Electronic dobby opening test method, device and medium

Abstract

The invention provides an opening test method and device for an electronic dobby and a medium, and relates to the technical field of opening test.The method comprises the steps that the connection relation between the electronic dobby and a control system is established, fabric weave data are imported, and a target execution instruction is generated; collecting operation data of the heald frame under a no-load condition, and analyzing operation stability and position precision of the heald frame; collecting operation data of the heald frame under a load condition, and analyzing operation stability and position precision of the heald frame; comparing the basic driving performance with the load driving performance; correcting the target execution instruction according to an opening verification parameter generated by the operation deviation data; and performing opening control on the electronic dobby based on the opening control instruction. The technical problem that dynamic simulation of weaving load conditions cannot be comprehensively introduced in opening testing in the prior art, and consequently testing results lack representativeness and reliability for real working conditions can be solved, and the technical effect of improving weaving control precision is achieved.

Description

Technical Field

[0001] This application relates to the field of opening test technology, and in particular to an opening test method, device and medium for electronic multi-arms. Background Technology

[0002] With the continuous development of the textile industry, the automation and intelligence levels of weaving equipment have been continuously improving. Electronic dobby shedding devices are gradually replacing traditional mechanical structures, becoming an important link in the weaving process to improve efficiency and weaving precision. Among them, the shedding test method is an important technical means to ensure the stability of electronic dobby operation and weaving adaptability. It can monitor and analyze the movement process of the heald frame, providing a basis for subsequent weaving quality control.

[0003] Currently, most existing heddle tests evaluate the performance of electronic heddles using unloaded operation and single-parameter detection. While this method can reflect the operating characteristics of electronic heddles under ideal conditions to some extent, its applicability to actual weaving conditions is significantly insufficient. Specifically, unloaded testing only obtains the displacement accuracy and operational stability of the heddle frame under conditions without external interference, ignoring the influence of complex factors such as yarn tension and frictional resistance on the dynamic response of the electronic heddles. This often results in discrepancies between the test results and actual working conditions. For example, under unloaded conditions, the displacement deviation of the heddle frame may remain within 0.2 mm, but under actual load conditions, due to yarn tension, this deviation may be amplified to 0.6 mm or even greater, leading to inconsistencies between predicted and actual performance.

[0004] In summary, the existing technology suffers from the technical problem that the shedding test process relies too heavily on no-load operation and simplified test parameters, failing to fully incorporate dynamic simulation of weaving load conditions. This results in test results that lack representativeness and reliability of real working conditions, further affecting the assessment of shedding accuracy and the assurance of weaving stability in the actual weaving process of electronic dobby. Summary of the Invention

[0005] The purpose of this application is to provide a method, device and medium for testing the shedding of electronic dobby arms, in order to solve the technical problem in the prior art that the shedding test process relies too much on no-load operation and simplified test parameters, and fails to fully introduce dynamic simulation of weaving load conditions, resulting in test results that lack representativeness and reliability of real working conditions, and further affecting the assessment of shedding accuracy and the assurance of weaving stability of electronic dobby arms in actual weaving processes.

[0006] In view of the above problems, this application provides a method, device and medium for testing the opening of an electronic multi-arm.

[0007] In a first aspect, this application provides a method for testing the opening of an electronic heddle, comprising: establishing a connection between the electronic heddle and a control system, importing fabric structure data, and generating a target execution command; driving the electronic heddle under no-load conditions, collecting heddle frame operation data, analyzing the heddle frame operation stability and positional accuracy, and determining basic driving performance; driving the electronic heddle under load conditions, collecting heddle frame operation data, analyzing the heddle frame operation stability and positional accuracy, and determining load driving performance; comparing the basic driving performance with the load driving performance to determine operation deviation data; correcting the target execution command based on the opening verification parameters generated by the operation deviation data, and generating an opening control command; and performing opening control of the electronic heddle based on the opening control command.

[0008] Preferably, the method for testing the opening of an electronic heald frame further includes: establishing a communication link between the electronic heald frame and the control system; importing the fabric structure data file of the target fabric; parsing the fabric structure data file to generate the target heald frame motion trajectory; determining the opening parameters based on the target heald frame motion trajectory; and forming the target execution command based on the opening parameters.

[0009] Preferably, the opening test method for the electronic multi-arm further includes: driving the electronic multi-arm in an unloaded state, collecting unloaded displacement data and unloaded speed data of the heald frame; performing heald frame operation fluctuation analysis on the unloaded speed data to determine the unloaded operation fluctuation of the heald frame; determining the unloaded position accuracy of the heald frame by comparing the unloaded displacement data with the target trajectory in the target execution command; and obtaining the basic driving performance by combining the unloaded operation fluctuation of the heald frame and the unloaded position accuracy of the heald frame.

[0010] Preferably, the opening test method of the electronic multi-arm further includes: obtaining preset load conditions, running the electronic multi-arm under the preset load conditions; collecting load displacement data and load speed data of the heald frame operation, determining the heald frame load position accuracy by comparing the load displacement data with the target trajectory in the target execution command; and generating the load drive performance by combining the heald frame load operation fluctuation and the heald frame load position accuracy.

[0011] Preferably, the method for testing the opening of an electronic multi-arm further includes: establishing a comparison relationship between the basic driving performance and the load driving performance; comparing the differences between displacement data and velocity data in the comparison relationship to extract the trajectory offset and response delay; and combining the trajectory offset and dynamic response delay to form the operating deviation data.

[0012] Preferably, the method for testing the opening of an electronic multi-arm further includes: generating the opening verification parameters based on the operational deviation data; generating deviation warning information when the opening verification parameters exceed a preset weaving threshold; determining the opening control correction parameters based on the target execution command according to the deviation warning information; and generating the opening control command.

[0013] Preferably, the method for testing the opening of an electronic multi-arm further includes: performing a working condition simulation accuracy correction on the operating deviation data, eliminating false deviations caused by the simplification of preset load conditions, and generating corrected deviation data; outputting the corrected deviation data to the opening verification module to generate the opening verification parameters.

[0014] Preferably, the method for testing the shedding of an electronic heddle further includes: driving the electronic heddle to execute the shedding control command and collecting retest heddle frame operation data; when the retest heddle frame operation data meets the weaving matching conditions of the fabric structure data, determining the weaving stability and weaving adaptability of the electronic heddle; when the retest heddle frame operation data does not meet the weaving matching conditions of the fabric structure data, returning to verification and regenerating the shedding adjustment command.

[0015] In a second aspect, this application also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the opening test method for an electronic multi-arm as described in any one of the first aspects above.

[0016] Thirdly, a computer-readable storage medium storing a computer program that, when executed, implements the steps of the opening test method for an electronic multi-arm as described in any one of the first aspects.

[0017] The technical solution provided in this application has at least the following technical effects or advantages: by achieving the technical goal of comprehensively evaluating the operating performance of the electronic multiarm through a dynamic testing method combining no-load and load, it can truly reflect the displacement accuracy, speed response and opening stability of the electronic multiarm under different weaving conditions, thereby improving the consistency of weaving control accuracy and fabric quality.

[0018] The above description is merely an overview of the technical solution of this application. To enable a clearer understanding of the technical means of this application and to facilitate its implementation according to the description, and to make the above and other objects, features, and advantages of this application more apparent, specific embodiments of this application are described below. It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent through the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating an electronic multi-arm opening test method according to this application.

[0021] Figure 2 This is a schematic diagram of the structure of an exemplary electronic device of this application.

[0022] Explanation of reference numerals in the attached drawings: Bus 300, Receiver 301, Processor 302, Transmitter 303, Memory 304, Bus Interface 305. Detailed Implementation

[0023] This application provides a method, device, and medium for testing the shedding of electronic dobby arms. It addresses the technical problem in existing technologies where the shedding test process relies excessively on no-load operation and simplified testing parameters, failing to fully incorporate dynamic simulation of weaving load conditions. This results in test results lacking representativeness and reliability for real-world working conditions, further impacting the assessment of shedding accuracy and the assurance of weaving stability in actual weaving processes. The application achieves the technical goal of comprehensively evaluating the operating performance of electronic dobby arms through a dynamic testing method combining no-load and load conditions. This method accurately reflects the displacement accuracy, speed response, and shedding stability of the electronic dobby arms under different weaving conditions, thereby improving the consistency of weaving control accuracy and fabric quality.

[0024] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. It should be understood that this application is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. It should also be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all of them.

[0025] Example 1, please refer to the appendix. Figure 1 This application provides a method for testing the opening of an electronic multiarm, specifically including the following steps: S1: Establish the connection between the electronic multi-arm and the control system, import the fabric structure data, and generate the target execution command.

[0026] Furthermore, this application also includes: establishing a communication link between the electronic heald and the control system, importing the fabric structure data file of the target fabric, parsing the fabric structure data file to generate the target heald frame motion trajectory; determining the opening parameters based on the target heald frame motion trajectory, and forming the target execution command based on the opening parameters.

[0027] Specifically, the electronic boom is the actuator that realizes the movement of the helical frame. It can include servo motors, linkage arms, and drive control modules, achieving precise positioning and dynamic response by receiving opening control commands. Establishing a communication link between the electronic boom and the control system refers to connecting the electronic boom mechanical equipment and the computer control system via wired or wireless means, enabling the control system to send commands and receive status data, thus realizing information exchange between the electronic boom mechanical equipment and the computer control system. The establishment of the communication link ensures that subsequent commands can be accurately transmitted to the electronic boom and that the operating status can be fed back in real time.

[0028] Subsequently, importing the fabric's weave data file means loading a digital file describing the fabric's structural characteristics into the communication link and then transmitting it to the control system. The weave data file ensures that the electronic weaving arm can perform its opening action according to the actual structure of the target fabric, thereby achieving precise control during simulation or actual weaving. The weave data file contains parameters such as the arrangement, density, twist, and fabric thickness of the warp and weft yarns.

[0029] Parsing the fabric structure data file to generate the target heald frame motion trajectory refers to the control system analyzing the imported fabric structure data and converting the yarn arrangement, density, and layer relationships into a specific motion trajectory of the heald frame, including the lifting amplitude, speed changes, and synchronous movements. The target heald frame motion trajectory defines the spatial position and motion state of the electronic heald frame at each point in time when performing the shedding action.

[0030] Determining shedding parameters based on the target heald frame's motion trajectory refers to extracting key indicators needed to control shedding from the target heald frame's motion trajectory, such as shedding height, shedding speed, lifting synchronization, and maximum vibration amplitude. Shedding parameters can affect weaving efficiency and fabric quality; by setting appropriate shedding parameters, it is possible to ensure balanced yarn tension and consistent fabric density.

[0031] The formation of target execution commands based on the opening parameters refers to the control system converting the opening parameters into control commands that the electronic multi-arm can directly execute, including motor drive signals, speed curves, position point sequences, and time synchronization signals. The target execution commands are the final instructions for actual operation, precisely mapping the fabric structure characteristics to the equipment's actions, thereby achieving automated opening control.

[0032] S2: Drive the electronic multi-arm under no-load conditions, collect heald frame operation data, analyze the heald frame operation stability and position accuracy, and determine the basic drive performance.

[0033] Furthermore, this application also includes: driving the electronic multi-arm in an unloaded state to collect unloaded displacement data and unloaded speed data of the heald frame; performing heald frame operation fluctuation analysis on the unloaded speed data to determine the unloaded operation fluctuation of the heald frame; determining the unloaded position accuracy of the heald frame by comparing the unloaded displacement data with the target trajectory in the target execution command; and obtaining the basic driving performance by combining the unloaded operation fluctuation of the heald frame and the unloaded position accuracy of the heald frame.

[0034] Specifically, the electronic heddle is driven under no-load conditions, allowing it to operate without any weaving load. No-load displacement and speed data of the heddle frame are collected. The no-load displacement data represents the position change curve of the heddle frame during movement, reflecting whether the heddle frame can move along a preset trajectory. The no-load speed data describes the speed change of the heddle frame at different time points, used to determine the speed and uniformity of the movement. Data under no-load conditions can accurately reflect the mechanical performance and control precision of the electronic heddle itself.

[0035] A comprehensive frame operation fluctuation analysis is performed on the no-load speed data to determine the no-load operation fluctuation of the comprehensive frame. This fluctuation is represented by statistically analyzing and comparing the speed curves to assess the degree of deviation of the speed from an ideal linear change. No-load operation fluctuation is an indicator of the smoothness of mechanical drive; the smaller the fluctuation, the higher the stability of the drive system.

[0036] Determining the no-load position accuracy of the heald frame by comparing the no-load displacement data with the target trajectory in the target execution command involves comparing the actual measured displacement curve with the preset motion trajectory in the target execution command point by point and calculating the error range. The no-load position accuracy of the heald frame reflects whether the heald frame can accurately reach the predetermined position under ideal conditions.

[0037] By combining the no-load operation fluctuations and no-load positional accuracy of the heald frame, the basic driving performance is obtained. This means that the results from both fluctuations and positional accuracy are comprehensively evaluated to form a complete performance index. The basic driving performance is the performance benchmark of the electronic multi-arm under the most ideal environment.

[0038] S3: Drive the electronic multi-arm under load conditions, collect heald frame operation data, analyze the heald frame operation stability and position accuracy, and determine the load drive performance.

[0039] Furthermore, this application also includes: obtaining preset load conditions, operating the electronic multi-arm under the preset load conditions; collecting load displacement data and load speed data of the heald frame operation, determining the heald frame load position accuracy by comparing the load displacement data with the target trajectory in the target execution command; and generating the load drive performance by combining the heald frame load operation fluctuation and the heald frame load position accuracy.

[0040] Specifically, obtaining preset load conditions means setting a pre-defined load environment in experiments or operational simulations to conduct performance tests under controlled conditions. Preset load conditions ensure that the performance of the electronic multi-arm can be accurately compared under different load levels. After obtaining the load conditions, the electronic multi-arm is run under the preset load, and the heald frame's operational data is collected, including load displacement data and load speed data. Load displacement data refers to the actual spatial position of the heald frame during operation, which may differ from the ideal commanded position; load speed data refers to the change in the speed of the heald frame during movement, which may be affected by the load magnitude or friction. The load displacement data is compared point-by-point with the preset trajectory in the target execution command to determine the positional accuracy of the heald frame under a given load, i.e., the degree of deviation between the actual trajectory and the ideal trajectory.

[0041] Next, the load fluctuations exhibited by the heald frame during operation are combined with the position accuracy to generate a comprehensive index, namely load drive performance. Load fluctuations refer to the jitter or instability of the heald frame during operation, such as inconsistent speed or slight oscillations in the movement path; while position accuracy indicates whether the heald frame can accurately reach the target position.

[0042] S4: Compare the basic driving performance with the load driving performance to determine the operating deviation data.

[0043] Furthermore, this application also includes: establishing a comparison relationship between the basic driving performance and the load driving performance; performing a difference comparison between displacement data and velocity data in the comparison relationship to extract trajectory offset and response delay; and combining the trajectory offset and dynamic response delay to form the running deviation data.

[0044] Specifically, a comparison is established between basic drive performance and load drive performance, that is, by placing the basic drive performance and load drive performance under the same reference frame for comparison. Based on the difference between displacement data and velocity data in the comparison relationship, that is, by analyzing the difference between displacement and velocity curves under load and no-load conditions, the trajectory offset and response delay can be extracted.

[0045] Subsequently, the trajectory offset and dynamic response delay are combined to form operational deviation data, which is used to fully characterize the deviation performance of the electronic multi-arm under load. The trajectory offset represents the spatial deviation, while the dynamic response delay represents the temporal lag, together determining whether the target action can be completed quickly and accurately during task execution.

[0046] S5: Based on the opening verification parameters generated from the running deviation data, the target execution command is corrected to generate an opening control command.

[0047] Furthermore, this application also includes: generating the opening verification parameter based on the operational deviation data; generating deviation warning information when the opening verification parameter exceeds a preset weaving threshold; determining the opening control correction parameter based on the target execution instruction according to the deviation warning information, and generating the opening control instruction.

[0048] Furthermore, this application also includes: performing operational condition simulation accuracy correction on the operational deviation data, eliminating false deviations caused by simplification of preset load conditions, and generating corrected deviation data; outputting the corrected deviation data to the opening verification module to generate the opening verification parameters.

[0049] Specifically, operational deviation data undergoes operational condition simulation accuracy correction. This involves calibrating the collected operational deviation data against actual operational conditions to ensure the data accurately reflects the performance of the electronic dobby arm in real weaving environments. Operational deviation data includes trajectory offset and response delay, while operational condition simulation accuracy correction modifies the target execution commands by introducing conditions closer to the real weaving environment. False deviations caused by simplification of preset load conditions are eliminated, and erroneous data that does not conform to real weaving conditions are removed, making the remaining corrected deviation data more consistent with actual operating conditions. False deviations arise from simplified assumptions about load, friction, or speed fluctuations. Simplification may amplify or reduce deviation values; correction eliminates unrealistic interference.

[0050] The corrected deviation data is output to the shedding verification module, where it undergoes calculation and logical processing to obtain the final indicators that can be used for weaving control, generating shedding verification parameters. The shedding verification module is responsible for converting the deviation data, which has undergone accuracy correction, into intuitive and controllable parameters, such as the shedding accuracy index or stability coefficient.

[0051] Next, when the opening verification parameters exceed the preset weaving threshold, a deviation warning message is generated. This indicates that the opening verification parameters have exceeded the tolerance of the weaving process, and an automatic warning is triggered to alert the control system or operators. The preset weaving threshold is a critical value set in advance based on the fabric's structure and production quality requirements.

[0052] Subsequently, based on the deviation warning information, the clearance control correction parameters based on the target execution command are determined, and clearance control commands are generated. This means that when an anomaly is detected, it is not merely a warning issued, but new correction parameters are calculated to adjust the control strategy of the electronic multi-arm. The clearance control correction parameters are the result of correcting the original target execution command, involving position compensation, time delay compensation, or speed adjustment, thereby making the actual trajectory closer to the target trajectory.

[0053] S6: Perform opening control of the electronic multi-arm based on the opening control command.

[0054] Furthermore, this application also includes: driving the electronic heddle to execute the shedding control command and collecting retest heddle frame operation data; when the retest heddle frame operation data meets the weaving matching conditions of the fabric structure data, determining the weaving stability and weaving adaptability of the electronic heddle; when the retest heddle frame operation data does not meet the weaving matching conditions of the fabric structure data, returning to verification and regenerating the shedding adjustment command.

[0055] Specifically, the shedding control of the electronic dobby is based on shedding control commands. This involves using modified and generated control commands to drive the electronic dobby to complete the raising and lowering of the heald frames during the weaving process. The shedding control commands are the final control scheme after correction of operational deviation data, calibration parameters, and operational condition accuracy. They include information such as the specific trajectory of the heald frame movement, displacement amplitude, speed curve, and response timing to ensure that the shedding action meets the requirements of the fabric structure data. For example, if the shedding control command specifies a heald frame displacement of 12 mm and a response time of 30 milliseconds, and the electronic dobby, after adjustment, can actually achieve a displacement of 11.9 mm while maintaining a response delay within 32 milliseconds, this demonstrates that the shedding control command effectively guides the electronic dobby to complete the shedding action. Furthermore, if the weaving speed increases from 200 cycles per minute to 250 cycles per minute, the displacement and response deviations can still be controlled within allowable ranges through dynamic correction of the shedding control commands, reflecting adaptability and stability under different operating intensities.

[0056] Next, the electronic boom is driven to execute the opening control command and collect and re-measure the heald frame operation data. This means that the electronic boom is controlled to complete the actual lifting and lowering movement of the heald frame using the generated opening control command, while re-measurement data is collected during the operation. The re-measurement heald frame operation data refers to the displacement, velocity, and response of the heald frame actually measured after the opening control.

[0057] When the retested heald frame operation data meets the weaving matching conditions of the fabric structure data, the weaving stability and weaving adaptability of the electronic heald frame are determined. This means that when the retested data is compared with the opening trajectory and parameters specified in the fabric structure data, the electronic heald frame's movement can stably and accurately meet the weaving requirements, thus proving its stability and adaptability.

[0058] When the retested heald frame running data does not meet the weaving matching conditions of the fabric structure data, the system returns to verification and regenerates the shedding adjustment instruction. This means that if the retest finds an excessive deviation, it automatically enters the feedback loop, re-compares the running deviation, and corrects the instruction again. The shedding adjustment instruction is an optimized version of the target execution instruction, used to correct problems found during the retest.

[0059] In summary, the opening test method for electronic multi-arms provided in this application has the following technical effects: by achieving the technical goal of comprehensively evaluating the operating performance of electronic multi-arms through a dynamic test method combining no-load and load, it can truly reflect the displacement accuracy, speed response and opening stability of electronic multi-arms under different weaving conditions, thereby improving the consistency of weaving control accuracy and fabric quality.

[0060] Example 2: Based on the inventive concept of the opening test method for an electronic multi-arm described in the foregoing embodiments, this application also provides an electronic device, including: at least one processor; a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the opening test method for an electronic multi-arm described in any one of the above Examples 1.

[0061] Appendix Figure 2 This is a schematic diagram of the structure of an exemplary electronic device of this application. Figure 2In this document, the bus architecture is represented by bus 300. Bus 300 may include any number of interconnected buses and bridges, and bus 300 connects various circuits including one or more processors represented by processor 302 and memory represented by memory 304. Bus 300 may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 can be used to store data used by processor 302 during operation.

[0062] In Embodiment 3, based on the same inventive concept as the opening test method for an electronic multi-arm described in the foregoing embodiments, this application also provides a computer-readable storage medium storing a computer program, which, when executed, implements the steps of the opening test method for an electronic multi-arm described in any one of Embodiment 1.

[0063] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0064] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of this application and its equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for testing the opening of an electronic multi-arm, characterized in that, include: Establish the connection between the electronic multi-arm and the control system, import fabric structure data, and generate target execution instructions; The electronic multi-arm is driven to operate under no-load conditions, the heald frame operation data is collected, the heald frame operation stability and position accuracy are analyzed, and the basic driving performance is determined. The electronic multi-arm is driven to operate under load conditions, the heald frame operation data is collected, the heald frame operation stability and position accuracy are analyzed, and the load driving performance is determined. The basic driving performance is compared with the load driving performance to determine the operating deviation data; The target execution command is corrected based on the opening verification parameters generated from the operational deviation data, and an opening control command is generated. The opening control of the electronic multi-arm is performed based on the opening control command.

2. The method for testing the opening of an electronic multi-arm as described in claim 1, characterized in that, Generate the target execution instructions, including: Establish a communication link between the electronic heald and the control system, import the fabric structure data file of the target fabric, and parse the fabric structure data file to generate the target heald frame motion trajectory; The opening parameters are determined based on the target frame's motion trajectory, and the target execution command is formed based on the opening parameters.

3. The method for testing the opening of an electronic multi-arm as described in claim 1, characterized in that, Determine basic drive performance, including: The electronic multi-arm is driven to operate under no-load conditions to collect no-load displacement data and no-load speed data of the heald frame. Perform a stability analysis on the no-load speed data to determine the no-load operation fluctuation of the frame; The accuracy of the idle position of the manhole frame is determined by comparing the idle displacement data with the target trajectory in the target execution command. The basic driving performance is obtained by combining the no-load operation fluctuation of the heel frame and the no-load position accuracy of the heel frame.

4. The method for testing the opening of an electronic multi-arm as described in claim 1, characterized in that, Determine load-driven performance, including: Obtain preset load conditions and operate the electronic multiarm under the preset load conditions; The load displacement data and load speed data of the heald frame are collected, and the load displacement data are compared with the target trajectory in the target execution command to determine the load position accuracy of the heald frame. The load drive performance is generated by combining the load fluctuation of the heald frame and the position accuracy of the heald frame.

5. The method for testing the opening of an electronic multi-arm as described in claim 1, characterized in that, Determine the operational deviation data, including: Establish a correlation between the basic drive performance and the load drive performance; Based on the difference comparison between displacement data and velocity data in the aforementioned comparison relationship, the trajectory offset and response delay are extracted. The trajectory offset and dynamic response delay are combined to form the operational deviation data.

6. The method for testing the opening of an electronic multi-arm as described in claim 1, characterized in that, Generate opening control instructions, including: The opening verification parameters are generated based on the operational deviation data; When the opening verification parameter exceeds the preset weaving threshold, a deviation warning message is generated; Based on the deviation warning information, determine the opening control correction parameters based on the target execution command, and generate the opening control command.

7. The method for testing the opening of an electronic multi-arm as described in claim 6, characterized in that, The opening verification parameters are generated based on the operational deviation data, including: The operational deviation data is subjected to working condition simulation accuracy correction to eliminate false deviations caused by the simplification of preset load conditions, and corrected deviation data is generated. The correction deviation data is output to the opening verification module to generate the opening verification parameters.

8. The method for testing the opening of an electronic multi-arm as described in claim 1, characterized in that, After performing opening control of the electronic multi-arm based on the opening control command, the process includes: The electronic multi-arm is driven to execute the opening control command and to collect the retest heald frame operation data; When the retest heald frame operation data meets the weaving matching conditions of the fabric structure data, the weaving stability and weaving adaptability of the electronic multiarm are determined. If the retest heald frame running data does not meet the weaving matching conditions of the fabric structure data, return to verification and regenerate the opening adjustment instruction.

9. An electronic device, characterized in that, include: At least one processor; A memory that is communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the steps of the opening test method for an electronic multi-arm as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the steps of the opening test method for an electronic multiarm as described in any one of claims 1 to 8.

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