down; if the angle sensor detects that the inclination angle of the pendulum arm has not changed after the motor reverses, it is judged that the line is broken, and the MCU controller controls the motor to stop and alarm.

7. A stabilizing system constructed by the method for stabilizing the tension of elastic yarn conveying according to any one of claims 1 to 6, characterized in that: The invention comprises a housing (1), wherein a motor (2) is installed in the housing (1), and a yarn feeding wheel (3) located outside the housing (2) is connected to the rotating shaft of the motor (2); a yarn feeding frame (4) and a yarn discharging frame (5) are respectively arranged on both sides of the yarn discharging wheel (3), and a swing rod (6) rotatably connected to the housing (1) is arranged between the yarn discharging frame (5) and the yarn feeding wheel (3); a ceramic eye (7) for passing yarn is connected to one swinging end of the swing rod (6), and an angle sensor (8) for measuring the tilt angle or rotation angle of the swing rod (6) is arranged on the swing rod (6); an MCU controller (9) is connected to the motor (2), and the MCU controller (9) is connected to the angle sensor (8); an encoder (10) is connected to the motor (1), and the encoder (10) is connected to the MCU controller (9).

8. The stabilization system according to claim 7, characterized in that: The angle sensor (8) is a Hall sensor, and a detachable counterweight is connected to one swinging end of the swing rod (6).

9. The stabilization system according to claim 7, characterized in that: A yarn distribution rod (11) is arranged between the yarn feeding frame (4) and the yarn delivery wheel (3), and the yarn distribution rod (11) is arranged obliquely.

10. The stabilization system according to any one of claims 7 to 9, characterized in that: A thread passing porcelain eye flush with the yarn delivery frame (5) is provided between the yarn delivery wheel (3) and the swing rod (6).

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