Electronic cam curve real-time switching method and system for weft laying of warp knitting machine

Abstract

The invention relates to the technical field of textile, in particular to an electronic cam curve real-time switching method and system for weft laying of a warp knitting machine, and the method comprises the steps: constructing an electronic cam coupling relation between a main shaft and a slave shaft in a motion controller of a weft laying device of the warp knitting machine, and building a first electronic cam curve based on a first process parameter; and generating a second electronic cam curve based on the second process parameter after the process parameter is modified. When the electronic cam curves are switched, the periodic position of the main shaft in the first electronic cam curve is obtained, proportional mapping is carried out according to the first periodic parameter and the second periodic parameter, the corresponding periodic position of the main shaft in the second electronic cam curve is calculated, and when the electronic cam curves are switched, the virtual position of the main shaft on the new curve is synchronously updated. Smooth switching of a new electronic cam curve and an old electronic cam curve in a weft laying period is achieved through cooperation of main shaft period parameter scaling, monotone section selection and displacement continuity constraint, and the real-time performance and stability of weft laying control of the multi-axial warp knitting machine are improved.

Description

Technical Field

[0001] This invention relates to the field of textile technology, and in particular to a method and system for real-time switching of electronic cam curves during weft laying on a warp knitting machine. Background Technology

[0002] Multiaxial warp knitting machines, especially high-speed multiaxial warp knitting machines used in the production of fiberglass fabrics, typically employ a weft-laying device to reciprocate the laying of multiple fibers along the fabric width or at specific angles during the weaving process. In existing equipment, the weft-laying carriage is mostly driven by a servo motor, with an encoder mounted on the main shaft. The control system uses electronic cam technology based on the main shaft position to generate the target displacement of the weft-laying carriage axis, achieving synchronous reciprocating motion between the weft-laying carriage and the main shaft. The generation of the electronic cam curve usually depends on process parameters such as weft-laying width, weft-laying overlap coefficient, and weft-laying density, forming a mapping table between the main shaft position and the slave shaft position. When the main shaft completes one cycle, the corresponding slave shaft completes one set of weft-laying reciprocating motions.

[0003] In existing technologies, when operators modify process parameters such as weft width, weft overlap coefficient, or weft density, the controller needs to regenerate a new electronic cam curve based on the new parameters. For control stability reasons, most equipment only allows the old cam table to be replaced with the new one after the current electronic cam cycle ends, i.e., when the spindle position returns to the beginning of a cycle. In other words, the electronic cam curve corresponding to the new process parameters only takes effect after the current complete weft laying cycle is finished. While this ensures simple control logic and avoids jumps caused by mid-cycle switching during high-speed spindle operation, it also introduces significant lag and resource waste.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This invention provides a method and system for real-time switching of electronic cam curves during weft laying on a warp knitting machine, which can effectively solve the problems in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A method for real-time switching of electronic cam curves during weft laying on a warp knitting machine includes the following steps: In the motion controller of the warp knitting machine's weft laying device, an electronic cam coupling relationship between the main shaft and the driven shaft is established. After obtaining the position parameters of the main shaft of the warp knitting machine's weft laying device, the driven shaft is made to perform periodic weft laying motion under the electronic cam coupling relationship as the position of the main shaft changes. Based on the periodic weft laying motion performed by the warp knitting machine weft laying device under the first process parameters, a first electronic cam curve between the main shaft and the slave shaft is established, and the first cycle parameter of the main shaft used to characterize a weft laying cycle is determined. When a modification instruction for the weft laying process parameters is received, a second electronic cam curve adapted to it is generated in the motion controller based on the second process parameters, and the second cycle parameter of the spindle used to characterize a weft laying cycle is redefined. The periodic position of the spindle in the first electronic cam curve is obtained, and the corresponding periodic position of the spindle in the second electronic cam curve is calculated based on the first periodic parameter and the second periodic parameter. When the motion controller switches the electronic cam curve, the periodic position of the spindle in the second periodic parameter is updated. The target position signal of the slave axis is obtained based on the periodic position of the spindle in the second periodic parameter and output to the slave axis servo system for execution, and runs in real time according to the second electronic cam curve.

[0007] Furthermore, the spindle position parameters of the warp knitting machine's weft laying device are collected in real time by an encoder and used as input variables for the electronic cam curve; The servo driver of the slave axis servo system of the warp knitting machine weft laying device is configured as the output variable of the electronic cam curve. The slave axis servo system performs closed-loop position control according to the target position signal output by the electronic cam curve and drives the corresponding weft laying trolley to perform reciprocating laying motion.

[0008] Furthermore, the first cycle parameter and the second cycle parameter are determined based on the spindle modal values ​​under the first process parameter and the second process parameter, respectively, as shown in the following formula: Main shaft modal value = 2 × weft width × (1 - weft overlap coefficient) × weft density × K; Where K represents the proportional conversion factor related to the warp knitting machine's transmission ratio, spindle encoder resolution, and geometric parameters.

[0009] Furthermore, when the motion controller switches the electronic cam curve, it updates the spindle's periodic position in the second periodic parameter, specifically including the following steps: Based on the first process parameters, the first modal value CircleValue1 of the spindle is determined, so that the spindle completes one weft laying cycle within the modal coordinate range of 0 to CircleValue1; The second modal value CircleValue2 is calculated based on the modified second process parameters, so that the spindle completes one weft laying motion cycle in the second modal coordinate system from 0 to CircleValue2; When a modification instruction for the weft laying process parameters is received, the current position Position1 of the spindle in the first modal coordinate system is read in the motion controller. The spindle scaling ratio Ratio is calculated as Ratio = CircleValue2 / CircleValue1 based on the first modal value CircleValue1 and the second modal value CircleValue2. Calculate the corresponding position of the spindle in the second modal coordinate system based on the spindle scaling ratio: Position2 = Ratio × Position1; The first electronic cam curve executed in the motion controller is switched to the second electronic cam curve, the second electronic cam curve is executed, and the starting coordinate of the second modal coordinate system is defined as Position2.

[0010] Furthermore, based on the movement direction of the slave axis servo system of the warp knitting machine weft laying device, Position1 is determined to be located in the rising or falling segment of the first electronic cam curve, and Position2 is set in the same monotonic segment of the second electronic cam curve.

[0011] Furthermore, during the transition from the first electronic cam curve to the second electronic cam curve, the motion controller applies a continuity constraint to the target displacement of the slave axis at the moment of transition: The target displacement of the slave axis corresponding to the first electronic cam curve at Position 1 is compared with the target displacement of the slave axis corresponding to the second electronic cam curve at Position 2, and the difference between the two is limited to not exceeding a preset displacement error threshold. When the difference exceeds the threshold, the target displacement of the slave axis is kept continuous at the moment of switching by adjusting the interpolation method of the second electronic cam curve in the vicinity of Position2 or by locally correcting the curve shape.

[0012] Furthermore, during the modification of the weft laying process parameters, the warp knitting machine is stopped and put into manual mode. The following steps are performed: Disconnect the electronic cam coupling relationship between the slave axis servo system of the warp knitting machine weft laying device and the first electronic cam curve; Receive process parameter modification instructions and generate the second electronic cam curve; After completing the calculation of the second periodic parameters and the spindle position parameters corresponding to the second electronic cam curve, the warp knitting machine is switched back to automatic mode, and the coupling relationship between the slave axis servo system of the warp knitting machine weft laying device and the electronic cam of the second electronic cam curve is re-established.

[0013] A real-time switching of electronic cam curves for weft laying on a warp knitting machine includes: a main shaft encoder, a motion controller, and a slave shaft servo system; The main spindle encoder is used to output main spindle position data; the slave spindle servo system is used to drive the weft laying carriage and output slave spindle position feedback; the motion controller is used to store and execute cam curves, establish electronic cam coupling relationships, generate new cam curves when process parameters change, and execute the above method steps to achieve real-time switching of cam curves.

[0014] The technical solution of this invention can achieve the following technical effects: This invention generates a second electronic cam curve after receiving a process parameter modification instruction, and updates the spindle cycle position based on the first cycle parameters and the second cycle parameters, so that cam switching can take effect without waiting for the current cycle to end, reducing waste caused by waste wire and laying deviation.

[0015] During switching, the periodic position of the main spindle in the second periodic parameter is updated by periodic mapping of the main spindle position to avoid sudden changes in the target displacement of the slave axis caused by phase discontinuity; and the continuity constraint of the target displacement of the slave axis at the moment of switching can be further set, and the local interpolation or shape of the second electronic cam curve can be corrected when necessary, thereby improving the stability and reliability under high-speed operation. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 Schematic diagrams of the first and second electronic cam curves; Figure 2 This is a flowchart of the cam curve switching control. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] This invention discloses a real-time switching method and system for electronic cam curves in warp knitting machines, used for weft laying of fiberglass fabrics. During the weft laying process, the bottom layer fabric is continuously conveyed by a conveyor belt, and the weft laying device is used to lay multiple strands of fiber along the width of the conveyor belt. The laying angle is usually set to -45°, 90°, 45°, etc. The weft laying trolley reciprocates along the support beam to complete clamping and laying.

[0021] In this embodiment, the real-time switching system for the electronic cam curve of the warp knitting machine includes: The spindle encoder is used to detect the current position of the warp knitting machine spindle and output spindle position data; A motion controller is used to store and execute at least two sets of electronic cam curves, establish an electronic cam coupling relationship between the master shaft and the slave shaft, generate a new cam curve when the weft laying process parameters change, and execute each step of the method of the present invention to realize real-time switching between the old and new cam curves. The slave axis servo system includes a slave axis servo driver and a servo motor connected to it. The servo motor drives the weft laying trolley to reciprocate along the weft laying support beam through a mechanical transmission mechanism and feeds back the slave axis position to the motion controller, thus forming a closed-loop control.

[0022] Warp knitting machines typically have multiple weft-laying devices at -45°, 90°, and 45°, each driven by a slave axis servo system. Each slave axis is electronically coupled to the main shaft via a cam. The main shaft encoder is mounted on the main drive shaft of the warp knitting machine to measure the main shaft rotation angle or corresponding displacement in real time. The motion controller acquires the main shaft encoder signal via a high-speed bus and sends target position commands to each slave axis servo driver.

[0023] In this embodiment, a real-time switching method for the electronic cam curve of warp knitting machine weft laying is disclosed. It revolves around the coupling relationship between the master shaft and slave shaft electronic cam and the scaling of the master shaft period parameters. When the weft laying process parameters change, the slave shaft movement can be smoothly switched to the new cam curve at the current weft laying position without waiting for the end of a complete weft laying cycle.

[0024] The method includes the following steps: First, an electronic cam coupling relationship between the main shaft and the slave shaft is established in the motion controller of the warp knitting machine's weft laying device. After obtaining the position parameters of the main shaft of the warp knitting machine's weft laying device, the slave shaft performs periodic weft laying motion as the position of the main shaft changes under the electronic cam coupling relationship. Specifically, the motion controller obtains the main shaft position parameters through the main shaft encoder and uses the main shaft position as the cam curve input. The motion controller outputs the target position signal of the slave shaft according to the first electronic cam curve Cam1 and sends it to the slave shaft servo system, so that the slave shaft performs periodic weft laying reciprocating motion as the position of the main shaft changes under this coupling relationship.

[0025] Specifically, the spindle position parameters of the warp knitting machine's weft laying device are collected in real time by an encoder and used as input variables for the electronic cam curve. The spindle encoder can be an incremental or absolute encoder, and its output pulse count or absolute position signal is collected by the motion controller and converted into spindle angle or spindle stroke value.

[0026] The servo driver of the slave axis servo system of the warp knitting machine's weft laying device is configured as the output variable of the electronic cam curve. The slave axis servo system performs closed-loop position control based on the target position signal output by the electronic cam curve and drives the corresponding weft laying carriage to perform reciprocating laying motion. The motion controller uses the main axis position as the input variable of the electronic cam curve. That is, at any given moment, the main axis position is input as the independent variable into the currently active cam curve, and the corresponding slave axis target position is obtained by looking up a table or interpolation.

[0027] Secondly, based on the periodic weft laying motion executed by the warp knitting machine's weft laying device under the first process parameters, the motion controller establishes the first electronic cam curve between the main shaft and the slave shaft, and determines the first cycle parameter of the main shaft to characterize a weft laying cycle.

[0028] Furthermore, when a modification instruction for the weft laying process parameters is received, the motion controller generates a second electronic cam curve that is adapted to it based on the second process parameters, and redetermines the second cycle parameters of the spindle used to characterize a weft laying cycle.

[0029] Specifically, the first cycle parameter and the second cycle parameter are determined based on the spindle modal values ​​under the first process parameter and the second process parameter, respectively, as shown in the following formula: Main shaft modal value = 2 × weft width × (1 - weft overlap coefficient) × weft density × K; Among them, weft layup width represents the effective coverage width of the weft layup carriage in the fabric width direction or along the support beam direction in one reciprocating cycle; weft layup overlap coefficient describes the degree of overlap between two adjacent weft layups. When the overlap coefficient increases, the effective additional coverage width decreases; weft layup density represents the number of weft layups required per unit fabric length. The higher the density, the more weft layup cycles are required or the denser the coverage per cycle; K represents the proportional conversion factor related to the warp knitting machine's transmission ratio, spindle encoder resolution, and geometric parameters. Changes in process parameters will change the layup geometry or density to be completed in each cycle, thus requiring a new cam curve and a new cycle scale.

[0030] Furthermore, the motion controller obtains the periodic position of the spindle in the first electronic cam curve, and calculates the corresponding periodic position of the spindle in the second electronic cam curve based on the first periodic parameter and the second periodic parameter. When the motion controller switches the electronic cam curve, it updates the periodic position of the spindle in the second periodic parameter.

[0031] Specifically, when the motion controller switches the electronic cam curve, it updates the spindle's cycle position in the second cycle parameter, which includes the following steps: Based on the first process parameters, the first modal value CircleValue1 of the spindle is determined, so that the spindle completes one weft laying cycle within the modal coordinate range of 0 to CircleValue1; The second modal value CircleValue2 is calculated based on the modified second process parameters, so that the spindle completes one weft laying motion cycle in the second modal coordinate system from 0 to CircleValue2; When a modification instruction for the weft laying process parameters is received, the current position Position1 of the spindle in the first modal coordinate system is read in the motion controller; The spindle scaling ratio Ratio is calculated as Ratio = CircleValue2 / CircleValue1 based on the first modal value CircleValue1 and the second modal value CircleValue2. Calculate the corresponding position of the main axis in the second modal coordinate system based on the main axis scaling ratio: Position2 = Ratio × Position1; Switch the first electronic cam curve executed in the motion controller to the second electronic cam curve, execute the second electronic cam curve, and define the starting coordinate of the second modal coordinate system as Position2.

[0032] By ideally keeping Position1 / CircleValue1 and Position2 / CircleValue2 equal, the output from the axis target is continuous during the switching instant.

[0033] Finally, the target position signal of the slave axis is obtained based on the periodic position of the spindle in the second periodic parameters and output to the slave axis servo system for execution, and it runs in real time according to the second electronic cam curve. This step truly realizes the phase mapping result as the slave axis servo command output, and suppresses disturbances through servo closed loop to ensure the following accuracy under high-speed operation.

[0034] In this embodiment, considering the issue of the same slave axis position corresponding to two master axis angles, in the reciprocating cam curve, the slave axis displacement first rises and then falls. Therefore, the same slave axis displacement may correspond to two master axis phase points: one in the rising segment and one in the falling segment. If Position2 is obtained by scaling proportionally during switching without identifying whether the current position is rising or falling, the slave axis may be mapped to the wrong branch after switching, resulting in abrupt changes in motion direction and inconsistent speed signs, causing impact or error amplification.

[0035] Therefore, this embodiment introduces monotonic segment consistency selection in the switching data processing. The motion controller determines whether Position1 is located in the rising or falling segment of the first electronic cam curve based on the motion direction of the slave axis servo system of the warp knitting machine's weft laying device, and selects the same monotonic segment in the second electronic cam curve to set Position2. This ensures that the phase mapping is not only consistent in phase ratio but also consistent in motion state, significantly reducing the risk of dynamic impact at the moment of switching and meeting the stability requirements of high-speed weft laying.

[0036] In this embodiment, the continuity constraint and local correction of the target displacement of the slave axis at the moment of switching are further considered. Ideally, if Cam2 only changes in phase scale, the target displacement of the slave axis at Position2 should be consistent with that at Position1, and the switching can be completed directly. However, in practical applications, Cam2 may undergo local shape changes due to process variations, such as acceleration limitations, end dwell, peak segment adjustments, etc., resulting in a small displacement difference at the moment of switching.

[0037] Therefore, during the transition from the first electronic cam curve to the second electronic cam curve, the motion controller applies a continuity constraint to the target displacement of the slave axis at the moment of transition: The target displacement of the slave axis corresponding to the first electronic cam curve at Position1 is compared with the target displacement of the slave axis corresponding to the second electronic cam curve at Position2, and the difference between the two is limited to not exceeding a preset displacement error threshold. When the difference exceeds the threshold, the interpolation method of the second electronic cam curve in the vicinity of Position2 or the curve shape is locally corrected to keep the target displacement of the slave axis continuous at the moment of switching.

[0038] In this embodiment, during the modification of the weft laying process parameters, the warp knitting machine is stopped and put into manual mode, and the following steps are performed: Disconnect the electronic cam coupling between the slave axis servo system of the warp knitting machine's weft laying device and the first electronic cam curve; Receive process parameter modification instructions and generate a second electronic cam curve; After completing the calculation of the second cycle parameters and the main shaft position parameters corresponding to the second electronic cam curve, the warp knitting machine is switched back to automatic mode, and the coupling relationship between the slave shaft servo system of the warp knitting machine weft laying device and the electronic cam of the second electronic cam curve is re-established.

[0039] Through the above embodiments, the real-time switching method of the electronic cam curve for weft laying of the warp knitting machine of the present invention can switch the electronic cam curve without interrupting the production cycle and without waiting for the current weft laying cycle to completely end when the weft laying process parameters, such as weft laying width, overlap coefficient, and weft laying density, change. This is achieved by scaling the main shaft period parameters and mapping the period coordinates. It ensures that the relative phase of the main shaft is consistent in the old and new period coordinate systems, thereby ensuring the continuity of the slave shaft movement trajectory at the switching point. By selecting monotonic segments and constraining continuity, it avoids the problem of multiple solutions caused by multiple main shaft angles at the same slave shaft position, reducing displacement jumps and mechanical shocks. It effectively reduces yarn waste caused by the delayed effect of process parameters, improves product consistency and equipment utilization, and is especially suitable for weft laying control of high-speed glass fiber multiaxial warp knitting machines of 2000 rpm and above.

[0040] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A method for real-time switching of electronic cam curve for weft laying of a warp knitting machine, characterized in that, The method comprises the following steps: An electronic cam coupling relationship between the main shaft and the slave shaft is established in a motion controller of the warp knitting machine's laying device, and after the position parameter of the main shaft of the warp knitting machine's laying device is obtained, the slave shaft is caused to perform periodic laying motion under the electronic cam coupling relationship with the position change of the main shaft; Based on the periodic laying motion performed by the warp knitting machine's laying device under the first process parameter, a first electronic cam curve between the main shaft and the slave shaft is established, and a first period parameter of the main shaft for characterizing one laying period is determined; When a modification instruction of the laying process parameter is received, a second electronic cam curve adapted to the second process parameter is generated in the motion controller, and a second period parameter of the main shaft for characterizing one laying period is re-determined; The period position of the main shaft in the first electronic cam curve is obtained, and the corresponding period position of the main shaft in the second electronic cam curve is calculated according to the first period parameter and the second period parameter, and the period position of the main shaft in the second period parameter is updated when the motion controller switches the electronic cam curve; The target position signal of the slave shaft is obtained according to the period position of the main shaft in the second period parameter and is output to the slave shaft servo system for execution, and the second electronic cam curve is run in real time.

2. The electronic cam curve real-time switching method for the tricot machine laying the weft according to claim 1, characterized in that, The position parameter of the main shaft of the warp knitting machine's laying device is collected in real time by an encoder and is used as an input variable of the electronic cam curve; The servo driver of the slave shaft servo system of the warp knitting machine's laying device is configured as an output variable of the electronic cam curve, and the slave shaft servo system performs closed-loop position control according to the target position signal output by the electronic cam curve and drives the corresponding laying car to perform reciprocating laying motion.

3. The electronic cam curve real-time switching method for the tricot machine laying the weft according to claim 1, characterized in that, The first period parameter and the second period parameter are respectively determined according to the modal value of the main shaft under the first process parameter and the second process parameter, as shown in the following formula: Modal value of main shaft = 2 × laying width × (1-laying overlap coefficient) × laying density × K; Wherein, K represents a proportional conversion coefficient related to the transmission ratio of the warp knitting machine, the resolution of the main shaft encoder and the geometric parameters.

4. The electronic cam curve real-time switching method for the tricot machine laying the weft according to claim 3, characterized in that, When the motion controller switches the electronic cam curve, the period position of the main shaft in the second period parameter is updated, which specifically comprises the following steps: Based on the first process parameter, the first modal value CircleValue1 of the main shaft is determined, so that the main shaft completes one laying motion period in the modal coordinate range of 0~CircleValue1; Based on the modified second process parameter, the second modal value CircleValue2 is calculated, so that the main shaft completes one laying motion period in the second modal coordinate system of 0~CircleValue2; When the modification instruction of the laying process parameter is received, the current position Position1 of the main shaft in the first modal coordinate system is read in the motion controller; According to the first modal value CircleValue1 and the second modal value CircleValue2, the scaling ratio Ratio=CircleValue2 / CircleValue1 of the main shaft is calculated; The target position signal of the slave shaft is obtained according to the period position of the main shaft in the second period parameter and is output to the slave shaft servo system for execution, and the second electronic cam curve is run in real time. According to the main shaft scaling ratio, a corresponding position of the main shaft in the second modal coordinate system is calculated Position2=Ratio×Position1; Switching the first electronic cam curve executed in the motion controller to the second electronic cam curve, executing the second electronic cam curve and defining the start coordinate of the second modal coordinate system as Position2.

5. The electronic cam curve real-time switching method for the tricot machine laying the weft according to claim 4, characterized in that, Based on the motion direction of the servosystem of the warp knitting machine's weft laying device, it is determined whether Position1 is located in the rising section or the falling section of the first electronic cam curve, and the same monotonic section is selected in the second electronic cam curve to set Position2.

6. The electronic cam curve real-time switching method for the tricot machine laying the weft according to claim 4, characterized in that, In the process of switching from the first electronic cam curve to the second electronic cam curve, the continuity of the target displacement of the servosystem at the switching moment is constrained by the motion controller: The target displacement of the servosystem corresponding to Position1 of the first electronic cam curve is compared with the target displacement of the servosystem corresponding to Position2 of the second electronic cam curve, and the difference between them is limited to not more than a preset displacement error threshold value; When the difference exceeds the threshold value, the target displacement of the servosystem at the switching moment is kept continuous by adjusting the interpolation method of the second electronic cam curve in the adjacent area of Position2 or locally correcting the curve shape.

7. The electronic cam curve real-time switching method for the tricot machine laying the weft according to claim 1, characterized in that, In the process of modifying the weft laying process parameters, the warp knitting machine is in a stop state and the manual mode is opened, and the following steps are executed: The electronic cam coupling relationship between the servosystem of the warp knitting machine's weft laying device and the first electronic cam curve is released; The process parameter modification instruction is received and the second electronic cam curve is generated; After the second periodic parameter calculation and the main shaft position parameter corresponding to the second electronic cam curve are completed, the warp knitting machine is switched back to the automatic mode, and the electronic cam coupling relationship between the servosystem of the warp knitting machine's weft laying device and the second electronic cam curve is re-established.

8. A warp knitting machine weft-laying electronic cam curve real-time switching, characterized in that, It comprises: A main shaft encoder, a motion controller and a servosystem; The main shaft encoder is used to output main shaft position data; The servosystem is used to drive the weft laying car and output servosystem position feedback; the motion controller is used to store and execute cam curves, establish electronic cam coupling relationship, generate new cam curves when process parameters change, and execute the method steps of any one of claims 1-7 to realize real-time switching of cam curves.

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