Programmable intelligent circular weaving machine heald lifting device and method

Abstract

The invention relates to the technical field of textile machinery, and provides a programmable intelligent circular weaving machine heald lifting device and method.The system comprises a rack, a linear servo motor array, a heald lifting rod shaped like a Chinese character'zhong ', a precise guide mechanism and an intelligent control system; the linear servo motor array is composed of a plurality of linear servo motors which are arranged in a multi-circle concentric circle mode in the radial direction, a movable rod of each motor is directly connected with the tail end of a heald raising rod shaped like a Chinese character'zhong 'through a rigid coupler, independent control of one motor and one rod is achieved, and the intelligent control system generates a multi-circle dynamic curved surface based on fabric pattern data. The linear servo motor array is driven to cooperatively act, and warp lifting is accurately controlled. A traditional mechanical heald lifting mechanism is omitted, digitalization, high precision and high flexibility of heald lifting of the circular weaving machine are achieved, and the circular weaving machine is particularly suitable for weaving of complex structures of textiles for industries such as high-performance fire hoses and the like.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of textile machinery, and particularly relates to a programmable intelligent heald lifting device of a circular weaving machine and a control method. BACKGROUND

[0002] In the weaving process of the circular weaving machine for industrial textiles such as fire hoses, the heald lifting device is a core component, which precisely controls the lifting movement of each heald frame (or heald rod) according to the fabric organization law, so that the warp yarn is layered to form a shed, and the weft yarn is introduced, thereby interweaving into a cylindrical fabric of a specific structure.

[0003] The precision, speed and stability of the warp yarn lifting directly determine the weaving quality, production efficiency and product performance (such as pressure resistance) of the water hose. At present, the traditional water hose circular weaving machine generally uses mechanical heald lifting devices, such as line dividing wheel cam mechanisms and crank connecting rod mechanisms. These devices rely on complex mechanical transmission and have the following inherent disadvantages: 1. Poor flexibility: changing the fabric pattern requires replacing or adjusting mechanical components such as cams and connecting rods, which takes a long time to debug and is difficult to adapt to flexible production requirements of small batches and multiple varieties.

[0004] 2. Limited precision and speed: mechanical transmission has gaps, inertia impact and long-term running wear, resulting in inaccurate heald frame movement trajectory and slow dynamic response, which makes it difficult to meet the requirements of high-speed and high-precision weaving, and easily causes uneven fabric structure and density fluctuations, affecting the pressure resistance of the water hose.

[0005] 3. High maintenance cost: there are many mechanical components and they wear out quickly, requiring frequent lubrication, adjustment or replacement, long downtime for maintenance, and high overall operating costs.

[0006] 4. Low level of intelligence: it is difficult to integrate sensors and real-time control systems, making it impossible to monitor the heald lifting process online, dynamically compensate and optimize the process, and restricting the improvement of production automation and informatization level.

[0007] Therefore, there is an urgent need in the field for a new type of intelligent heald lifting device and control method that is simple in structure, fast in response, accurate in control, easy to program and high in reliability, to break through the technical bottlenecks of existing mechanical heald lifting systems. SUMMARY

[0008] The purpose of the present application is to provide a programmable intelligent heald lifting device of a circular weaving machine and a control method to overcome the shortcomings of the prior art. The present application aims to provide a new type of heald lifting device and control method that discards mechanical transmission dependence, has high dynamic response, is independently controllable and integrates intelligent collaborative algorithms, to fundamentally break through the technical bottlenecks of the heald lifting process of the circular weaving machine.

[0009] The technical solution of the present application is: In a first aspect, the present application provides a programmable intelligent heald lifting device for a circular weaving machine, comprising: a frame, an array of linear servo motors, a plurality of N-shaped heald lifting rods, a precision guide mechanism, and an intelligent control system. The frame serves as a support structure for the entire device and is used to fixedly mount all other components. The array of linear servo motors is composed of a plurality of linear servo motors, which are fixed to the frame in a concentric circle arrangement with multiple turns in the radial direction. The output end of the moving rod of each linear servo motor is connected directly and rigidly to the end of the corresponding N-shaped heald lifting rod through a coupling. The N-shaped heald lifting rods are one-to-one corresponding to the number of linear servo motors. The longitudinal shaft of each N-shaped heald lifting rod is a straight optical axis, and its end is directly and rigidly connected to the moving rod of the corresponding linear servo motor through a coupling, forming an independent heald lifting unit. Two cross beams are provided on the straight optical axis for mounting healds. The precision guide mechanism includes a set of linear sliding bearings fixed to the frame, which cooperate with the shaft of each N-shaped heald lifting rod, i.e., the straight optical axis, to constrain the shaft to only move vertically along its axis, preventing lateral movement. The intelligent control system includes a main controller, an array of linear servo motor drivers, and a human-machine interface. The main controller has a multi-turn dynamic surface generation cooperative control algorithm built-in. The main controller is electrically connected to the array of linear servo motors through the array of linear servo motor drivers. The human-machine interface is in communication with the main controller.

[0010] Further, the array of linear servo motors is arranged in multiple concentric circles in the radial direction, with two, three, or four turns, configured according to the warp density of the woven fabric. The number of linear servo motors in each circle is consistent and evenly distributed along the circumference. The linear servo motors of adjacent circles are arranged in a straight line from the inner circle to the outer circle at the corresponding position.

[0011] Further, the coupling is a rigid coupling.

[0012] Further, the cross beams of the N-shaped heald lifting rods are provided with equally spaced mounting holes for fixedly mounting healds. The number of healds mounted on each cross beam is 2 to 8.

[0013] Further, the two linear sliding bearings are installed at the upper and lower ends of the N-shaped heald lifting rod stroke. The inner ring of the linear sliding bearing is clearance-fitted with the outer ring of the straight optical axis, and the outer ring of the linear sliding bearing is installed in the bearing seat on the frame through interference fit.

[0014] Furthermore, the main controller of the intelligent control system is an industrial computer or a high-performance programmable logic controller; the multi-turn dynamic surface generation collaborative control algorithm runs on the main controller, which can parse the input fabric pattern data into the target position sequence that each linear servo motor on each radial turn needs to reach within each weft weaving cycle, and fit the discrete position sequence into a motion trajectory curve that changes continuously with time through a cubic spline interpolation algorithm.

[0015] Furthermore, the cooperative control algorithm adopts an adjacent coupling control strategy or a virtual master control synchronization strategy; In the adjacent coupling control strategy, the control commands for each linear servo motor not only depend on its own target trajectory, but also incorporate the position and velocity status feedback from adjacent motors, through coupling terms. To suppress synchronization errors between motors, among which, For the motor number, For motor Tracking error, For motor Speed ​​error, Collect the motors from its neighbors. The coupling coefficient; These are the position gain and speed gain of the motor controller, respectively. For motor The actual location, motor Target location; In the virtual master synchronization strategy, a virtual master motor is specified to generate a reference motion trajectory, and all slave motors track this reference trajectory through a cross-coupling compensator.

[0016] Secondly, the present invention provides a control method for a heddle-lifting device on an intelligent circular loom, the method comprising the following steps: S1. Pattern Analysis and Dynamic Surface Generation: The intelligent control system receives fabric pattern data through the human-machine interface, uses the main controller to analyze the file, obtains the warp yarn rise and fall pattern of each weft, and generates dynamic target surface data corresponding to the radial multi-turn linear servo motor array changing over time. S2. Multi-motor cooperative control: Based on the dynamic target surface data, the main controller adopts a cooperative control strategy of adjacent coupling or virtual main control. In each control cycle, it obtains real-time commands for each linear servo motor and sends them to the corresponding linear servo motor to coordinate the motion timing and position of all motors. S3, Precision Position Closed-Loop Control: Each linear servo motor receives commands and uses the internally integrated position sensor to feed back the actual displacement to form a closed-loop control, adjusting the output in real time to ensure accurate positioning of the T-shaped lifting rod; S4, state monitoring and adaptive adjustment: the intelligent control system collects the current and temperature parameters of each linear servo motor in real time, performs fault diagnosis, and can dynamically adjust the instruction parameters in S2 according to the real-time weaving spindle speed signal.

[0017] Further, S1 comprises: the intelligent control system receives the fabric pattern data through the man-machine interaction interface, parses the file by using the main controller, extracts the fabric organization rule, that is, the lifting state of each position of warp yarn when each weft is introduced, and maps the lifting state to a specific target height value based on a preset heald lifting stroke; For the radial multi-turn linear servo motor array, the target height values of all the motors corresponding to each weft are taken as a two-dimensional data frame, and the data frames of continuous multiple wefts are arranged along the time axis, and a multi-turn dynamic curved surface generation cooperative control algorithm is generated, and a target position trajectory curve continuously changing with time is generated for each motor, and all the trajectory curves constitute a dynamic target curved surface data describing the evolution of the whole heald lifting surface shape.

[0018] Further, S3 comprises: each linear servo motor receives an instruction, drives the dynamic rod to move the middle-shaped heald rod; each linear servo motor is internally integrated with a position sensor, which detects the actual displacement of the dynamic rod in real time and feeds the displacement feedback value back to the linear servo motor driver; the target position and the actual feedback position are compared to generate an error signal, and the current output of the motor is adjusted in real time to eliminate the tracking error.

[0019] The present application has the following beneficial effects: 1. Extremely high motion control precision and dynamic response speed are achieved. Since linear servo motors are used for direct driving, all intermediate mechanical transmission links are eliminated, and positioning errors and hysteresis caused by gear clearances, connecting rod hinge clearances, cam profile errors and transmission chain elastic deformations are fundamentally eliminated. The system has fast dynamic response and high positioning accuracy (up to ±0.01 mm), the formed shed boundary is clear and stable in shape, ensuring the uniformity and tightness of warp and weft interlacing, and significantly improving the pressure resistance and structural uniformity of products such as fire hose.

[0020] 2. Excellent production flexibility and programming flexibility are provided. The change of fabric pattern is completely realized by software, and only needs to import or modify a new organization file on the man-machine interaction interface, and the control system can automatically parse and generate new motor motion trajectories. Without changing any mechanical parts (such as cam plates) or performing complex mechanical adjustments, "one-key production change" from one fabric organization to another fabric organization is realized, the production change time is shortened from several hours in traditional mechanical type to several minutes, perfectly adapting to the flexible production demand of multi-variety, small-batch and customization.

[0021] 3. Significantly improve the system reliability and maintainability, reduce the life cycle cost. The device structure is greatly simplified, the number of moving parts is greatly reduced, only contains linear servo motor, middle type heald rod and guide bearing. Fewer mechanical wear points, no periodic impact load, long service life of key components. Intelligent monitoring and early warning function based on state, support predictive maintenance, avoid unplanned downtime, long overall maintenance period, operation and maintenance cost is significantly lower than traditional mechanical heald device.

[0022] 4. Improve the intelligent level of the system. The integrated multi-loop dynamic curved surface generation and cooperative control algorithm not only realizes the precise synchronization of multi-motor, but also optimizes the parameters according to the real-time working condition. Comprehensive state monitoring and fault diagnosis capability provides a solid data foundation and control platform for process parameter optimization, quality traceability and integration into higher level intelligent manufacturing system.

[0023] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the figures, and wherein:

[0025] Figure 1 A programmable intelligent heald device structure diagram of a circular weaving machine is shown.

[0026] Figure 2 A linear servo motor distribution diagram according to one embodiment of the present application is shown.

[0027] Figure 3 A structure diagram of a middle type heald rod according to one embodiment of the present application is shown.

[0028] Figure 4 A side view of Figure 3 is shown.

[0029] In the figure: 1, linear servo motor; 2, shaft coupling; 3, linear guide shaft; 4, linear sliding bearing; 5, cross beam; 6, heald wire; 7, machine frame. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein.

[0031] Example one: Referring to Figures 1-4The programmable intelligent heald lifting device of the present embodiment comprises a rack 7, a linear servo motor array, a middle-shaped heald lifting rod, a precision guiding mechanism and an intelligent control system. The rack 7, as the supporting structure of the whole device, is used for fixedly mounting all other components, and its structural design can meet the overall rigidity requirement to withstand the reaction force generated when the linear servo motor array operates and to suppress vibration. The linear servo motor array is composed of a plurality of linear servo motors 1, which are fixed on the rack 7 in a concentric circle arrangement mode with multiple circles in the radial direction. The output end of the moving rod of each linear servo motor 1 is directly connected with the end of the corresponding middle-shaped heald lifting rod through a shaft coupling 2. Specifically, according to the requirements of the weaving process, the linear servo motor array is fixedly mounted on the rack in a concentric circle mode with 2, 3 or 4 circles in the radial direction. The number of linear servo motors 1 on each circle is consistent and uniformly distributed along the circumference. The linear servo motors 1 of adjacent circles are arranged in a straight line from the inner circle to the outer circle at the corresponding positions. Each linear servo motor itself is a complete mechatronic unit. The moving rod of the motor serves as the output end of linear motion. The stroke is designed according to the maximum lifting height of the heald frame required by the fabric organization. The typical stroke range is 50-150 mm. The peak thrust, continuous thrust and maximum speed of the motor need to be matched and selected according to the total motion mass of the heald lifting rod, heald and warp yarn, and the maximum heald lifting acceleration required by the process.

[0032] The number of middle-shaped heald lifting rods corresponds to the number of linear servo motors 1. The longitudinal rod body of each middle-shaped heald lifting rod is a straight light axis 3, the end of which is directly and rigidly connected with the moving rod of the corresponding linear servo motor 1 through a shaft coupling 2, forming an independent heald lifting unit. Two cross beams 5 are arranged on the straight light axis 3 for mounting healds 6. Specifically, the shaft coupling 2 is a rigid shaft coupling. The cross beam part of the middle-shaped heald lifting rod is connected perpendicularly with the longitudinal rod body, forming a "middle" shaped structure. The cross beam 5 is provided with equidistantly distributed mounting holes or standardized clamping grooves for fixedly mounting healds 6. Usually 2-8 healds 6 are mounted on each cross beam 5, and the specific number is determined according to the fabric warp density and arrangement circle number. The healds are fastened on the cross beam by special clamps or bolts to ensure that they will not loosen during high-speed reciprocating motion.

[0033] The precision guiding mechanism comprises a group of linear sliding bearings 4 fixedly mounted on the rack 7, which cooperate with the rod body, i.e. the straight light axis 3, of each middle-shaped heald lifting rod to constrain the rod body to only vertically lift along its axial direction, preventing lateral sway. Specifically, the two linear sliding bearings 4 are respectively installed at the upper and lower ends of the stroke of the U-shaped lifting rod; the inner ring of the linear sliding bearing 4 is clearance-fitted with the outer ring of the linear optical axis 3, and the outer ring of the linear sliding bearing 4 is installed in the bearing seat on the frame 1 by interference fit.

[0034] The intelligent control system includes a main controller, a linear servo motor driver array, and a human-machine interface. The main controller has a built-in multi-turn dynamic surface generation and collaborative control algorithm. The main controller is electrically connected to the linear servo motor array through the linear servo motor driver array, and the human-machine interface is communicatively connected to the main controller.

[0035] Specifically, the main controller of the intelligent control system is an industrial computer or a high-performance programmable logic controller; the multi-turn dynamic surface generation collaborative control algorithm runs on the main controller, which can parse the input fabric pattern data into the target position sequence that each linear servo motor 1 on each radial turn needs to reach within each weft weaving cycle, and fit the discrete position sequence into a motion trajectory curve that changes continuously with time through a cubic spline interpolation algorithm.

[0036] The cooperative control algorithm employs either an adjacent coupling control strategy or a virtual master synchronization strategy. In the adjacent coupling control strategy, the control command of each linear servo motor (1) not only depends on its own target trajectory, but also introduces the position and speed state feedback of the adjacent motors, through the coupling term To suppress synchronization errors between motors, among which, For the motor number, For motor Tracking error, For motor Speed ​​error, Collect the motors from its neighbors. The coupling coefficient; These are the position gain and speed gain of the motor controller, respectively. For motor The actual location, motor Target location; In the virtual master synchronization strategy, a virtual master motor is specified to generate a reference motion trajectory, and all slave motors track this reference trajectory through a cross-coupling compensator.

[0037] Example 2: This invention provides a control method for a heddle-lifting device on an intelligent circular loom, the method comprising the following steps: S1, pattern analysis and dynamic surface generation: the intelligent control system receives fabric pattern data through a human-computer interaction interface, parses the file using a main controller, obtains the lifting law of each warp yarn, and generates dynamic target surface data corresponding to the radial multi-turn linear servo motor array changing over time; Specifically, the intelligent control system receives fabric pattern data through a human-computer interaction interface, parses the file using a main controller, extracts the fabric organization law, i.e. the lifting state of the warp yarn at each position in the radial direction at the time of each weft insertion, and maps the lifting state to a specific target height value based on a preset heald lifting stroke. For the radial multi-turn linear servo motor array, the target height values of all the motors corresponding to each weft are arranged as a two-dimensional data frame, and the data frames of continuous multiple wefts are arranged along the time axis. A multi-turn dynamic surface generation cooperative control algorithm is used to generate a target position trajectory curve that changes continuously over time for each motor. All the trajectory curves constitute a dynamic target surface data that describes the evolution of the whole heald lifting surface shape.

[0038] For example: set "up" to correspond to a target height of +50 mm and "down" to correspond to a target height of 0 mm. For the radial multi-turn motor array, the target height values of all the motors corresponding to each weft are arranged according to their physical positions in the array to form a two-dimensional data frame. The data frames of continuous multiple wefts are arranged along the time axis, and the target position sequence of each motor itself is smoothed along the time axis. A cubic spline interpolation algorithm is used to generate a smooth motion trajectory curve that is continuous over time and second-order derivable for each motor. The trajectory curves of all the motors together constitute a dynamically changing virtual surface in space and time, accurately describing the evolution of the whole heald lifting surface shape with weft sequence.

[0039] S2, multi-motor cooperative control: the main controller uses a cooperative control strategy of adjacent coupling or virtual master control to obtain the real-time instructions of each linear servo motor in each control period and issue them to the corresponding linear servo motor, coordinating the motion timing and position of all the motors. Specifically, the embodiment provides two cooperative control strategies.

[0040] The first one is the adjacent coupling control strategy. The instruction generation of each motor controller not only depends on its own target trajectory, but also introduces real-time state feedback of its neighbor motors, actively suppressing position error and speed error between motors by introducing a coupling term.

[0041] The second is a virtual master synchronization strategy. A virtual master motor is specified, whose trajectory is generated by the target surface data, serving as the reference for global synchronization. All slave motors track this reference trajectory through a cross-coupling compensator, which calculates the phase and amplitude differences between the slave motors and the virtual master motor in real time, and adjusts the control commands of the slave motors to eliminate these differences, thereby achieving global synchronization of the entire motor array. Regardless of the strategy adopted, the master controller calculates the real-time target position, speed, and feed-forward torque command at each cycle, which is transmitted to the corresponding linear servo motor driver.

[0042] S3, precise position closed-loop control: each linear servo motor 1 receives instructions and uses the internal integrated position sensor to feedback the actual displacement to form a closed-loop control, which adjusts the output in real time to ensure the positioning accuracy of the H-shaped heald rod; Specifically, each linear servo motor 1 receives instructions and drives the dynamic rod to move the H-shaped heald rod; each linear servo motor 1 is internally integrated with a position sensor that detects the actual displacement of the dynamic rod in real time and feeds the displacement feedback value back to the linear servo motor driver; the target position is compared with the actual feedback position to generate an error signal, and the current output of the motor is adjusted in real time to eliminate the tracking error. Through closed-loop control, the final positioning accuracy of each H-shaped heald rod is ensured to be within ±0.01 millimeters, providing a fundamental guarantee for forming a clear boundary and stable shape of the shed.

[0043] S4, state monitoring and adaptive adjustment: the intelligent control system collects the current and temperature parameters of each linear servo motor in real time, performs fault diagnosis, and can dynamically adjust the instruction parameters in S2 according to the real-time weaving spindle speed signal.

[0044] The system collects various data feedback from each linear servo motor driver in real time, including the instantaneous current value, current effective value, and real-time temperature of the motor winding. The master controller is built-in with a rule-based expert system and a data-based analysis model. For example, by analyzing the fluctuation spectrum of the motor phase current, it can identify abnormal increase of specific frequency components caused by mechanical jamming or sudden load changes. By monitoring the rising rate of winding temperature and comparing it with the current and ambient temperature to establish a thermal model, potential overload or poor heat dissipation failures can be warned. When a fault is determined, different levels of response such as audible and light alarms, speed reduction or immediate safe shutdown will be triggered according to the fault level.

[0045] At the same time, the system has adaptive adjustment capability. The master controller receives the speed pulse signal from the circular loom spindle in real time. According to the current actual weaving speed, the system dynamically adjusts the parameters of the cooperative control algorithm in step S2 to ensure optimal synchronization performance and shed quality under different working conditions.

[0046] Having described various embodiments of the application, it is to be understood that the above description is meant to be illustrative only, and that many modifications and variations of the embodiments are possible without departing from the scope and spirit of the described embodiments. Many modifications and variations of the described embodiments are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the described embodiments can be practiced otherwise than as specifically described.

Claims

1. A programmable intelligent circular loom heddle-lifting device, characterized in that... include: The frame (7), linear servo motor array, Chinese-shaped heddle rod, precision guide mechanism and intelligent control system; The frame (7) serves as the support structure for the entire device and is used to fix and install all other components; The linear servo motor array consists of multiple linear servo motors (1). The multiple linear servo motors (1) are fixed on the frame (7) in a radial arrangement of multiple concentric circles. The output end of the moving rod of each linear servo motor (1) is linearly connected to the end of the corresponding Chinese character-shaped heddle rod through a coupling (2). The number of the Chinese character-shaped lifting rods corresponds one-to-one with the number of linear servo motors (1). The longitudinal shaft of each Chinese character-shaped lifting rod is a linear optical shaft (3). Its end is directly and rigidly connected to the moving rod of the corresponding linear servo motor (1) through a coupling (2) to form an independent lifting unit. The linear optical shaft (3) is provided with two horizontal beams (5) for installing heddles (6). The precision guide mechanism includes a set of linear sliding bearings (4) fixed to the frame (7) at the top and bottom, which cooperate with the rod body of each Chinese-shaped lifting rod, i.e., the linear optical axis (3), to constrain the rod body to only move vertically up and down along its axial direction and prevent lateral swaying; The intelligent control system includes a main controller, a linear servo motor driver array, and a human-machine interface. The main controller has a built-in multi-turn dynamic surface generation and collaborative control algorithm. The main controller is electrically connected to the linear servo motor array through the linear servo motor driver array, and the human-machine interface is communicatively connected to the main controller.

2. The programmable intelligent circular loom heald lifting device according to claim 1, characterized in that, The linear servo motor array is arranged in a radial pattern of multiple concentric circles, with the number of circles being two, three, or four, depending on the warp density of the woven fabric. The number of linear servo motors (1) on each circle is consistent and evenly distributed along the circumference. The linear servo motors (1) of adjacent circles are arranged in a straight line from the inner circle to the outer circle at corresponding positions.

3. The programmable intelligent circular loom heddle-lifting device according to claim 1, characterized in that, The coupling (2) is a rigid coupling.

4. The programmable intelligent circular loom heddle-lifting device according to claim 1, characterized in that, The crossbeam (5) of the Chinese-shaped heddle rod is provided with equally spaced mounting holes for fixing and installing heddles (6). The number of heddles installed on each crossbeam (5) is 2 to 8.

5. The programmable intelligent circular loom heddle-lifting device according to claim 1, characterized in that, The two linear sliding bearings (4) are respectively installed at the upper and lower ends of the stroke of the T-shaped lifting rod; The inner ring of the linear sliding bearing (4) is clearance-fitted with the outer ring of the linear optical axis (3), and the outer ring of the linear sliding bearing (4) is installed in the bearing seat on the frame (1) by interference fit.

6. The programmable intelligent circular loom heald lifting device according to claim 1, characterized in that, The main controller of the intelligent control system is an industrial computer or a high-performance programmable logic controller; the multi-circle dynamic surface generation collaborative control algorithm runs on the main controller and can parse the input fabric pattern data into the target position sequence that each linear servo motor (1) on each radial circle needs to reach in each weft weaving cycle, and fit the discrete position sequence into a motion trajectory curve that changes continuously with time through a cubic spline interpolation algorithm.

7. The programmable intelligent circular loom heddle-lifting device according to claim 6, characterized in that, The collaborative control algorithm adopts an adjacent coupling control strategy or a virtual master synchronization strategy. In the adjacent coupling control strategy, the control command of each linear servo motor (1) not only depends on its own target trajectory, but also introduces the position and speed state feedback of the adjacent motors, through the coupling term To suppress synchronization errors between motors, among which, For the motor number, For motor Tracking error, For motor Speed ​​error, Collect the motors from its neighbors. The coupling coefficient; These are the position gain and speed gain of the motor controller, respectively. For motor The actual location, motor The target location; In the virtual master synchronization strategy, a virtual master motor is specified to generate a reference motion trajectory, and all slave motors track this reference trajectory through a cross-coupling compensator.

8. A control method for the heddle-lifting device of an intelligent circular loom according to any one of claims 1 to 7, characterized in that, The method includes the following steps: S1. Pattern Analysis and Dynamic Surface Generation: The intelligent control system receives fabric pattern data through the human-machine interface, uses the main controller to analyze the file, obtains the warp yarn rise and fall pattern of each weft, and generates dynamic target surface data corresponding to the radial multi-turn linear servo motor array changing over time. S2. Multi-motor cooperative control: Based on the dynamic target surface data, the main controller adopts a cooperative control strategy of adjacent coupling or virtual main control. In each control cycle, it obtains real-time commands for each linear servo motor and sends them to the corresponding linear servo motor to coordinate the motion timing and position of all motors. S3, Precision position closed-loop control: Each linear servo motor (1) receives instructions and uses the internally integrated position sensor to feed back the actual displacement to form a closed-loop control, and adjusts the output in real time to ensure the accurate positioning of the Chinese character lifting rod; S4. Status monitoring and adaptive adjustment: The intelligent control system collects the current and temperature parameters of each linear servo motor (1) in real time, performs fault diagnosis, and can dynamically adjust the command parameters in S2 according to the real-time weaving spindle speed signal.

9. The control method according to claim 8, characterized in that... S1 includes: The intelligent control system receives fabric pattern data through a human-machine interface, uses the main controller to parse the file, extracts the fabric structure pattern, that is, the rising and falling state of the warp yarns at each radial position when each weft is introduced, and maps the rising and falling state to a specific target height value based on the preset heald rod rising and falling stroke. For a radial multi-turn linear servo motor array, the target height values ​​of all motors corresponding to each dimension are taken as a two-dimensional data frame, and the data frames of multiple dimensions are arranged along the time axis. Through the multi-turn dynamic surface generation collaborative control algorithm, a target position trajectory curve that changes continuously with time is generated for each motor. All trajectory curves constitute dynamic target surface data describing the evolution of the entire heddle surface morphology.

10. The control method according to claim 8, characterized in that S3 include: Each linear servo motor (1) receives a command and drives the lever to move the T-shaped lifting rod. Each linear servo motor (1) has a position sensor integrated inside to detect the actual displacement of the moving rod in real time and send the displacement feedback value back to the linear servo motor driver. The target position is compared with the actual feedback position to generate an error signal, and the motor current output is adjusted in real time to eliminate tracking error.

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