Electronic take-up mechanism transmission gap self-adaptive compensation control method, system and loom

Abstract

The application discloses an electronic take-up mechanism transmission gap self-adaptive compensation control method and system and a loom, and relates to the technical field of textile equipment. The electronic take-up mechanism transmission gap self-adaptive compensation control method comprises the following steps: when a commutation signal is detected, a main control unit acquires a rotation amount signal of a main shaft encoder after commutation, so as to determine a theoretical take-up angular displacement of a take-up roller; the main control unit acquires a rotation amount signal of a take-up encoder, so as to determine an actual take-up angular displacement of the take-up roller; the main control unit determines a lag angular displacement of the take-up roller according to the theoretical take-up angular displacement and the actual take-up angular displacement; a compensation rotation amount, by which the servo motor needs to be compensated, is determined according to the lag angular displacement; and the main control unit outputs a compensation control instruction to the servo motor, so as to drive the servo motor to rotate by the compensation rotation amount in advance and then control the servo motor to rotate synchronously with the main shaft; and the multi-stage transmission cumulative gap deviation can be accurately eliminated.

Description

Technical Field

[0001] This application relates to the field of textile equipment technology, and more specifically, to a method, system, and loom for adaptive compensation control of transmission backlash in an electronic take-up mechanism. Background Technology

[0002] The electronic take-up mechanism of the loom is the core component that controls the weft density of the fabric and determines the fabric weaving quality. The main function of the electronic take-up mechanism is to continuously take up the woven fabric at the set weft density during the weaving process, and to maintain precise synchronization with the operation of the main shaft during the take-up process.

[0003] Currently, the electronic take-up mechanism of looms generally adopts the following structure: a servo motor is used as the power source, which is reduced and increased in torque through a worm gear reducer and a multi-stage transmission gear set and then transmitted to the take-up roller, which completes the take-up of the fabric.

[0004] Furthermore, in terms of control methods, a spindle encoder is generally installed on the spindle. The main control unit collects the rotation angle signal of the spindle encoder in real time, and calculates the theoretical rotation amount of the servo motor by combining parameters such as the diameter of the take-up roller, the weft density of the fabric, and the mechanical gear ratio of the transmission mechanism, so that the servo motor rotates synchronously with the spindle, thereby maintaining a constant weft density take-up.

[0005] However, due to the unavoidable tolerance gaps in the machining and assembly of worm gears and multi-stage transmission gear sets, these single-stage gaps are amplified by the cumulative effect of the multi-stage transmission chain, resulting in a non-negligible transmission gap on the take-up roller side. When the loom is running normally at high speed in one direction, each stage of gear is always in contact with the meshing surface on the side of the rotation direction, and the transmission gap will not affect the take-up accuracy. However, in the actual weaving process, the loom will inevitably experience reversing conditions such as stopping, automatic weft finding and reversing, and manual inching and reversing.

[0006] When the loom changes direction, each gear in the multi-stage transmission gear set needs to disengage from the meshing surface on the original rotation direction side and switch to the meshing surface facing the new rotation direction side. Only after eliminating the transmission gaps at each stage can the take-up roller be driven to rotate in the new direction. The cumulative effect of the gaps in this side-changing meshing process causes the actual rotation of the take-up roller to be less than the theoretical rotation calculated by the main shaft encoder, resulting in a loss of take-up displacement. This directly affects the uniformity of weft density and forms obvious start-up marks (also known as stop marks) on the fabric surface, which seriously affects the finished product quality and yield of the fabric.

[0007] To minimize the occurrence of the aforementioned start-up marks on the fabric surface, current approaches focus on control strategies, employing torque control to eliminate gear backlash. For example, Chinese patent CN109680391A discloses an electronic take-up control method for a loom. This method, when the loom's rotation direction changes, first switches the servo motor from position control mode to torque control mode, using a small torque within the range of 1% to 20% of the servo motor's rated torque to drive the motor in reverse. This causes the first gear connected to the servo motor to move in the opposite direction of the previous movement, bringing it closer to the second gear and eliminating gear backlash. Then, the servo motor is switched back to position control mode. This solution, to some extent, avoids start-up marks caused by gear meshing backlash. However, on the one hand, the specific range of the "small torque" is quite wide (rated torque range). The torque value is 1% to 20% of the total torque, and the value is related to the loom width and the fabric condition. It is necessary to determine the appropriate torque value for each specific working condition based on practical experience and multiple tests. Otherwise, if the torque is too small, it will not be enough to completely eliminate gear backlash, and if the torque is too large, it will easily cause the take-up roller to rotate unexpectedly, resulting in additional take-up errors. On the other hand, this solution sets a fixed rotation time limit (such as 100 to 500 milliseconds) in the torque control mode. However, the time required to eliminate gear backlash under different wear levels is different, and the fixed time setting is difficult to match precisely. Furthermore, this solution only eliminates the backlash of the first-stage gear connected to the servo motor and does not involve the cumulative problem of backlash in subsequent gears and worm gears in the multi-stage transmission chain. There is a lack of quantitative detection and compensation methods for the cumulative effect of multi-stage backlash.

[0008] In summary, how to provide a technical solution that can accurately eliminate the cumulative backlash deviation in multi-stage transmission is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0009] In view of this, the purpose of this application is to provide an adaptive compensation control method, system and loom for transmission backlash in an electronic take-up mechanism, which can accurately eliminate the cumulative backlash deviation of multi-stage transmission.

[0010] To achieve the above objectives, this application provides the following technical solution: An adaptive compensation control method for transmission backlash in an electronic take-up mechanism of a loom is disclosed. The electronic take-up mechanism includes a main control unit, a servo motor, a multi-stage transmission mechanism, a take-up roller, a spindle encoder, and a take-up encoder. The servo motor drives the take-up roller to rotate via the multi-stage transmission mechanism. The spindle encoder is located on the loom spindle, and the main control unit is signal-connected to the spindle encoder and the servo motor to control the servo motor to rotate synchronously with the spindle based on the rotation angle of the spindle encoder. The take-up encoder is located on the take-up roller and is used to detect the take-up angular displacement data of the take-up roller. The adaptive compensation control method for transmission backlash in the electronic take-up mechanism includes: When a reversal signal is detected, the main control unit acquires the rotation signal of the spindle encoder after reversal to determine the theoretical winding angular displacement of the take-up roller; and the main control unit acquires the rotation signal of the take-up encoder to determine the actual winding angular displacement of the take-up roller. The main control unit determines the hysteresis angular displacement of the take-up roller based on the theoretical take-up angular displacement and the actual take-up angular displacement. The amount of compensation rotation required for the servo motor is determined based on the hysteresis angular displacement. The main control unit outputs compensation control commands to the servo motor to drive it to rotate the compensation rotation amount in advance, and then controls the servo motor to rotate synchronously with the spindle.

[0011] Preferably, the reversing signal includes: an automatic weft-finding reversing signal for express trains stopping, and a manual operation forward / reverse signal.

[0012] Preferably, the formula for calculating the compensation rotation amount is: ; in, is the compensation rotation amount of the servo motor; i is the mechanical reduction ratio of the multi-stage transmission mechanism; This refers to the hysteresis angular displacement of the take-up roller.

[0013] Preferably, the formula for calculating the theoretical entrainment angular displacement is: ; in, θ is the theoretical take-up angular displacement of the take-up roller; θ is the rotation angle of the main shaft; D is the diameter of the take-up roller; P is the set weft density of the fabric. The main control unit acquires the rotation signal of the take-up encoder to determine the actual take-up angular displacement of the take-up roller, including: The main control unit acquires the motion direction of the take-up encoder, and when acquiring the reversing signal, acquires the first phase position of the take-up encoder. After determining that the automatic weft-finding system of the loom has completed the reverse weft-finding action, it acquires the second phase position of the take-up encoder. The formula for calculating the actual winding angular displacement is as follows: ; in, This refers to the actual winding angular displacement; P0 is the first phase position; P x This is the second phase position.

[0014] Preferably, the formula for calculating the hysteresis angular displacement is: ; in, This represents the theoretical take-up angular displacement of the take-up roller; This represents the actual winding angular displacement of the winding roller.

[0015] An adaptive compensation control system for transmission backlash in an electronic take-up mechanism of a loom includes: a main control unit, a main shaft, a servo motor, a main shaft encoder, a take-up encoder, a multi-stage transmission mechanism, and a take-up roller; The spindle encoder is located on the spindle and is used to detect the rotation angle of the spindle and transmit it to the main control unit; The take-up encoder is located at the end of the take-up roller and is coaxial with the take-up roller. It is used to detect the rotation angle of the take-up roller and transmit the information to the main control unit. The main control unit is connected to the spindle encoder, the take-up encoder, and the servo motor; the output of the servo motor is connected to the input of the multi-stage transmission mechanism, and the output of the multi-stage transmission mechanism is connected to the take-up roller. The main control unit is used to execute any of the control methods described above to achieve adaptive compensation of transmission backlash when the loom reverses direction.

[0016] Preferably, the take-up encoder is an absolute encoder, and the take-up encoder is fitted without gaps onto the outer side of the end of the take-up roller.

[0017] Preferably, the main control unit includes a signal input / output module, a weft density calculation module, a gap deviation determination module, and a servo compensation control module; The input / output module is connected to the spindle encoder and the take-up encoder to receive the rotation angle of the spindle and the rotation angle of the take-up roller. The weft density calculation module is connected to the input / output module and is used to determine the theoretical winding angle displacement; The gap deviation determination module is connected to the weft density calculation module and the input / output module, and is used to determine the hysteresis angular displacement of the take-up roller based on the theoretical take-up angular displacement and the actual take-up angular displacement. The servo compensation control module is connected to the gap deviation determination module and the servo motor, and is used to output the compensation rotation amount to the servo motor.

[0018] A loom, comprising the adaptive compensation control system for transmission backlash of the electronic take-up mechanism of the loom as described in any one of the preceding claims.

[0019] In this application, after entering the reversing mode, the main control unit compares the theoretical and actual winding angular displacements of the winding roller in real time with the spindle encoder and the winding encoder to determine the lag angular displacement of the winding roller, i.e., calculates the amount of deviation to be compensated. Before entering the formal position control mode, the servo motor is controlled to first compensate for the rotation, and the number of compensation rotations is the number of rotations of the compensation rotation, so as to eliminate the cumulative backlash deviation of the multi-stage transmission mechanism. At this time, the reversing engagement has been completed. Then, the servo motor is controlled to resume the normal position control mode, and follow the spindle encoder to complete the weft angle positioning and subsequent start-up weaving. There is no missing winding roller rotation angle and the weft density remains consistent, thus eliminating the influence of the reversing gap on the winding accuracy from the control level. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 A mechanical schematic diagram of the electronic winding mechanism for a specific embodiment provided in this application; Figure 2 This is a schematic diagram illustrating the communication between the main control unit and the spindle encoder and the take-up encoder in a specific embodiment provided in this application. Figure 3 A flowchart illustrating the control method of a specific embodiment provided in this application.

[0022] Figure label: 1-Main spindle; 11-Main spindle encoder; 2-Servo motor; 21-Motor body; 22-Servo drive module; 3-Multi-stage transmission mechanism; 31-Worm gear reducer; 32-Multi-stage transmission gear set; 4-Take-up roller; 41-Take-up encoder; 5-Main control unit; 51-Signal input / output module; 52-Weft density calculation module; 53-Gap deviation determination module; 54-Servo compensation control module. Detailed Implementation

[0023] 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. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The core of this application is to provide an adaptive compensation control method, system, and loom for transmission backlash in an electronic take-up mechanism, which can accurately eliminate the cumulative backlash deviation of multi-stage transmission.

[0025] This application provides an adaptive compensation control method for transmission backlash in an electronic take-up mechanism of a loom, applied to the electronic take-up mechanism of a loom. The electronic take-up mechanism includes a main control unit 5, a servo motor 2, and a multi-stage transmission mechanism 3 (which may include, but is not limited to, [missing information]). Figure 1 The loom includes a worm gear reducer 31, a multi-stage transmission gear set 32, a take-up roller 4, a main shaft encoder 11, and a take-up encoder 41. The servo motor 2 drives the take-up roller 4 to rotate through the multi-stage transmission mechanism 3. The main shaft encoder 11 is located on the main shaft 1 of the loom. The main control unit 5 is connected to the main shaft encoder 11 and the servo motor 2 to control the servo motor 2 to rotate synchronously with the main shaft 1 according to the rotation angle of the main shaft encoder 11. The take-up encoder 41 is located on the take-up roller 4 and is used to detect the take-up angular displacement data of the take-up roller 4.

[0026] The adaptive compensation control method for transmission backlash in the electronic take-up mechanism of a loom specifically includes the following steps: Step S1: When the main control unit 5 detects the reversing signal, the main control unit 5 acquires the rotation signal of the spindle encoder 11 after reversing to determine the theoretical winding angular displacement of the winding roller 4; at the same time, the main control unit 5 acquires the rotation signal of the winding encoder 41 to determine the actual winding angular displacement of the winding roller 4.

[0027] Step S2: The main control unit 5 calculates the hysteresis angular displacement of the take-up roller 4 based on the theoretical take-up angular displacement and the actual take-up angular displacement determined in step S1.

[0028] Step S3: Based on the hysteresis angular displacement determined in step S2, the main control unit 5 calculates the amount of compensation rotation that the servo motor 2 needs to compensate for, and then outputs a compensation control command to the servo motor 2 to drive the servo motor 2 to rotate in advance by the amount of compensation rotation to make up for the missing rotation angle caused by the transmission backlash. Then, it controls the servo motor 2 to rotate synchronously with the spindle 1.

[0029] Please refer to Figure 3After entering the reversing mode, the main control unit 5 compares the theoretical and actual winding angular displacement of the winding roller 4 in real time through dual encoders (i.e., the spindle encoder 11 and the winding encoder 41) to determine the lag angular displacement of the winding roller 4, that is, to calculate the amount of deviation to be compensated. Before entering the formal position control mode, the servo motor 2 is controlled to compensate for rotation. The number of compensation rotations is the number of rotations of the compensation rotation, so as to eliminate the cumulative gap deviation of the multi-stage transmission mechanism 3. At this time, the reversing engagement has been completed. Then, the servo motor 2 is controlled to resume the normal position control mode and follow the spindle encoder 11 to complete the weft angle positioning and subsequent start-up weaving. The winding roller 4 has no missing rotation angle and the weft density is consistent. The influence of the reversing gap on the winding accuracy is eliminated from the control level.

[0030] Based on the above embodiments, the reversing signals include: automatic weft-finding reversing signal for express trains stopping, and manual operation forward and reverse reversing signals.

[0031] The automatic weft-finding reversing signal for fast loom stop can be understood as the signal generated when the automatic weft-finding system triggers the main shaft 1 to reverse to the positioning angle after the loom stops normally from the fast loom running state; the manual operation forward and reverse signal can be understood as the reversing rotation signal triggered by the operator through jogging operation in the slow loom mode (such as forward jogging followed by reverse jogging reversing signal, and reverse jogging followed by forward jogging reversing signal).

[0032] The main control unit 5 can identify the occurrence of the reversing condition by monitoring the level change of any of the above-mentioned reversing signals or communication commands issued by the loom control system, and trigger the gap compensation calculation logic.

[0033] The identification of the two commutation signals mentioned above can be achieved by reading the status of the I / O port of the loom control system or by determining whether the detection angle of the spindle encoder 11 increases or decreases in real time, without the need for additional commutation detection hardware sensors.

[0034] Based on the above embodiments, before detecting a commutation signal, the following steps are included: Step S0: If in normal fast weaving mode, the main control unit 5 determines the theoretical rotation of the servo motor 2 based on the rotation angle of the main shaft encoder 11, the diameter of the take-up roller 4, the weft density of the fabric setting, and the gear ratio of the take-up transmission mechanism.

[0035] Please refer to Figure 3Before acquiring the reversing signal, if the loom is in normal fast weaving mode, the main shaft 1 maintains unidirectional forward rotation, and the gears in the multi-stage transmission mechanism 3 always engage with the meshing surface on one side of the rotation direction. The transmission clearance does not affect the take-up accuracy. In this mode, the main control unit 5 adopts a position closed-loop control mode. The specific process is as follows: The main control unit 5 acquires the detection result of the main shaft encoder 11 in real time to determine the rotation angle θ (in degrees) of the main shaft 1. Combined with preset parameters, including the diameter D (in millimeters) of the take-up roller 4, the fabric set weft density P (in weft / inch), and the mechanical reduction ratio i of the multi-stage transmission mechanism 3, the main control unit 5 calculates the rotation angle θ (in degrees) of the main shaft 1 according to the formula. The calculated theoretical rotation amount n is used to drive the motor body 21 through the servo drive module 22 in position control mode, so that the servo motor 2 rotates synchronously with the signal of the spindle encoder 11 set on the spindle 1, thereby maintaining normal weft density winding until the commutation signal is detected and the switch is made to the gap compensation mode.

[0036] Based on the above embodiments, the hysteresis angular displacement of the take-up roller 4 calculated by the main control unit 5 is defined as follows: (Unit: degrees), the mechanical reduction ratio of the multi-stage transmission mechanism 3 is i, then the amount of compensation rotation that the servo motor 2 needs to compensate for is... (The unit is circles) can be determined using the following formula: .

[0037] Lag angular displacement This indicates the rotation angle that requires additional compensation on side 4 of the take-up roller. Dividing this angle by 360° gives the number of compensation revolutions on side 4 of the take-up roller. Multiplying this by the reduction ratio i gives the number of compensation revolutions that side 2 of the servo motor needs to perform. .

[0038] When the main control unit 5 controls the servo motor 2 to pre-rotate the compensation rotation amount, it will calculate the compensation rotation amount. Converted to the number of pulses required for servo motor 2 (number of pulses = n) 补 (n pulses per revolution of servo motor 2), and sends a corresponding number of pulse commands to the motor body 21 through the servo drive module 22 to drive the servo motor 2 to rotate n in advance. 补 The loop is used to fill the transmission gap of the multi-stage transmission mechanism 3.

[0039] Based on the above embodiments, after acquiring the reversing signal, the main control unit 5 calculates the theoretical winding angular displacement of the take-up roller 4 according to the rotation amount signal of the main shaft 1 after reversing acquired from the main shaft encoder 11 and in combination with preset parameters. The formula is: In the formula: θ is the theoretical take-up angular displacement of take-up roller 4 (in degrees); θ is the rotation angle of main shaft 1 after reversal (in degrees); D is the diameter of take-up roller 4 (in millimeters); P is the set weft density of the fabric (in weft / inch).

[0040] Based on the above embodiment, the main control unit 5 continuously monitors the motion direction signal of the take-up encoder 41. When a change in motion direction is detected, i.e., the loom reverses direction, the main control unit 5 immediately records the phase position of the take-up encoder 41 at the moment of reversal, denoted as the first phase position P0 (in degrees). Subsequently, after the automatic weft-finding system of the loom completes the reverse weft-finding action, the main control unit 5 records the phase position of the take-up encoder 41 at this time again, denoted as the second phase position P0. x (Unit: degrees), based on this, the actual winding angular displacement The calculation formula is In the formula: P0 is the actual winding angular displacement of the winding roller 4 (in degrees); P0 is the first phase position of the winding encoder 41 at the reversing moment; P0 x The second phase position of the winding encoder 41 is determined after the reverse weft-finding action is completed.

[0041] When the winding encoder 41 is a high-precision absolute encoder, if the resolution is N pulses per revolution, the main control unit 5 obtains the value through pulse counting. and That is, record the cumulative number of pulses at the commutation moment and the reversal completion moment respectively, and then calculate according to the formula. Convert the values ​​to angles and substitute them into the formula above to calculate the actual winding angle displacement.

[0042] Based on the above embodiments, the formula for calculating the hysteresis angular displacement is as follows: In the formula, This represents the theoretical winding angular displacement of the winding roller 4; This represents the actual winding angular displacement of the winding roller 4.

[0043] Based on the theoretical winding angle displacement calculated above and actual winding angular displacement Because the theoretically calculated angular displacement is usually... Greater than the actual winding angular displacement Then, further calculations are performed to determine the hysteresis angular displacement. The above calculation formula can be used, i.e., hysteresis angular displacement. It is the difference between the two.

[0044] In addition to the aforementioned adaptive compensation control method for transmission backlash in the electronic take-up mechanism of a loom, this application also provides an adaptive compensation control system for transmission backlash in the electronic take-up mechanism of a loom. This system includes a main control unit 5, a main shaft 1, a servo motor 2, a main shaft encoder 11, a take-up encoder 41, a multi-stage transmission mechanism 3, and a take-up roller 4. The main shaft encoder 11 is located on the main shaft 1 and is used to detect the rotation angle of the main shaft 1 and transmit it to the main control unit 5. The take-up encoder 41 is located at the end of the take-up roller 4 and is coaxial with the take-up roller 4. It is used to detect the rotation angle of the take-up roller 4 and transmit it to the main control unit 5. The main control unit 5 is signal-connected to the main shaft encoder 11, the take-up encoder 41, and the servo motor 2. The output end of the servo motor 2 is drive-connected to the input end of the multi-stage transmission mechanism 3, and the output end of the multi-stage transmission mechanism 3 is drive-connected to the take-up roller 4. The main control unit 5 is used to execute the control method disclosed in the above embodiments to achieve adaptive compensation of transmission backlash during loom reversal.

[0045] Please refer to Figure 1 The multi-stage transmission mechanism 3 can be specifically configured to include a worm gear reducer 31 and a multi-stage transmission gear set 32. The rotational motion output by the servo motor 2 is reduced and increased in torque by the worm gear reducer 31, and then transmitted step by step through the multi-stage transmission gear set 32 ​​to drive the take-up roller 4 to rotate, thereby completing the continuous take-up of the fabric.

[0046] Furthermore, a spindle encoder 11 is provided at the end of the spindle 1, and a take-up encoder 41 is provided at the end of the take-up roller 4. The main control unit 5 is connected to the spindle encoder 11, the take-up encoder 41, and the servo motor 2. Based on receiving the detection results from the spindle encoder 11 and the take-up encoder 41, the control method disclosed in the above embodiment is executed. The servo motor 2 is controlled to first compensate for the rotation to eliminate the cumulative backlash deviation of the multi-stage transmission mechanism 3, and then the servo motor 2 is controlled to restore the normal position control mode to start weaving, thereby eliminating the influence of the reversing backlash on the take-up accuracy.

[0047] When the loom is weaving normally in one direction, the main control unit 5 executes step S0 to achieve closed-loop position control; when it receives a reversing signal, it executes steps S1-S3 to achieve adaptive gap compensation control.

[0048] It should be noted that the structure of other parts of the system is described in reference to existing technologies, and will not be repeated in this article.

[0049] In some embodiments, the winding encoder 41 is an absolute encoder, and the winding encoder 41 is fitted without gap to the outer side of the end of the winding roller 4. Specifically, the inner hole of the winding encoder 41 and the outer diameter of the end of the winding roller 4 are fixed by interference fit or by set screw, so that there is no relative rotational gap between the encoder body and the winding roller 4, ensuring that the encoder responds to the change of the rotation angle of the winding roller 4 without lag or distortion, thereby ensuring the acquisition accuracy of the actual winding angular displacement.

[0050] Based on the above embodiments, the input / output module is connected to the spindle encoder 11 and the take-up encoder 41 to receive the rotation angle of the spindle 1 and the rotation angle of the take-up roller 4; the weft density calculation module 52 is connected to the input / output module to determine the theoretical take-up angular displacement; the gap deviation determination module 53 is connected to the weft density calculation module 52 and the input / output module to determine the hysteresis angular displacement of the take-up roller 4 based on the theoretical take-up angular displacement and the actual take-up angular displacement; and the servo compensation control module 54 is connected to the gap deviation determination module 53 and the servo motor 2 to output the hysteresis angular displacement to the servo motor 2.

[0051] Please refer to Figure 2 The main control unit 5 can be a dedicated PLC (programmable logic controller) for looms or an embedded single-chip microcomputer industrial control board. The input / output module collects the detection results of the spindle encoder 11 and the take-up encoder 41 in real time. Then, after the weft density calculation module 52 obtains the detection results of the spindle encoder 11, it calculates and determines the theoretical take-up angular displacement. Subsequently, the gap deviation determination module 53 obtains the detection result of the winding encoder 41. The theoretical winding angle displacement calculated by the weft density calculation module 52 Then, calculate the lag angular displacement by subtraction. Then, based on the hysteresis angular displacement Calculate and determine the compensation rotation amount This is to control the servo motor 2 to compensate for rotation and eliminate commutation backlash.

[0052] In addition to the above-mentioned adaptive compensation control method and system for transmission backlash of the electronic take-up mechanism of the loom, this application also provides a loom that includes the control system disclosed in the above embodiments. The structure of other parts of the loom can be referred to the prior art, and will not be described in detail here.

[0053] The loom can be an air-jet loom, rapier loom, or water-jet loom, etc. The electronic take-up mechanism of the loom is driven by the take-up roller 4 through the servo motor 2 and the multi-stage transmission mechanism 3.

[0054] Furthermore, a readable storage medium can also be protected, which stores a control program that, when executed by a processor, can implement the control method disclosed in the above embodiments.

[0055] It should be noted that the relational terms such as "first" and "second" mentioned above are only used to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities; the terms "upper surface," "lower surface," "top," and "bottom" as well as the directional terms "upper," "lower," "left," and "right" mentioned above are defined based on the accompanying drawings in the specification.

[0056] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0057] The above provides a detailed description of the adaptive compensation control method, system, and loom for the transmission backlash of the electronic take-up mechanism provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. An adaptive compensation control method for transmission backlash in an electronic take-up mechanism of a loom, applied to the electronic take-up mechanism of a loom, characterized in that, The electronic take-up mechanism of the loom includes a main control unit, a servo motor, a multi-stage transmission mechanism, a take-up roller, a main shaft encoder, and a take-up encoder. The servo motor drives the take-up roller to rotate through the multi-stage transmission mechanism. The main shaft encoder is located on the main shaft of the loom. The main control unit is signal-connected to the main shaft encoder and the servo motor, and is used to control the servo motor to rotate synchronously with the main shaft according to the rotation angle of the main shaft encoder. The take-up encoder is disposed on the take-up roller, and the take-up encoder is used to detect the take-up angular displacement data of the take-up roller; The adaptive compensation control method for transmission backlash in the electronic take-up mechanism of the loom includes: When a reversal signal is detected, the main control unit acquires the rotation signal of the spindle encoder after reversal to determine the theoretical winding angular displacement of the take-up roller; and the main control unit acquires the rotation signal of the take-up encoder to determine the actual winding angular displacement of the take-up roller. The main control unit determines the hysteresis angular displacement of the take-up roller based on the theoretical take-up angular displacement and the actual take-up angular displacement. The amount of compensation rotation required for the servo motor is determined based on the hysteresis angular displacement. The main control unit outputs compensation control commands to the servo motor to drive it to rotate the compensation rotation amount in advance, and then controls the servo motor to rotate synchronously with the spindle.

2. The adaptive compensation control method for transmission backlash in the electronic take-up mechanism of a loom according to claim 1, characterized in that, The reversing signals include: automatic weft-finding reversing signal for express trains stopping, and manual operation forward and reverse reversing signals.

3. The adaptive compensation control method for transmission backlash in the electronic take-up mechanism of a loom according to claim 1, characterized in that, The formula for calculating the compensation rotation amount is: ; in, is the compensation rotation amount of the servo motor; i is the mechanical reduction ratio of the multi-stage transmission mechanism; This refers to the hysteresis angular displacement of the take-up roller.

4. The adaptive compensation control method for transmission backlash in the electronic take-up mechanism of a loom according to claim 1, characterized in that, The formula for calculating the theoretical coil angular displacement is as follows: ; in, θ is the theoretical take-up angular displacement of the take-up roller; θ is the rotation angle of the main shaft; D is the diameter of the take-up roller; P is the set weft density of the fabric. The main control unit acquires the rotation signal of the take-up encoder to determine the actual take-up angular displacement of the take-up roller, including: The main control unit acquires the motion direction of the take-up encoder, and when acquiring the reversing signal, acquires the first phase position of the take-up encoder. After determining that the automatic weft-finding system of the loom has completed the reverse weft-finding action, it acquires the second phase position of the take-up encoder. The formula for calculating the actual winding angular displacement is as follows: ; in, This refers to the actual winding angular displacement; P0 is the first phase position; P x This is the second phase position.

5. The adaptive compensation control method for transmission backlash in the electronic take-up mechanism of a loom according to claim 4, characterized in that, The formula for calculating the hysteresis angular displacement is: ; in, This represents the theoretical take-up angular displacement of the take-up roller; This represents the actual winding angular displacement of the winding roller.

6. A transmission backlash adaptive compensation control system for an electronic take-up mechanism of a loom, characterized in that, include: Main control unit, spindle, servo motor, spindle encoder, take-up encoder, multi-stage transmission mechanism and take-up roller; The spindle encoder is located on the spindle and is used to detect the rotation angle of the spindle and transmit it to the main control unit; The take-up encoder is located at the end of the take-up roller and is coaxial with the take-up roller. It is used to detect the rotation angle of the take-up roller and transmit the information to the main control unit. The main control unit is connected to the spindle encoder, the take-up encoder, and the servo motor; the output of the servo motor is connected to the input of the multi-stage transmission mechanism, and the output of the multi-stage transmission mechanism is connected to the take-up roller. The main control unit is used to execute the control method described in any one of claims 1 to 5 to achieve adaptive compensation of transmission backlash when the loom reverses direction.

7. The adaptive compensation control system for transmission backlash of the electronic take-up mechanism of a loom according to claim 6, characterized in that, The take-up encoder is an absolute encoder, and it is fitted without gaps onto the outer side of the end of the take-up roller.

8. The adaptive compensation control system for transmission backlash of the electronic take-up mechanism of a loom according to claim 7, characterized in that, The main control unit includes a signal input / output module, a weft density calculation module, a gap deviation determination module, and a servo compensation control module. The input / output module is connected to the spindle encoder and the take-up encoder to receive the rotation angle of the spindle and the rotation angle of the take-up roller. The weft density calculation module is connected to the input / output module and is used to determine the theoretical winding angle displacement; The gap deviation determination module is connected to the weft density calculation module and the input / output module, and is used to determine the hysteresis angular displacement of the take-up roller based on the theoretical take-up angular displacement and the actual take-up angular displacement. The servo compensation control module is connected to the gap deviation determination module and the servo motor, and is used to output the compensation rotation amount to the servo motor.

9. A loom, characterized in that, The system includes the adaptive compensation control system for transmission backlash of the electronic take-up mechanism of a loom as described in any one of claims 6-8.

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