A method for slow-stop control for synchronous operation of jacquard looms and weaving machines

Abstract

This invention discloses a slow-stop control method for the synchronous operation of a jacquard loom and a weaving machine, relating to the field of automatic control technology for textile machinery. It includes steps S1 to S7: after the weaving machine enters the slow-stop phase, a trajectory recording process is initiated, the first stage of controlled deceleration of the jacquard loom shaft is executed, and then the residual angle of the jacquard loom shaft after stopping is compensated based on the residual motion trajectory of the first stage of the weaving machine shaft. By shifting the stop identification from processing after complete stopping to intervening when the deceleration trend appears, the synchronization error at the moment of stopping is significantly reduced. Compensating for the angle at the end of the stop, recording and replaying the residual trajectory after stopping, can cover complex working conditions such as inertial gliding, segmented residual motion, and rebound. Based on the fact that the post-stop trajectory can still maintain the temporal consistency of automatic heddle leveling and weft finding functions during the slow-stop process, the method achieves synchronous operation, slow-stop compensation, and post-stop motion replay control between the electronic jacquard loom and the weaving machine shaft, ensuring that the jacquard loom and the weaving machine maintain temporal consistency throughout the entire stopping process and are synchronized upon restarting.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for textile machinery, and in particular to a slow-stop control method for synchronous operation of jacquard machines and looms. Background Technology

[0002] In existing jacquard loom and weaving machine linkage control systems, a common practice is to directly cut off the jacquard loom's operating pulses or simply perform a deceleration stop after detecting that the weaving machine has stopped. This approach has the following problems.

[0003] 1. When a loom comes to a complete stop from high speed, there is usually inertial slippage. The loom spindle will continue to rotate a certain angle after the stop command is issued. If no slow-stopping measures are taken, the large inertia of the jacquard loom will cause a huge mechanical impact on the jacquard loom mechanism. The accumulation of impact over a long period of time will lead to mechanical damage to the jacquard loom motor or spindle.

[0004] 2. If the jacquard machine is only stopped when a stop is detected, it will be out of sync with the residual angular displacement of the loom, resulting in misalignment of the timing of actions such as the last weft, heddle leveling, and weft finding.

[0005] 3. During the residual motion phase after shutdown, if the auxiliary output signals such as automatic heddles leveling, front weft finding, and back weft finding cannot continue to execute according to the actual residual trajectory, it will cause fabric defects, mechanical interference, or position disorder when restarting.

[0006] 4. Under different machine models, different drives, and different operating conditions, the slow-stop angle, slow-stop speed, and brake timing vary significantly, and the fixed strategy has poor adaptability.

[0007] Therefore, the timing inconsistency between the jacquard machine and the loom during the entire shutdown process, and their asynchronous restart, has become a pressing technical problem that needs to be solved. Summary of the Invention

[0008] This invention provides a slow-stop control method for synchronizing the operation of a jacquard machine and a loom, solving the technical problem of inconsistent timing between the jacquard machine and the loom during the entire shutdown process and asynchrony upon restart.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A slow-stop control method for synchronizing the operation of a jacquard loom and a weaving machine, based on a slow-stop control device for synchronizing the operation of the jacquard loom and the weaving machine, includes the following steps: Step S1: The main controller obtains the real-time angular position of the loom spindle and the jacquard machine spindle, and obtains the angular velocity of the loom spindle and the angular velocity of the jacquard machine spindle through angular velocity estimation; Step S2: When the absolute value of the loom spindle angular velocity is higher than the first threshold and continues to reach the preset time or preset number of samplings, it is determined that the slow stop control device is synchronized. Step S3: After determining that the slow stop control device is synchronized, the continuously obtained loom spindle angular velocities are sequenced, and the current average angular velocity and the historical maximum angular velocity of the loom spindle are calculated using a sliding speed window. Step S4: When the decrease in the current average angular velocity of the loom spindle relative to the historical maximum angular velocity exceeds a preset threshold and continues to meet a preset number of times, the loom is determined to enter the slow stop phase. Step S5: After determining that the loom has entered the slow stop stage, the main controller starts the trajectory recording process to record the loom spindle stopping and decelerating trajectory until the loom spindle stops, thus obtaining the slow stop trajectory of the loom spindle. Step S6: The main controller executes the first stage of controlled deceleration of the jacquard machine shaft, causing the jacquard machine shaft to stop slowly while idling; Step S7: After the first section of controlled deceleration of the jacquard machine shaft is completed, the main controller performs post-stop residual angle compensation on the jacquard machine shaft according to the residual motion trajectory of the first section of the loom main shaft in the slow-stop trajectory.

[0010] A further technical solution is as follows: the slow-stop control device includes a loom spindle, a jacquard loom spindle driver, a loom spindle angle acquisition unit, a jacquard loom spindle position feedback unit, a main controller, a jacquard drive execution unit, an auxiliary action input / output unit, a safety stop execution unit, and a parameter storage unit. The loom spindle angle acquisition unit is connected to the loom spindle. The loom spindle angle acquisition unit is electrically connected to the main controller and communicates unidirectionally. The main controller is electrically connected to the auxiliary action input / output unit and communicates bidirectionally. The main controller is electrically connected to the parameter storage unit and communicates bidirectionally. The main controller is electrically connected to the jacquard drive execution unit and communicates unidirectionally. The main controller is electrically connected to the safety stop execution unit and communicates unidirectionally. The safety stop execution unit is electrically connected to the jacquard drive execution unit and communicates unidirectionally. The jacquard drive execution unit is electrically connected to the jacquard loom spindle driver and communicates unidirectionally. The jacquard loom spindle driver is electrically connected to the jacquard loom spindle position feedback unit and communicates unidirectionally.

[0011] A further technical solution is as follows: in step S1, the angular velocity estimation adopts a tracking filter algorithm, Kalman filter, or differential filter; in step S3, the sampling period is 2ms, and the sliding velocity window length is 8 angular velocity samples.

[0012] A further technical solution is that, in step S2, when the absolute value of the loom spindle angular velocity is lower than the second threshold, it is determined that the slow-stop control device is out of sync.

[0013] A further technical solution is that, in step S4, the main controller is superimposed with the functions of synchronous operation being effective, slow-stop function being enabled, not currently in an abnormal state, and not yet entering a slow-stop state, so as to improve the reliability of the judgment.

[0014] A further technical solution is as follows: In step S5, after determining that the loom has entered the slow stop stage, the main controller clears the previous loom stop trajectory cache, sets the loom spindle stop deceleration status flag, and then starts the trajectory recording process; after obtaining the loom spindle slow stop trajectory, the main controller switches the jacquard drive from the normal synchronous output mode to the external angle trajectory output mode.

[0015] A further technical solution is as follows: In step S6, the main controller executes the first stage of controlled deceleration of the jacquard machine shaft, including generating the first stage angular position-angular velocity deceleration trajectory of the jacquard machine shaft based on the current synchronization deviation of the jacquard machine shaft, the current operating angular velocity of the jacquard machine shaft, and the preset number of buffer cycles; superimposing the angle corresponding to the current synchronization deviation and the preset number of buffer cycles to obtain the target deceleration angular position of the first stage of controlled deceleration; generating deceleration trajectory parameters based on the current operating angular velocity of the jacquard machine shaft and the preset minimum angular velocity; gradually updating the output angular position of the jacquard machine shaft according to the control cycle, and converting the output angular position into pulse count and direction signal to send to the jacquard drive execution unit.

[0016] A further technical solution is as follows: In step S7, the step of performing post-stop residual angle compensation on the jacquard machine shaft based on the residual motion trajectory of the first segment of the loom main shaft in the slow-stop trajectory includes reading the starting angle position, cumulative motion angle and ending angle position of the residual motion trajectory of the first segment of the loom main shaft, generating the second segment compensation trajectory of the jacquard machine shaft, driving the jacquard machine shaft to follow to the corresponding target synchronous endpoint; restoring the weft stop signal output so that the weft stop action matches the residual motion of the first segment after the loom stops.

[0017] A further technical solution includes step S8 following step S7. Step S8: If there are multiple segments of residual motion, springback, or post-stop motion continuation after the first segment of the loom spindle's residual motion trajectory, the main controller will replay the jacquard loom spindle trajectory.

[0018] A further technical solution is as follows: In step S8, the step of the main controller replaying the jacquard machine shaft trajectory includes the main controller reading each trajectory segment in sequence, generating a corresponding compensation output trajectory based on the starting angle position, cumulative motion angle and motion direction of each trajectory segment; after each trajectory compensation is completed, the main controller switches the current trajectory index to the next trajectory segment until all trajectory segments are compensated.

[0019] The beneficial effects of adopting the above technical solution are as follows: A slow-stop control method for synchronous operation of a jacquard loom and a weaving machine, based on a slow-stop control device for synchronous operation of the jacquard loom and the weaving machine, includes steps S1 to S7. When the absolute value of the angular velocity of the weaving machine spindle is higher than a first threshold and continues to reach a preset time or a preset number of samplings, the slow-stop control device is determined to be synchronized. The continuously obtained angular velocities of the weaving machine spindle are formed into a sequence, and the current average angular velocity and the historical maximum angular velocity of the weaving machine spindle are calculated using a sliding speed window. When the decrease in the current average angular velocity of the weaving machine spindle relative to the historical maximum angular velocity exceeds a preset threshold and continues to meet a preset number of samplings, the weaving machine is determined to enter the slow-stop stage. The main controller starts the trajectory recording process to record the stopping and deceleration trajectory of the weaving machine spindle until the weaving machine spindle stops, obtaining the slow-stop trajectory of the weaving machine spindle. The main controller executes the first stage of controlled deceleration of the jacquard machine spindle, causing the jacquard machine spindle to idle and slow-stop. The main controller performs post-stop residual angle compensation on the jacquard machine spindle based on the residual motion trajectory of the first stage of the weaving machine spindle in the slow-stop trajectory. By shifting the stop detection from processing after the machine has come to a complete stop to intervening when a deceleration trend appears, the synchronization error at the moment of stop is significantly reduced; the end-of-stop angle is compensated, and the residual trajectory after stopping is recorded and replayed, covering complex working conditions such as inertial gliding, segmented residual motion, and rebound; based on the post-stop trajectory, the timing consistency of automatic heddle leveling and weft finding functions can still be maintained during the slow-stop process; the control of synchronous operation, slow-stop compensation, and post-stop action replay between the electronic jacquard machine and the loom spindle is realized, so that the timing of the jacquard machine and the loom is consistent throughout the entire stop process and synchronized when restarted. Attached Figure Description

[0020] Figure 1 This is a block diagram of the braking control device. Figure 2 This is a flowchart of the easing and stopping steps. Detailed Implementation

[0021] The purpose of this application is to provide a jacquard loom slow-stop control scheme, which enables the system to identify the stopping trend in advance during the loom deceleration and stopping process, perform controlled slow-stop on the jacquard loom, and complete angle compensation and related output actions according to the actual residual trajectory after the loom stops, thereby ensuring the timing consistency of the jacquard loom and the loom during the entire stopping process and the synchronization when restarting.

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. 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.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0024] This invention discloses a slow-stop control method for synchronous operation of a jacquard machine and a loom, based on a slow-stop control device for synchronous operation of a jacquard machine and a loom, including a slow-stop step.

[0025] like Figure 1 As shown, the slow-stop control device based on the synchronous operation of the jacquard loom and the weaving machine includes at least the loom spindle, the jacquard loom spindle driver, the loom spindle angle acquisition unit, the jacquard loom spindle position feedback unit, the main controller, the jacquard drive execution unit, the auxiliary action input / output unit, the safety stop execution unit, and the parameter storage unit. The loom spindle angle acquisition unit is connected to the loom spindle. The loom spindle angle acquisition unit is electrically connected to the main controller and communicates unidirectionally. The main controller is electrically connected to the auxiliary action input / output unit and communicates bidirectionally. The main controller is electrically connected to the parameter storage unit and communicates bidirectionally. The main controller is electrically connected to the jacquard drive execution unit and communicates unidirectionally. The main controller is electrically connected to the safety stop execution unit and communicates unidirectionally. The safety stop execution unit is electrically connected to the jacquard drive execution unit and communicates unidirectionally. The jacquard drive execution unit is electrically connected to the jacquard loom spindle driver and communicates unidirectionally. The jacquard loom spindle driver is electrically connected to the jacquard loom spindle position feedback unit and communicates unidirectionally.

[0026] The loom spindle angle acquisition unit is used to acquire the absolute angular position information of the loom spindle. This unit can be an encoder from the loom itself, or an encoder can be installed on the loom spindle. The jacquard machine shaft position feedback unit is used to acquire the feedback position information and zero-position information of the jacquard machine shaft. The main controller is used to complete synchronous control, slow-stop determination, trajectory recording process, post-stop trajectory replay, final synchronous correction, and safe stop control. The jacquard drive execution unit is used to drive the jacquard machine mechanical shaft according to the pulse and direction signals output by the main controller. The auxiliary action input / output unit is used to process signals related to automatic heald leveling, front weft finding, back weft finding, and weft stop. The safe stop execution unit is used to execute safe stop actions such as prohibition pulses, brake engagement, and drive de-enabling. The parameter storage unit is used to store slow-stop related parameters and multiple sets of process parameters.

[0027] In this embodiment, the main controller can be implemented using an STM32 series controller. The loom spindle angle can be provided by an absolute encoder, and the jacquard machine shaft position can be determined by the driver feedback pulse and the zero-position signal. The main controller unifies the loom spindle angle position and the jacquard machine shaft angle position into the same annular angular space, for example, the angle range of 0 to 65535 degrees, in order to perform synchronization deviation calculation, post-stop target point calculation, and trajectory segment calculation.

[0028] In this embodiment, the control tasks are preferably executed using a hierarchical scheduling approach. The high-frequency interrupt layer preferably runs at a sampling frequency of 0.1ms or other sufficiently high frequencies to complete position acquisition, synchronization deviation updates, speed estimation, loom operating status judgment, trajectory recording process, auxiliary signal replay, and final pulse output. The low-frequency state machine layer preferably runs at a period of approximately 1ms to complete system state switching, slow stop determination, safe stop timing control, and mode switching control. Through this hierarchical structure, position and speed-related calculations maintain high real-time performance, while state management and parameter processing maintain good stability.

[0029] like Figure 2 As shown, the easing process includes steps S1 to S8, as explained below.

[0030] The focus of this application is the processing steps after the main controller gives a stop command and the loom begins to slow down.

[0031] The jacquard loom slow-stop control in this embodiment includes the following states: initialization state, zeroing state, synchronization establishment state, synchronized operation state, first stage controlled deceleration state, residual angle compensation state, trajectory replay state, final synchronization correction state, parameter setting state, and abnormal state. Specifically, the synchronized operation state is used to maintain the normal synchronization between the jacquard loom and the loom; the first stage controlled deceleration state is used to perform controlled deceleration on the jacquard loom after detecting a tendency for the loom to decelerate and stop; the residual angle compensation state is used to perform residual angle compensation on the jacquard loom based on the first stage of residual motion trajectory after the loom stops; the trajectory replay state is used to replay the multiple stages of residual motion and related auxiliary actions after the loom stops segment by segment; the final synchronization correction state is used to pull the jacquard loom back to a synchronized position where it can be restarted after all trajectory compensations are completed; and the abnormal state is used to handle situations such as excessive synchronization deviation, servo malfunction, or failure to meet safety conditions.

[0032] Step S1: Real-time acquisition of the loom spindle angular position information and the jacquard machine spindle angular position information. The loom spindle angular position information is used to estimate the angular velocity of the loom spindle, and the jacquard machine spindle angular position information is used to estimate the angular velocity of the jacquard machine spindle. The angular velocity estimation is performed using a tracking filtering algorithm, but Kalman filtering, differential filtering, or other equivalent velocity estimation methods can also be used. Through this step, the main controller can continuously obtain control quantities such as the loom spindle angular velocity, the jacquard machine spindle angular velocity, synchronization deviation, and the current output angle of the jacquard machine spindle.

[0033] Step S2: Determine whether the slow-stop control device has entered the effective synchronous operation range. When the absolute value of the loom spindle angular velocity is higher than the first threshold and continues for a preset time or a preset number of samplings, the main controller determines that the slow-stop control device has entered the effective synchronous operation range; when the absolute value of the loom spindle angular velocity is lower than the second threshold, the main controller cancels the effective synchronous operation flag. The purpose of this step is to avoid erroneous triggering of the slow-stop logic during low-speed jogging, start-up transition, or parameter debugging phases.

[0034] Step S3: After the slow-stop control device enters the effective synchronous operation range, the main controller establishes a sliding speed window based on the continuously sampled loom spindle angular velocity sequence, and calculates the current average angular velocity of the loom spindle and the historical maximum angular velocity during operation. The sampling period is 2ms, and the window length is 8 angular velocity samples, but this application is not limited to these specific values. Those skilled in the art can select other window lengths and sampling periods based on the loom inertia, driver response speed, and controller computing power.

[0035] Step S4: When the decrease in the current average angular velocity of the loom spindle relative to the historical maximum angular velocity exceeds a preset threshold, and this condition is met for a preset number of times, the main controller determines that the loom has entered the slow-stop phase. The main controller also superimposes conditions such as effective synchronous operation, slow-stop function enabled, no abnormal state currently, and no entry into slow-stop state to improve the reliability of the determination.

[0036] The loom's slow stop is a relatively quick one, referring to the time from the start of deceleration to complete stillness. The subsequent recorded loom motion trajectory refers to the loom's movement from the point of desynchronization, where its speed first drops to zero, and then there may be process movements such as forward weft finding and backward weft finding.

[0037] Unlike existing technologies that detect zero speed before stopping, this implementation intervenes in advance by recognizing the decreasing speed trend, thus enabling the jacquard loom to start slow-stop control before the loom comes to a complete stop.

[0038] Step S5: After the loom enters the slow stop determination, the main controller clears the previous loom stop trajectory cache, sets the loom spindle stop deceleration status flag, and starts the trajectory recording process to record the loom spindle stop deceleration trajectory until the loom spindle stops, thus obtaining the loom spindle slow stop trajectory. Simultaneously, the main controller switches the jacquard drive from normal synchronous output mode to external angular trajectory output mode, so that the jacquard machine spindle can be driven to move according to the first segment angular position-angular velocity deceleration trajectory generated in step S6 and the second segment compensation trajectory generated in step S7.

[0039] Step S6: The main controller executes the first stage of controlled deceleration of the jacquard machine shaft, causing the shaft to idle and gradually come to a stop. Specifically, the main controller generates the first stage angular position-angular velocity deceleration trajectory of the jacquard machine shaft based on the current synchronization deviation, the current angular velocity of the shaft, and the preset number of buffer revolutions. The main controller superimposes the current synchronization deviation with the angle corresponding to the preset number of buffer revolutions to obtain the target deceleration angle position for the first stage of controlled deceleration; then, it generates deceleration trajectory parameters based on the current angular velocity of the shaft and the preset minimum angular velocity; finally, the execution layer updates the output angular position of the jacquard machine shaft gradually according to the control cycle and converts the output angular position into pulse count and direction signals, which are then sent to the jacquard drive execution unit. The purpose of this stage is to ensure that the jacquard machine shaft decelerates smoothly first, rather than locking up immediately, thus leaving sufficient adjustment space for slow-stop compensation.

[0040] Step S7: After the controlled deceleration of the first segment of the jacquard loom shaft is completed in Step S6, the main controller performs post-stop residual angle compensation on the jacquard loom shaft based on the residual motion trajectory of the first segment of the loom shaft obtained in Step S5. Specifically, the main controller reads the starting angle position, cumulative motion angle, and ending angle position of the residual motion trajectory of the first segment of the loom shaft, generates the second segment compensation trajectory of the jacquard loom shaft, and drives the jacquard loom shaft to follow to the corresponding target synchronization endpoint. At this stage, the weft stop signal output is restored, so that the weft stop action matches the residual motion of the first segment after the loom stops. Step S6 refers to the controlled deceleration of the first segment of the jacquard loom shaft from synchronization to stop; Step S7 refers to the second segment compensation trajectory of the jacquard loom shaft, where the second segment refers to the forward and backward weft finding in Step S8.

[0041] Step S8: If, during the loom shutdown process, there are multiple segments of residual motion, springback, or continued motion after the initial segment of the loom spindle's residual motion trajectory, the main controller enters the jacquard loom spindle trajectory replay stage. During the trajectory replay stage, the main controller reads each trajectory segment sequentially and generates a corresponding compensated output trajectory based on the starting angle position, cumulative motion angle, and motion direction of each trajectory segment. After completing the compensation for each trajectory segment, the main controller switches the current trajectory index to the next trajectory segment until all trajectory segments are compensated.

[0042] In this embodiment, the trajectory recording process preferably includes the following: the starting angle position of each trajectory segment, the cumulative motion angle of each trajectory segment, the motion direction of each trajectory segment, and the starting and ending trigger angle positions of the auxiliary action signal in the corresponding trajectory segment. When the loom transitions from a moving state to a stationary state and then re-enters a moving state, the main controller determines that a new residual motion segment has occurred and establishes a new trajectory segment to continue recording. When the loom remains stationary for more than a preset time, such as 2000ms, the main controller switches the trajectory recording state to the completed state.

[0043] To ensure that the timing of auxiliary actions is not lost during the easing process, this implementation also synchronously records and replays auxiliary action signals such as automatic heddle leveling, forward weft finding, and backward weft finding. Specifically, during the trajectory recording stage, the main controller monitors the edge changes of the auxiliary action input signals; when an auxiliary action signal flips, the main controller records the cumulative angle of the corresponding trajectory segment at the time of the flip as the trigger angle position; if the same auxiliary action flips twice within the same trajectory segment, the starting trigger angle position and the ending trigger angle position are recorded respectively.

[0044] During the post-stop residual angle compensation and trajectory replay stage, the main controller no longer directly relies on the real-time angle of the loom as the replay reference, but instead uses the current output angle of the jacquard machine as the virtual post-stop motion angle reference. When this virtual post-stop motion angle reaches a certain recorded trigger angle position, the main controller flips the corresponding auxiliary action output signal. In this way, even if the loom is close to or completely stationary, the jacquard machine can still complete automatic heald leveling, front weft finding, and back weft finding actions according to the actual residual motion sequence after the loom stops, thereby ensuring the continuity of actions during the stop process and the consistency of position upon restart.

[0045] After all trajectory segment compensation and auxiliary motion replay are completed, the main controller performs final synchronization correction based on the residual synchronization deviation. Final synchronization correction uses a lower target speed and a gentler rate of angle change to reduce mechanical shock before stopping. Once the residual synchronization deviation converges to the set range, the main controller pulls the jacquard machine back to a synchronized position where it can be restarted, thus completing the entire slow-stop control process.

[0046] This embodiment also includes a safety shutdown procedure. The main controller continuously monitors the zero-speed input signal during the easing and final synchronization correction phases. The main controller also combines the speed estimation result with a dual judgment to improve the reliability of the zero-speed judgment. When the zero speed is maintained for a preset duration, the main controller preferably performs the safety shutdown action in the following order: first, it disables pulse output; second, it cancels the pre-enable; third, it applies the brake; and finally, it de-enables the drive. The purpose of this sequence is to first ensure that no new motion command is output, then limit post-stop drift through mechanical braking, and finally shut down the drive execution unit.

[0047] Regarding parameter settings, this implementation preferably stores parameters such as slow operating speed, number of slow stop buffer cycles, number of slow start buffer cycles, target speed, brake delay time, encoder type, pulse equivalent, slow stop function enable bit, and input / output valid levels in non-volatile memory. The system supports saving and switching multiple sets of parameters to adapt to different weaving processes, different jacquard loads, and different machine models. Through parameterized configuration, the slow stop response speed, slow stop smoothness, final synchronization accuracy, and safe stop sequence can be optimized without changing the main control logic.

[0048] Regarding anomaly handling, if a persistent synchronization deviation is detected, the main controller exits precise synchronization control and enters an abnormal state, while retaining the safety shutdown logic. If a valid servo fault input is detected, pulse output is preferentially disabled and pre-enabled, and trajectory compensation is no longer performed. If the trajectory recording state is incomplete but the loom has been stationary for a long time, subsequent trajectory replay can be skipped directly, and final synchronization correction can be performed. If the zero-speed input and speed estimation results are significantly contradictory, dual criteria, timeout protection, or degraded shutdown strategies can be adopted to avoid incorrect brake engagement or incorrect de-enabled operation.

[0049] In summary, the jacquard loom slow-stop control in this embodiment is not a simple deceleration function, but a complete stopping control mechanism built around the background of synchronous operation. Its core process is as follows: effective synchronous operation determination, speed trend judgment stopping, first stage controlled deceleration, post-stop residual angle compensation, multi-segment trajectory replay, auxiliary action signal replay, final synchronization correction, and safe stopping. Through the above technical solution, even under complex working conditions such as inertial stopping, segmented residual motion, post-stop rebound, and auxiliary action continuation, the consistency between the jacquard loom's actions and the actual stopping process can be maintained, reducing problems such as jacquard phase loss, weft stop misalignment, mechanism interference, and asynchronous restart.

[0050] Compared with the prior art, this application has at least the following beneficial effects.

[0051] 1. The shutdown detection process is moved from processing after the machine has come to a complete stop to intervening when a deceleration trend appears, which significantly reduces the synchronization error at the moment of shutdown; 2. It not only compensates for the end angle of the stop, but also records and replays the residual trajectory after stopping, which can cover complex working conditions such as inertial gliding, segmented residual motion and rebound; 3. By binding the auxiliary action signal to the post-stop trajectory, the timing consistency of functions such as automatic heddle leveling and weft finding can still be maintained during the slow stop process; 4. Through parameterized configuration and storage of multiple sets of parameters, it can be adapted to different looms, jacquard machines, drivers, and process requirements; 5. Link the slow stop control with safety actions such as prohibition pulse, brake, and drive de-enablement to improve shutdown stability and equipment safety.

[0052] The technical solution of this application is applicable to control scenarios involving synchronous operation, slow-stop compensation, and replay of actions after stopping between an electronic jacquard machine and the main shaft of a loom.

Claims

1. A slow-stop control method for synchronous operation of a jacquard machine and a loom, characterized in that: A slow-stop control device based on the synchronous operation of a jacquard loom and a weaving machine includes the following steps. Step S1: The main controller obtains the real-time angular position of the loom spindle and the jacquard machine spindle, and obtains the angular velocity of the loom spindle and the angular velocity of the jacquard machine spindle through angular velocity estimation; Step S2: When the absolute value of the loom spindle angular velocity is higher than the first threshold and continues to reach the preset time or preset number of samplings, it is determined that the slow stop control device is synchronized. Step S3: After determining that the slow stop control device is synchronized, the continuously obtained loom spindle angular velocities are sequenced, and the current average angular velocity and the historical maximum angular velocity of the loom spindle are calculated using a sliding speed window. Step S4: When the decrease in the current average angular velocity of the loom spindle relative to the historical maximum angular velocity exceeds a preset threshold and continues to meet a preset number of times, the loom is determined to enter the slow stop phase. Step S5: After determining that the loom has entered the slow stop stage, the main controller starts the trajectory recording process to record the loom spindle stopping and decelerating trajectory until the loom spindle stops, thus obtaining the slow stop trajectory of the loom spindle. Step S6: The main controller executes the first stage of controlled deceleration of the jacquard machine shaft, causing the jacquard machine shaft to stop slowly while idling; Step S7: After the first section of controlled deceleration of the jacquard machine shaft is completed, the main controller performs post-stop residual angle compensation on the jacquard machine shaft according to the residual motion trajectory of the first section of the loom main shaft in the slow-stop trajectory.

2. The slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: The slow-stop control device includes a loom spindle, a jacquard loom spindle driver, a loom spindle angle acquisition unit, a jacquard loom spindle position feedback unit, a main controller, a jacquard drive execution unit, an auxiliary action input / output unit, a safety stop execution unit, and a parameter storage unit. The loom spindle angle acquisition unit is connected to the loom spindle. The loom spindle angle acquisition unit is electrically connected to the main controller and communicates unidirectionally. The main controller is electrically connected to the auxiliary action input / output unit and communicates bidirectionally. The main controller is electrically connected to the parameter storage unit and communicates bidirectionally. The main controller is electrically connected to the jacquard drive execution unit and communicates unidirectionally. The main controller is electrically connected to the safety stop execution unit and communicates unidirectionally. The safety stop execution unit is electrically connected to the jacquard drive execution unit and communicates unidirectionally. The jacquard drive execution unit is electrically connected to the jacquard loom spindle driver and communicates unidirectionally. The jacquard loom spindle driver is electrically connected to the jacquard loom spindle position feedback unit and communicates unidirectionally.

3. The slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: In step S1, the angular velocity estimation uses a tracking filter algorithm, Kalman filter, or differential filter; in step S3, the sampling period is 2ms, and the sliding velocity window length is 8 angular velocity samples.

4. The slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: In step S2, when the absolute value of the loom spindle angular velocity is lower than the second threshold, it is determined that the slow stop control device is out of sync.

5. The slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: In step S4, the main controller is superimposed with the following conditions: synchronous operation is effective, the slow stop function is enabled, it is not currently in an abnormal state, and it has not yet entered the slow stop state, in order to improve the reliability of the judgment.

6. The slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: In step S5, after determining that the loom has entered the slow stop stage, the main controller clears the previous loom stop trajectory cache, sets the loom spindle stop deceleration status flag, and then starts the trajectory recording process. After obtaining the slow-stop trajectory of the loom spindle, the main controller switches the jacquard drive from the normal synchronous output mode to the external angle trajectory output mode.

7. The slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: In step S6, the main controller executes the first stage of controlled deceleration of the jacquard machine shaft, including generating the first stage angular position-angular velocity deceleration trajectory of the jacquard machine shaft based on the current synchronization deviation of the jacquard machine shaft, the current operating angular velocity of the jacquard machine shaft, and the preset number of buffer turns; superimposing the angle corresponding to the current synchronization deviation and the preset number of buffer turns to obtain the target deceleration angular position of the first stage of controlled deceleration; generating deceleration trajectory parameters based on the current operating angular velocity of the jacquard machine shaft and the preset minimum angular velocity; and gradually updating the output angular position of the jacquard machine shaft according to the control cycle, converting the output angular position into pulse count and direction signals and sending them to the jacquard drive execution unit.

8. The slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: In step S7, the step of performing post-stop residual angle compensation on the jacquard machine shaft based on the residual motion trajectory of the first segment of the loom main shaft in the slow-stop trajectory includes reading the starting angle position, cumulative motion angle and ending angle position of the residual motion trajectory of the first segment of the loom main shaft, generating the second segment compensation trajectory of the jacquard machine shaft, driving the jacquard machine shaft to follow to the corresponding target synchronization endpoint; restoring the weft stop signal output so that the weft stop action matches the residual motion of the first segment after the loom stops.

9. A slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 1, characterized in that: It also includes step S8 following step S7. Step S8: If there are multiple segments of residual motion, springback, or post-stop motion continuation after the first segment of the loom spindle's residual motion trajectory, the main controller will replay the jacquard loom spindle trajectory.

10. A slow-stop control method for synchronous operation of a jacquard machine and a loom according to claim 9, characterized in that: In step S8, the main controller replays the jacquard machine shaft trajectory, which includes the main controller reading each trajectory segment in sequence and generating a corresponding compensation output trajectory based on the starting angle position, cumulative motion angle and motion direction of each trajectory segment. After each trajectory compensation is completed, the main controller switches the current trajectory index to the next trajectory segment until all trajectory segments are compensated.

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