Multi-servo motor joint control method, warp knitting machine integrated control method and device

Abstract

The present application relates to the technical field of multi-servo motor joint control, and particularly relates to a multi-servo motor joint control method, a warp knitting machine integrated control method and device, comprising: constructing a virtual main shaft; mapping the power shaft corresponding to each servo motor as a driven shaft respectively; based on the real-time position coordinates of the virtual main shaft, synchronously issuing a linkage motion instruction, containing a target position and a target speed; real-time acquisition of the actual position of each driven shaft, calculation of the synchronization deviation relative to the target position; using a cross-coupling control algorithm, dynamically correcting the output speed instruction of each servo motor according to the synchronization deviation. The present application is applied to a raschel type weft insertion warp knitting machine, and can integrate three types of motion units, i.e. weft laying car horizontal movement, guide positioning piece tension compensation and double-sided chain yarn pulling, into a synchronous cooperation framework, so that the timing alignment of the actions of each mechanism can be ensured, the weft yarn tension can be stabilized, and weaving defects can be effectively reduced under the industrial continuous production conditions of high-speed weaving and frequent acceleration and deceleration.

Description

Technical Field

[0001] This invention relates to the field of multi-servo motor joint control technology, and in particular to a multi-servo motor joint control method, an integrated control method and device for warp knitting machines. Background Technology

[0002] Raschel-type warp knitting machines rely on the reciprocating lateral movement of the weft laying carriage to output the weft yarn. The chain conveying mechanism, symmetrically arranged on both sides of the machine body, pulls the weft yarn laterally across to the knitting area through hooks. Stable weft yarn tension and synchronized action of each mechanism are the core conditions to ensure that the weft-laid fabric has a uniform surface and no weft skew defects.

[0003] The existing equipment has reciprocating guide positioning plates on the top of the chain conveyor mechanism on both sides. The guide positioning plates are independently driven by the belt drive assembly. Their movement speed is set with a fixed proportional linkage relationship with the lateral movement speed of the weft laying carriage. The guide positioning plates reciprocate along the conveying direction of the chain. Several limiting needles are set on them. Relying on the limiting needles, the weft yarn tension compensation and buffer reset are completed synchronously as the weft laying carriage moves away. This dynamically offsets the tension attenuation caused by the continuous lengthening of the weft yarn during the movement of the weft laying carriage.

[0004] The above technical solutions can constrain weft yarn path and alleviate weft yarn slack and entanglement problems in the context of uniform, steady-state, low-speed weaving. However, when facing high-speed weaving, frequent acceleration and deceleration, or start-stop switching in industrial continuous production, the following problems are likely to occur: The existing motion control system only completes the speed binding and linkage of two sets of motion units: the weft laying trolley servo and the guide positioning plate belt servo. The chain traction servos on both sides are independent drive units and are not included in the unified timing coordination framework. There is no unified motion benchmark for synchronization constraint among the three.

[0005] In addition, the transmission system of the whole machine includes multiple mechanical gaps and elastic deformations such as chain meshing and belt drive, and there are different transmission lags in each motion branch. When the equipment is in non-uniform speed conditions such as acceleration, deceleration, start and stop, the lags of the three types of electrical drive motions, namely the weft laying carriage lateral movement, guide positioning plate tension compensation and chain yarn pulling, are mismatched, which can easily cause motion misalignment problems. Summary of the Invention

[0006] This invention provides a multi-servo motor joint control method, an integrated control method and device for warp knitting machines, which can effectively solve the problems in the background art.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: Multi-servo motor joint control methods include: Construct a virtual spindle, and use the virtual spindle as the motion reference for the joint control of multiple servo motors; The power axes corresponding to each of the servo motors are respectively mapped to the driven axes of the virtual master axis; Based on the real-time position coordinates of the virtual spindle, a linkage motion command is synchronously sent to the servo motor corresponding to each of the driven axes. The linkage motion command includes the target position and target speed of each of the driven axes. The actual position of each driven shaft is collected in real time, and the synchronization deviation of each driven shaft relative to the target position is calculated. A cross-coupling control algorithm is adopted to dynamically correct the output speed command of each servo motor according to the synchronization deviation, so that the load driven by each servo motor can achieve synchronous operation.

[0008] The integrated control method for warp knitting machines employs the multi-servo motor joint control method described above to achieve integrated control of the following servo motors: The first servo motor that drives the weft-laying trolley, the second servo motor that drives the guide positioning plate, and the third and fourth servo motors that drive the chain conveyor mechanisms on both sides are respectively mapped to the first to fourth driven axes of the virtual main shaft.

[0009] Furthermore, a cross-coupling control algorithm is employed to dynamically correct the output speed commands of each servo motor based on the synchronization deviation, including: Using the first driven shaft as a reference, calculate the relative deviation between the second driven shaft and the first driven shaft. The relative deviation between the third driven shaft and the first driven shaft The relative deviation between the fourth driven shaft and the first driven shaft ; For each of the driven axes, a PID gain is preset ( ), and calculate the speed correction amount. Where i = 1, 2, 3, 4, corresponding to the first driven axis to the fourth driven axis respectively; ; ; ; ; Each speed correction is superimposed on the corresponding target speed to form the final speed command, which is then sent to the servo driver of each servo motor.

[0010] Furthermore, the preset PID gain for a single driven shaft ( The system identifies the current motion stage of the driven shaft based on the real-time angle of the virtual spindle and dynamically adjusts it by matching and calling the corresponding gain parameters.

[0011] Furthermore, for the first servo motor and the second servo motor, the first gap feedforward compensation amount and the second gap feedforward compensation amount are respectively superimposed on the speed correction amount output by the cross-coupling control algorithm. The first gap feedforward compensation amount and the second gap feedforward compensation amount are injected in advance during the commutation of the corresponding servo motor to offset the transmission backlash.

[0012] Furthermore, synchronously sending linkage motion commands to the servo motors corresponding to each of the driven axes includes: The position of the virtual spindle in one work cycle is normalized to a timing reference of 0°-360°; The full-stroke motion corresponding to each driven shaft is broken down into stages, and the position range of the virtual spindle is corresponding to the decomposition results.

[0013] The integrated control device for warp knitting machines employs the multi-servo motor joint control method described above, including: The execution drive unit includes a first servo motor that drives the weft-laying trolley, a second servo motor that drives the guide positioning plate, and a third and fourth servo motors that drive the chain conveyor mechanisms on both sides respectively. A virtual spindle construction module constructs a virtual spindle, which serves as the motion reference for the joint control of each servo motor in the execution drive unit. The axis mapping module maps the power axes corresponding to each servo motor to the driven axes of the virtual master axis. The linkage command issuing module synchronously issues linkage motion commands to the servo motors corresponding to each of the driven axes based on the real-time position coordinates of the virtual spindle. The linkage motion commands include the target position and target speed of each of the driven axes. The deviation calculation module collects the actual position of each driven shaft in real time and calculates the synchronization deviation of each driven shaft relative to the target position. The cross-coupling correction module employs a cross-coupling control algorithm to dynamically correct the output speed commands of each servo motor based on the synchronization deviation, thereby enabling the weft-laying trolley, guide positioning plate, and side chain conveying mechanism to operate synchronously.

[0014] Furthermore, the cross-coupling correction module includes: The shaft deviation calculation unit calculates the relative shaft deviation between the second driven shaft and the first driven shaft, using the first driven shaft as a reference. The relative deviation between the third driven shaft and the first driven shaft The relative deviation between the fourth driven shaft and the first driven shaft ; The speed correction calculation unit presets a PID gain for each of the driven axes. ), calculation speed correction amount Where i = 1, 2, 3, 4, corresponding to the first driven axis to the fourth driven axis respectively; The instruction superposition unit superimposes each speed correction amount onto the corresponding target speed to form a final speed instruction, which is then sent to the servo driver of each servo motor. The speed correction amount satisfies the following calculation relationship: ; ; ; .

[0015] Furthermore, the speed correction calculation unit presets a PID gain for a single driven shaft ( The current motion stage of the driven axis is matched with the current motion stage, which is identified based on the real-time angle of the virtual spindle.

[0016] Furthermore, the linkage command issuing module includes: The timing reference normalization unit normalizes the position of the virtual spindle in one work cycle to a timing reference of 0°-360°; The motion phase mapping unit decomposes the full-stroke motion corresponding to each driven axis into phases, and maps the decomposition results to the position range of the virtual master axis.

[0017] The technical solution of this invention can achieve the following technical effects: In this invention, the power axes corresponding to multiple servo motors are uniformly mapped to the same source driven axes, and the timing reference of each servo motor power axis is unified. At the same time, a cross-coupling control algorithm is used to dynamically correct the output speed command based on the synchronization deviation of the real-time position feedback of each driven axis. It can adaptively compensate for the mechanical backlash and elastic deformation lag of different transmission branches, and can still maintain high-precision multi-axis synchronous operation under non-uniform speed conditions such as acceleration, deceleration, start and stop.

[0018] The multi-servo motor joint control method is applied to the weft laying control scenario of Raschel-type weft-laying warp knitting machine. It can incorporate three types of motion units—the lateral movement of the weft laying carriage, the tension compensation of the guide positioning plate, and the yarn pulling of the double-sided chains—into a unified synchronous and coordinated framework. This solves the defects of existing technologies where multiple units are driven independently and there is no unified motion reference. Under the industrial continuous production conditions of high-speed weaving and frequent acceleration and deceleration, it can still ensure the timing alignment of the actions of each mechanism, stabilize the weft yarn tension, and effectively reduce weaving defects such as weft skew and uneven fabric surface. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of a multi-servo motor joint control method; Figure 2 This is a partial structural diagram of a warp knitting machine; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a partial flowchart illustrating how, based on the real-time position coordinates of the virtual spindle, corresponding linkage motion commands are synchronously sent to each driven axis. Figure label: 1. Laying weft carriage; 11. First servo motor; 2. Guide positioning plate; 21. Second servo motor; 3. Chain conveyor mechanism; 31. Third servo motor; 32. Fourth servo motor. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] Example 1

[0023] like Figure 1 As shown, the multi-servo motor joint control method includes: S1: Construct a virtual spindle and use it as the motion reference for the joint control of multiple servo motors; S2: Map the power axis corresponding to each servo motor to the slave axis of the virtual master axis respectively; S3: Based on the real-time position coordinates of the virtual spindle, synchronously send linkage motion commands to the servo motors corresponding to each driven axis. The linkage motion commands include the target position and target speed of each driven axis. S4: Real-time acquisition of the actual position of each driven axis, and calculation of the synchronization deviation of each driven axis relative to the target position; S5: Employs a cross-coupling control algorithm to dynamically correct the output speed commands of each servo motor based on synchronization deviation, enabling the load driven by each servo motor to operate synchronously.

[0024] In this embodiment, the power axes corresponding to multiple servo motors are uniformly mapped to the same source driven axes, and the timing reference of each servo motor power axis is unified. At the same time, with the cross-coupling control algorithm, the output speed command is dynamically corrected based on the synchronization deviation of the real-time position feedback of each driven axis. It can adaptively compensate for the mechanical backlash and elastic deformation lag of different transmission branches, and can still maintain high-precision multi-axis synchronous operation under non-uniform speed conditions such as acceleration, deceleration, start and stop.

[0025] Example 2

[0026] like Figure 2 and 3 As shown, the integrated control method for warp knitting machines employs the multi-servo motor joint control method described in Example 1 to perform integrated control of the following servo motors, including: The first servo motor 11 drives the weft-laying trolley 1, the second servo motor 21 drives the guide positioning plate 2, and the third servo motor 31 and the fourth servo motor 32 drive the chain conveying mechanisms 3 on both sides respectively. The power axes corresponding to each servo motor are sequentially mapped to the first driven axis to the fourth driven axis of the virtual main axis.

[0027] In this embodiment, the multi-servo motor joint control method in Embodiment 1 is applied to the weft laying control scenario of a Raschel-type weft-laying warp knitting machine. It can incorporate the three types of motion units—the lateral movement of the weft laying carriage 1, the tension compensation of the guide positioning plate 2, and the yarn pulling of the double-sided chains—into a unified synchronous and coordinated framework. This solves the defects of the existing technology, which features independent driving of multiple units and no unified motion reference. Under the industrial continuous production conditions of high-speed weaving and frequent acceleration and deceleration, it can still ensure the timing alignment of the actions of each mechanism, stabilize the weft yarn tension, and effectively reduce weaving defects such as weft skew and uneven fabric surface.

[0028] During implementation, the synchronization deviation of each driven shaft relative to the target position is calculated using the following formula:

[0029] In the formula, i = 1, 2, 3, 4, corresponding to the four driven axes of the four servo motors. The synchronization deviation of driven shaft i, The target position of driven axis i, This represents the actual position fed back by the servo encoder of driven shaft i.

[0030] As a preferred embodiment of the above, a cross-coupling control algorithm is adopted to dynamically correct the output speed command of each servo motor based on the synchronization deviation, including: S51: Using the first driven shaft as a reference, calculate the relative deviation between the second driven shaft and the first driven shaft. The relative deviation between the third driven shaft and the first driven shaft The relative deviation between the fourth driven shaft and the first driven shaft ; The following formula is used specifically: ; ; ; In the formula, The synchronization deviation of the first driven shaft corresponding to the weft laying carriage 1. To address the synchronization deviation of the second driven shaft corresponding to the guide positioning piece 2, and These are the synchronization deviations of the third and fourth driven shafts corresponding to the chain conveyor mechanisms 3 on both sides, respectively. S52: Preset PID gain for each driven axis ( ), and calculate the speed correction amount. Where i = 1, 2, 3, 4, corresponding to the first to the fourth driven axes respectively; ; ; ; ; The input relative deviation between axes is expressed in the dimension of position. The proportional, integral, and differential terms, through their respective gain coefficients with physical dimensions, unify the position deviations of different calculation forms into the dimension of velocity. In practice, taking the relative lag of the first driven shaft as an example... The negative sign in the formula indicates that the other driven shafts are subjected to negative deceleration correction, which, together with the positive acceleration correction of the first driven shaft, reduces the inter-shaft deviation in both directions. S53: The servo driver adds each speed correction to the corresponding target speed to form the final speed command, which is then sent to each servo motor.

[0031] In some embodiments of the present invention, ( )and( )equal.

[0032] Compared to the general multi-axis peer coupling structure, this preferred scheme is more in line with the process logic of warp knitting weft laying. Specifically, a master-slave cross-coupled feedback control structure with the first driven axis corresponding to the weft laying carriage 1 as the reference axis is adopted. By calculating the relative deviation between the other driven axes and the reference axis, the speed correction amount is generated by adapting the differentiated PID gain of the three heterogeneous transmission characteristics of the slide corresponding to the weft laying carriage 1, the belt corresponding to the guide positioning plate 2, and the chain corresponding to the transmission device. The synchronization error between axes is converged in both directions, and the mechanical clearance and elastic deformation differential lag of different transmission branches are compensated.

[0033] This preferred solution is for In the calculation, the relative deviations between the three sets of axes are summed and then the reference axis correction is generated, so that the first driven axis can globally coordinate the response to the synchronization state of all driven axes, rather than just matching the deviation of a single driven axis.

[0034] In some embodiments of the present invention, multiple driven axes may simultaneously exhibit lag or lead deviations in the same direction. By summing the deviations, a correction force can be superimposed, which, together with the reverse correction of the driven axes, achieves bidirectional synchronous convergence, thereby improving the deviation convergence speed of the multi-axis system under dynamic conditions such as acceleration, deceleration, and reversal. In other embodiments of the present invention, the deviation directions of different driven axes are opposite. By summing the deviations, some disturbance components can be naturally offset, avoiding frequent small fluctuations of the reference axis and improving the operational stability of the steady-state weaving stage.

[0035] As a preferred embodiment of the above, the preset PID gain for a single driven shaft ( The system identifies the current motion stage of the driven shaft based on the real-time angle of the virtual spindle and dynamically adjusts it by matching and calling the corresponding gain parameters. In this embodiment, the PID gain is preset by the system.

[0036] In some embodiments of the present invention, when the driven shaft is in the acceleration or deceleration phase, the coupling gain is increased to enhance transmission lag compensation; when the equipment is in the constant speed phase, the coupling gain is reduced to ensure smooth operation.

[0037] Among the above preferred solutions, a planning-level gain scheduling mechanism based on the real-time angle of the virtual spindle is adopted. The determination of the motion stage is based on the preset motion stage mapped by the real-time angle of the virtual spindle, without relying on the acquisition and identification of real-time running data, and there are no problems of working condition judgment delay and disturbance false triggering. By dynamically adjusting the gain parameters, the difficulty of balancing dynamic response speed and steady-state operation stability in fixed gain mode can be solved.

[0038] As a preferred embodiment of the above, for the first servo motor 11 and the second servo motor 21, the first gap feedforward compensation amount and the second gap feedforward compensation amount are respectively superimposed on the speed correction amount output by the cross-coupling control algorithm. The first gap feedforward compensation amount and the second gap feedforward compensation amount are injected in advance during the commutation of the corresponding servo motor to offset the transmission backlash.

[0039] In this preferred scheme, the first gap feedforward compensation amount and the second gap feedforward compensation amount are both short-time speed pulse compensation values ​​injected during the commutation stage. They belong to speed-type feedforward amounts and are directly superimposed on the cross-coupling speed correction amount of the corresponding shaft. Their function is to provide an additional speed increment at the moment of motor commutation, driving the transmission pair to quickly cross the reverse idle range.

[0040] The above preferred solutions are only for the first servo motor 11 and the second servo motor 21 in the case of forward and reverse switching. Feedforward compensation can predict and eliminate the step position lag at the moment of switching, and make up for the natural response delay of feedback control. At the same time, it does not apply additional speed disturbance to the chain traction shaft that runs continuously in one direction, and can adapt to the motion characteristics of different transmission branches.

[0041] In some embodiments of the present invention, the first gap feedforward compensation amount and the second gap feedforward compensation amount are determined in the following manner: A1: For the transmission pairs corresponding to the first servo motor 11 and the second servo motor 21, the reverse backlash clearance of each transmission pair is calibrated offline to be equivalent to the rotational position of the virtual spindle, and the first backlash position and the second backlash position are obtained accordingly. A2: Based on the virtual spindle rated angular velocity corresponding to the current working condition, convert the first idle position and the second idle position into the speed pulse amplitude and duration angle of the corresponding backlash feedforward compensation. A3: Pre-calibrate the virtual spindle reference angle corresponding to the commutation point of each servo motor and set the advance injection angle. When the real-time angle of the virtual spindle reaches the advance injection angle, inject the corresponding gap feedforward compensation amount.

[0042] As a preferred embodiment of the above, such as Figure 4 As shown, synchronous motion commands are sent to the servo motors corresponding to each driven axis, including: S31: Normalize the position of the virtual spindle in one work cycle to a timing reference of 0°-360°; S32: Decompose the full-stroke motion of each driven axis into stages, and correspond the decomposition results to the position range of the virtual spindle.

[0043] In some embodiments of the present invention, taking the extreme position on one side as the action cycle reference, the full stroke motion of the first driven shaft corresponding to the weft laying trolley 1 is decomposed into a moving-away acceleration segment, a uniform moving-away segment, a deceleration and reversal segment, a return acceleration segment, a uniform return segment, and a deceleration and reversal segment. Similarly, taking the extreme position on one side as the action cycle reference, the full stroke motion of the second driven shaft corresponding to the guide positioning piece 2 is decomposed into a uniform speed pulling compensation stage, a speed change return stage that is fast at first and then slow, and a waiting stage. Among them, the uniform speed pulling compensation stage and the speed change return stage correspond to the moving away acceleration segment, the uniform speed moving away segment, and the deceleration reversal segment of the first driven shaft, and the waiting stage corresponds to the return acceleration segment, the uniform speed return segment, and the deceleration reversal segment of the first driven shaft. The full-stroke motion of the third and fourth driven shafts corresponding to the chain transmission mechanism 3 is decomposed into a uniform speed stage with a unified motion speed.

[0044] After disassembly, a structured multi-channel linkage data table is formed. The data table uses the virtual master axis angle as a unified index and corresponds sequentially to the target positions of the first driven axis, the second driven axis, the third driven axis, and the fourth driven axis, forming a one-to-one mapping relationship between the virtual master axis angle and each driven axis target position. In some embodiments of the present invention, the multi-channel linkage data table is pre-stored in the controller memory.

[0045] In the above embodiments, in the implementation method of identifying the current motion stage based on the real-time angle of the virtual spindle and matching and calling the corresponding gain parameter to achieve dynamic adjustment, specifically during device operation, the current motion stage of the driven shaft can be directly matched based on the real-time angle of the virtual spindle, and the corresponding PID gain parameter can be called to complete the dynamic adjustment.

[0046] Example 3

[0047] The integrated control device for warp knitting machines adopts the multi-servo motor joint control method as described in Example 1, including: The execution drive unit includes a first servo motor 11 that drives the weft-laying trolley 1, a second servo motor 21 that drives the guide positioning piece 2, and a third servo motor 31 and a fourth servo motor 32 that drive the chain conveying mechanisms 3 on both sides respectively. The virtual spindle construction module constructs a virtual spindle, which serves as the motion reference for the joint control of various servo motors in the execution drive unit. The axis mapping module maps the power axes corresponding to each servo motor to the driven axes of the virtual master axis. The linkage command issuing module synchronously issues linkage motion commands to the servo motors corresponding to each driven axis based on the real-time position coordinates of the virtual spindle. The linkage motion commands include the target position and target speed of each driven axis. The deviation calculation module collects the actual position of each driven axis in real time and calculates the synchronization deviation of each driven axis relative to the target position. The cross-coupling correction module uses a cross-coupling control algorithm to dynamically correct the output speed commands of each servo motor based on the synchronization deviation, so that the weft laying trolley 1, the guide positioning plate 2, and the side chain conveying mechanism 3 can operate synchronously.

[0048] As a preferred embodiment, the cross-coupling correction module includes: The shaft deviation calculation unit calculates the relative shaft deviation between the second driven shaft and the first driven shaft, using the first driven shaft as a reference. The relative deviation between the third driven shaft and the first driven shaft The relative deviation between the fourth driven shaft and the first driven shaft ; The speed correction calculation unit presets the PID gain for each driven axis. ), calculation speed correction amount Where i = 1, 2, 3, 4, corresponding to the first to the fourth driven axes respectively; The command overlay unit overlays each speed correction amount onto the corresponding target speed to form the final speed command, which is then sent to the servo driver of each servo motor. The speed correction amount satisfies the following calculation relationship: ; ; ; .

[0049] As a preferred embodiment, the speed correction calculation unit presets a PID gain for a single driven shaft (…). The current motion stage is matched with the current motion stage of the driven axis, which is identified based on the real-time angle of the virtual master axis.

[0050] As a preferred embodiment, the linkage command issuing module includes: The timing reference normalization unit normalizes the position of the virtual spindle in one work cycle to a timing reference of 0°-360°; The motion phase mapping unit decomposes the full-stroke motion corresponding to each driven axis into phases, and maps the decomposition results to the position range of the virtual master axis.

[0051] The technical effects achieved in this embodiment are the same as those in the above embodiments, and will not be repeated here.

[0052] Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for joint control of multiple servo motors, characterized in that, include: Construct a virtual spindle, and use the virtual spindle as the motion reference for the joint control of multiple servo motors; The power axes corresponding to each of the servo motors are respectively mapped to the driven axes of the virtual master axis; Based on the real-time position coordinates of the virtual spindle, a linkage motion command is synchronously sent to the servo motor corresponding to each of the driven axes. The linkage motion command includes the target position and target speed of each of the driven axes. The actual position of each driven shaft is acquired in real time, and the synchronization deviation of each driven shaft relative to the target position is calculated. A cross-coupling control algorithm is adopted to dynamically correct the output speed command of each servo motor according to the synchronization deviation, so that the load driven by each servo motor can achieve synchronous operation.

2. An integrated control method for warp knitting machines, characterized in that, The multi-servo motor joint control method as described in claim 1 is used to perform integrated control of the following servo motors, including: The first servo motor that drives the weft-laying trolley, the second servo motor that drives the guide positioning plate, and the third and fourth servo motors that drive the chain conveyor mechanisms on both sides are respectively mapped to the first to fourth driven axes of the virtual main shaft.

3. The integrated control method for warp knitting machines according to claim 2, characterized in that, A cross-coupling control algorithm is employed to dynamically correct the output speed commands of each servo motor based on the synchronization deviation, including: Using the first driven shaft as a reference, calculate the relative deviation between the second driven shaft and the first driven shaft. The relative deviation between the third driven shaft and the first driven shaft The relative deviation between the fourth driven shaft and the first driven shaft ; For each of the driven axes, a PID gain is preset ( ), and calculate the speed correction amount. Where i = 1, 2, 3, 4, corresponding to the first driven axis to the fourth driven axis respectively; ； ； ； ； Each speed correction is superimposed on the corresponding target speed to form the final speed command, which is then sent to the servo driver of each servo motor.

4. The integrated control method for warp knitting machines according to claim 3, characterized in that, The preset PID gain for a single driven shaft ( The system identifies the current motion stage of the driven shaft based on the real-time angle of the virtual spindle and dynamically adjusts it by matching and calling the corresponding gain parameters.

5. The integrated control method for a warp knitting machine according to claim 3, characterized in that, For the first servo motor and the second servo motor, the first gap feedforward compensation and the second gap feedforward compensation are respectively superimposed on the speed correction amount output by the cross-coupling control algorithm. The first gap feedforward compensation amount and the second gap feedforward compensation amount are injected in advance during the commutation of the corresponding servo motor to offset the transmission backlash.

6. The integrated control method for a warp knitting machine according to claim 2, characterized in that, Synchronously send linkage motion commands to the servo motors corresponding to each of the driven axes, including: The position of the virtual spindle in one work cycle is normalized to a timing reference of 0°-360°; The full-stroke motion corresponding to each driven shaft is broken down into stages, and the position range of the virtual spindle is corresponding to the decomposition results.

7. An integrated control device for warp knitting machines, characterized in that, The multi-servo motor joint control method as described in claim 1 includes: The execution drive unit includes a first servo motor that drives the weft-laying trolley, a second servo motor that drives the guide positioning plate, and a third and fourth servo motors that drive the chain conveyor mechanisms on both sides respectively. A virtual spindle construction module constructs a virtual spindle, which serves as the motion reference for the joint control of each servo motor in the execution drive unit. The axis mapping module maps the power axes corresponding to each servo motor to the driven axes of the virtual master axis. The linkage command issuing module synchronously issues linkage motion commands to the servo motors corresponding to each of the driven axes based on the real-time position coordinates of the virtual spindle. The linkage motion commands include the target position and target speed of each of the driven axes. The deviation calculation module collects the actual position of each driven shaft in real time and calculates the synchronization deviation of each driven shaft relative to the target position. The cross-coupling correction module employs a cross-coupling control algorithm to dynamically correct the output speed commands of each servo motor based on the synchronization deviation, thereby enabling the weft-laying trolley, guide positioning plate, and side chain conveying mechanism to operate synchronously.

8. The integrated control device for a warp knitting machine according to claim 7, characterized in that, The cross-coupling correction module includes: The shaft deviation calculation unit calculates the relative shaft deviation between the second driven shaft and the first driven shaft, using the first driven shaft as a reference. The relative deviation between the third driven shaft and the first driven shaft The relative deviation between the fourth driven shaft and the first driven shaft ; The speed correction calculation unit presets a PID gain for each of the driven axes. ), calculation speed correction amount Where i = 1, 2, 3, 4, corresponding to the first driven axis to the fourth driven axis respectively; The instruction superposition unit superimposes each speed correction amount onto the corresponding target speed to form a final speed instruction, which is then sent to the servo driver of each servo motor. The speed correction amount satisfies the following calculation relationship: ； ； ； 。 9. The integrated control device for a warp knitting machine according to claim 8, characterized in that, The speed correction calculation unit presets a PID gain for a single driven shaft. The current motion stage of the driven axis is matched with the current motion stage, which is identified based on the real-time angle of the virtual spindle.

10. The integrated control device for a warp knitting machine according to claim 7, characterized in that, The linkage command issuing module includes: The timing reference normalization unit normalizes the position of the virtual spindle in one work cycle to a timing reference of 0°-360°; The motion phase mapping unit decomposes the full-stroke motion corresponding to each driven axis into phases, and maps the decomposition results to the position range of the virtual master axis.

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