JP3089070B2 - Loom motion mechanism controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loom for driving the opening, rapier and beating movement mechanisms of a loom by a dedicated drive motor and controlling the rotation amount of the drive motor synchronously with the main shaft of the loom. And a motion mechanism control device.

[0002]

2. Description of the Related Art In looms, respective movement mechanisms such as shedding, rapier, beating, etc. are sometimes driven by a dedicated drive motor without using the main shaft of the loom as a drive source. (For example,
No. 58940, JP-A-53-106865,
JP-A-59-199841).

[0003] Each of these motion mechanisms must operate strictly in synchronization with the rotation angle of the loom main shaft. However, when each motion mechanism is driven by a dedicated drive motor,
Synchronization with the loom main shaft becomes a problem, and in order to prevent this synchronism, it is preferable to employ position control for drive motor control. That is, the drive motor is generally controlled to follow the loom main shaft via an appropriate position control system.

[0004]

According to the prior art, when the drive motor of each motion mechanism is controlled via a position control system, a gain (hereinafter, simply referred to as a loop gain) relating to a transfer function of the control system is increased. Since the deviation was constant regardless of the magnitude of the deviation, there was a problem in terms of quick response or stability.

That is, the opening, rapier, and beating motion mechanisms generally repeat the motions of the stopped state, the constant speed drive state, and the rapid acceleration / deceleration state when the loom is operated.
In the state of the user, the deviation is small because the temporal change of the control amount is small, and the deviation is large in the rapid acceleration / deceleration state. At this time, the control system requires a small loop gain so that hunting does not occur for a small deviation, and a large loop gain is required for a large deviation in order to eliminate it quickly. . However, in the conventional control system, since the loop gain is constant regardless of the magnitude of the deviation, if the loop gain is set to a small value, the control is stable without hunting, but the quick response in a rapid acceleration / deceleration state is insufficient. On the other hand, when the loop gain is increased, the responsiveness can be increased.However, hunting occurs in the stop state and the constant speed drive state, and the control is not stabilized. It was difficult to achieve good controllability.

Accordingly, an object of the present invention is to provide a gain correction section having a memory means when a position of a drive motor is controlled via a position command section and a position control section in view of the problem of the prior art. It is an object of the present invention to provide a loom motion mechanism control device capable of achieving good controllability for all motion states without impairing the responsiveness and stability of the entire system.

[0007]

According to a first aspect of the present invention, there is provided a loom for driving a locomotion mechanism of a loom in synchronization with a main shaft of a loom so as to follow a predetermined drive pattern via a dedicated drive motor. In the motion mechanism control device of
A position command unit that outputs a target rotation amount of the drive motor in accordance with the rotation angle of the loom main shaft, and the rotation of the drive motor is controlled to eliminate a deviation between the target rotation amount from the position command unit and the rotation amount of the drive motor. And a gain correction unit that adjusts at least one of a position control loop, a speed control loop, and a current control loop of the position control unit by following a deviation of the position control unit. The correction unit has a memory unit that stores the deviation of the position control unit as a function of the loom main shaft, and its gist is to determine a loop gain based on the deviation stored in the memory unit.

[0008] The gain correction section can have a loop gain correction function.

In each of the above cases, the gain correction unit can determine the loop gain based on different functions for when the loom is stopped and when the loom is operated.

[0010]

According to the structure of the present invention, the position control section controls the rotation amount of the drive motor so as to eliminate the deviation between the target rotation amount and the rotation amount of the drive motor in accordance with the target rotation amount output from the position command section. Can be controlled to follow the rotation angle of the main shaft of the loom. On the other hand, the gain correction unit
At least one loop gain of the position control section, the speed control loop, and the current control loop can be adjusted to follow the deviation of the position control section. Therefore, when the deviation is large, the loop gain is increased. As a result, the responsiveness of the entire control system can be improved, and when the deviation is small, the loop gain can be adjusted to a small value to increase the stability of the entire control system.

Since the gain correction unit has a memory means for storing the deviation of the position control unit as a function of the loom main shaft, for example, one repeat (one cycle of the drive pattern of the controlled object in units of the number of revolutions of the loom main shaft). By using the previous deviation, it is possible to easily realize good controllability by so-called preceding control.

Since the gain correction section has a loop gain correction function, the set loop gain can be corrected again, and more excellent controllability can be realized.

The gain correction unit uses a different function for when the loom is stopped and for when the loom is operated, so that even when performing an inching operation or the like while the loom is stopped, a stable control operation with a particularly small loop gain is performed. Can be realized.

It should be noted that such a loom motion mechanism control device can be effectively applied to any of the drive motors of the shedding motion mechanism, the rapier motion mechanism, and the beating motion mechanism.

[0015]

Comparative Example Hereinafter, a comparative example on which the present invention is based will be described with reference to the drawings.

A loom motion mechanism control device (hereinafter simply referred to as a control device) includes a position command unit 10 and a position control unit 20.
And a gain correction unit 30 (FIG. 1). Here, it is assumed that the control device controls the opening movement mechanism by the dedicated drive motor M.

The rotation angle θ of the main shaft A of the loom is input to the position command section 10 via the encoder E1. The position command unit 10 outputs a command rotation signal So for instructing a target rotation amount Po of the drive motor M and a base speed signal Sb.

The position command unit 10 includes a step counter 1
1, a pulse pattern generator 12, a speed detector 13, and a base speed calculator 14 (FIG. 2). The rotation angle θ from the encoder E1 is calculated by a step counter 11, a pulse pattern generator 12, and a speed detector 13. Is input to the branch. The output of the step counter 11 is connected to a pulse pattern generator 12, and the output of the pulse pattern generator 12 is a command rotation signal So. The output of the speed detector 13 is the base speed calculator 1
4. Via the D / A converter 15, the base speed signal Sb
It has become. The step counter 11, the pulse pattern generator 12, and the base speed calculator 14 are also supplied with the specified number of steps Nr and the aperture pattern SK from the aperture pattern setting device 16, respectively.

The position control unit 20 comprises a position control loop 20c comprising a polarity judgment unit 21, a deviation counter 22, a D / A converter 23, and a position amplifier 24, and a speed control loop 20a.
And the current control loop 20b in cascade (FIG. 1).

The polarity judging unit 21 receives a command rotation signal So from the position command unit 10 and a position feedback signal Sf from the encoder E2 indicating the rotation amount Pf of the drive motor M. Are individually connected to an addition terminal and a subtraction terminal of the deviation counter 22. The deviation counter 22 outputs a deviation signal Sd indicating the deviation d = Po−Pf.
It is guided to a position amplifier 24 via an A converter 23.
A speed command signal Sv is output from the position amplifier 24.

The speed command signal Sv is transmitted to the speed control loop 20
At the addition point 25a of a, the base speed signal Sb from the position command unit 10 and the position feedback signal Sf passing through the F / V converter 28 are combined and guided to the speed amplifier 25. The output of the speed amplifier 25 is connected to the current amplifier 26 via the summing point 26a of the current control loop 20b, and the output of the current amplifier 26 is connected to the drive motor M. The output of the current amplifier 26 is provided with a current detector CT, and the output of the current detector CT
6a is negatively fed back.

The gain correction unit 30 includes a gain calculator 31,
The gain calculator 31 includes a gain calculator 31 to which a deviation signal Sd from the deviation counter 22 is input. The output of the gain calculator 31 is connected to the gain setting unit 32, and the gain g from the gain setting unit 32 is input to the position amplifier 24.

The drive motor M is connected to a heddle frame driving cam mechanism (not shown). However, a plurality of heald frames are generally used in combination, but only one heald frame is shown here.

When the loom is started and the main shaft A of the loom rotates,
The encoder E1 outputs the rotation angle θ of the main shaft A of the loom. Therefore, the step counter 11 of the position command unit 10
Is the prescribed number of steps Nr from the aperture pattern setting device 16
, The driving pattern of the heald frame, that is, the number of steps N in one repeat of the opening pattern SK can be updated and output every one rotation of the main shaft A of the loom. However,
Here, the prescribed number of steps Nr refers to the number of revolutions of the main shaft A of the loom in which the opening pattern SK makes a round, and Nr = 6 in the example of FIG.

The pulse pattern generator 12 refers to the opening pattern SK from the opening pattern setting device 16 and the number of steps N from the step counter 11, and follows the rotation angle θ of the main shaft A of the loom from the encoder E1 to drive the drive motor. A target rotation amount Po for rotationally driving M is calculated. It should be noted that the target rotation amount Po is represented as a sparse and dense pulse train having the same resolution as the rotation amount Pf of the drive motor M from the encoder E2, and such a target rotation amount Po is output to the outside as a command rotation signal So. . The pulse pattern generator 12 can detect the rotation direction of the main shaft A of the loom by, for example, converting the output signal of the encoder E1 into a two-phase pulse train signal. Can be determined. Therefore,
The pulse pattern generator 12 outputs, for example, the command rotation signal S
By selecting the polarity of the pulse train at o, the rotation direction of the drive motor M can be indicated together.

On the other hand, the speed detector 13 has an encoder E1
And the rotational speed of the loom main shaft A is detected. Therefore, the base speed calculator 14 can calculate a required base speed of the drive motor M with reference to the opening pattern SK and output it as a base speed signal Sb to the outside via the D / A converter 15 ( (Fig. 3).

In this way, if the position command unit 10 outputs the target rotation amount Po of the drive motor M as the command rotation signal So according to the rotation angle θ of the loom main shaft A (FIG. 1),
The polarity judging unit 21 judges the rotation direction of the drive motor M from the polarity of the pulse train constituting the command rotation signal So. If the rotation is positive, it is sent to the addition terminal of the deviation counter 22, and if the rotation is negative, it is sent to the subtraction terminal. Enter the quantity Po. The polarity determiner 21 also determines the direction of rotation of the drive motor M from the two-phase pulse train signal constituting the position feedback signal Sf indicating the rotation amount Pf of the drive motor M. The rotation amount Pf is input to the subtraction terminal 22 and to the addition terminal if the rotation is negative. Therefore, the deviation counter 22 calculates a deviation d = Po−Pf between the target rotation amount Po for the drive motor M and the actual rotation amount Pf.
At the output side as the deviation signal Sd.

The deviation d is converted from a digital amount to an analog amount by the D / A converter 23, and is converted by the position amplifier 24 into a speed command signal Sv for eliminating the deviation d. At this time, in the gain correction unit 30,
The gain calculator 31 calculates the optimum loop gain G of the position control loop 20c by following the magnitude of the deviation d, and the gain setting unit 32 calculates the gain g of the position amplifier 24 corresponding to the loop gain G. And outputs the result to the position amplifier 24. The speed command signal Sv is output to the drive motor M via the speed control loop 20a and the current control loop 20b,
The drive motor M rotates at a predetermined speed until the deviation d of the deviation counter 22 disappears. However, the rotation speed of the drive motor M at this time basically follows the base speed signal Sb from the position command unit 10.

Here, if the drive motor M is out of synchronization during the operation of the loom, a deviation d is generated on the output side of the deviation counter 22. At this time, the gain calculator 31 of the gain generator 30 obtains a loop gain G according to the magnitude of the deviation d based on, for example, a continuous function as shown in FIG. The gain g of the position amplifier 24 is determined so as to realize the gain G, and is output to the position amplifier 24.

The function of FIG. 4 is such that the deviation d is | d | <d1, d
1 ≦ | d | <d2, d2 ≦ | d | <d3 (where 0 <
d1 <d2 <d3), the gradient becomes steep in the order of | d
Is constant when |> d3. Therefore, the gain calculator 31 can obtain a small loop gain G = Ga according to the magnitude of the deviation d, for example, when the deviation d = da <d1, and when the deviation d = db> d3, Gain G = Gb can be obtained. In this function, the region where the deviation d is small, ie, | d | <d
1 is a value that can sufficiently maintain the stability of the position control unit 20, and the loop gain G in a region where the deviation d is large, that is, | d |> d3, is a deviation d.
Is quickly settled, and the value is set so that quick response can be improved.

The gain setting unit 32 obtains the gain g of the position amplifier 24 for realizing the loop gain G obtained by the gain calculator 31 and outputs it to the position amplifier 24. The position amplifier 24 generates the speed command signal Sv according to the amplification factor g, and can appropriately set the loop gain G of the position control loop 20c. Although the function of the deviation d and the loop gain G shown in FIG. 4 is a point-symmetric pattern with respect to the origin, the function may be asymmetric.

The gain calculator 31 of the gain correction unit 30
A plurality of function generators 31a, 31b,... May be selected via the switch 31d according to the magnitude of the deviation d (FIG. 5).

The function generators 31a, 31b,... Are respectively divided into a large deviation, a medium deviation, and a small deviation, and define a function of the deviation d and the loop gain G in each case. Can select the function generators 31a, 31b,... Based on the output of the discriminator 31e for discriminating the magnitude of the deviation d. The function generators 31a, 31
b and 31c are loop gains G according to the deviation d, respectively.
1, G2, G3 (where G1>G2> G3). Here, the function generator 31b for the medium deviation
May be omitted, or two or more may be provided as necessary. Since the loop gain G can be determined based on at least different functions for small deviation and large deviation, the function forms of the function generators 31a, 31b,... Can be simplified.

The gain calculator 31 is provided with function generators 31a and 31b separately for the loom when the loom is stopped and for the loom when it is operating (FIG. 6), and loop gains G1 and G2 (G1 and G2) obtained as the respective outputs. <G2) may be selected by the switch 31d to determine the loop gain G.

The switch 31d receives, for example, an operation signal Sa indicating that the loom is operating, and outputs the operation signal Sa.
When there is no operation signal, the function generator 31a for stopping the loom which outputs a small loop gain G1 is selected, and when there is the operation signal Sa, the function generator 31b for operating the loom which outputs a large loop gain G2 is selected. select. When the inching operation or the like is performed while the loom is stopped, by setting the loop gain G smaller than that during the operation of the loom, the drive motor M can stably follow without causing harmful hunting. The switch 31d selects the function generator 31b for the operation of the loom when a predetermined period for excluding the low-speed transient rotation period has elapsed after the operation signal Sa is generated by starting up the loom. As described above, a counter for counting the rotation amount of the loom main shaft A or a suitable timer may be used.

[0036]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The gain calculator 31 can include a memory means 31f (FIG. 7).

The deviation d is input to the memory means 31f, and the output of the memory means 31f is drawn out as a loop gain G via a gain pattern generator 31g. Note that the memory means 31f and the gain pattern generator 31g store the rotation angle θ of the loom main shaft A and the number of steps N
Is a branch input. Therefore, the memory means 31f
When the loom is operating, for example, the opening pattern SK
Is stored (FIG. 8), and the gain pattern generator 31g outputs a loop gain G = f2 corresponding to the deviation d thus stored. (N, θ).

For example, in FIG.
Is constant, when the opening pattern SK changes from the upper row to the lower row (θ = θ11), when shifting from the lower row to the stop state (θ = θ21), and when shifting from the stop state to the upper row (θ = θ)
61) Since a delay or an overshoot occurs in the operation of the drive motor M (two-dot chain line in the figure), a correspondingly large deviation d is likely to occur. Also, the opening pattern SK
In the ascending or descending constant speed state, a small deviation d based on hunting is likely to occur, but in the stopped state, generally,
There is no deviation d unless there is persistent hunting. Thus, the gain pattern generator 31g provides such a deviation d
Is stored in the memory means 31f as a function of the number of steps N and the rotation angle θ, the deviation d stored in the memory means 31f is read in accordance with the progress of the number of steps N and the rotation angle θ. As a result, an appropriate loop gain G = f2 (N, .theta.) Can be generated prior to the actual deviation d (FIG. 6), and good controllability can be realized over the entire area of the opening pattern SK. it can.

The memory means 31f of the previous embodiment may update and store the deviation d at every suitable period, for example, with one repeat of the opening pattern SK as the shortest period (FIG. 9).

An appropriate update command signal Sc is input to the memory means 31f, and a comparator 31h with an allowable deviation setter 31j is interposed between the memory means 31f and the gain pattern generator 31g.
The memory means 31f can update and store the deviation d = f1 (N, .theta.) For one repeat every time the update command signal Sc is input. The upper limit value d1 and the lower limit value d2 from the deviation setter 31j are compared with each other. For the section (N, .theta.) Where d> d1, the loop gain G output from the gain pattern generator 31g is increased, and d <d2 Can be modified so that the loop gain G is reduced. That is, since the gain calculator 31 and the gain correction unit 30 at this time have the function of correcting the loop gain G, it is possible to realize better controllability.

The comparative example of FIG. 6 can be combined with any other comparative examples and embodiments. For example, the function generators 31a, 31b,... Shown in FIG. 5 may be provided redundantly for when the loom is stopped and when the loom is operated, and one of them may be selected depending on the presence or absence of the operation signal Sa. Also,
In FIG. 9, the upper limit d1 and the lower limit d2 set in the allowable deviation setter 31j may be set to different values for when the loom is stopped and when the loom is operated.

The loop gain G to be adjusted in the gain correction section 30 is replaced by the speed control loop 20a or the current control loop 2 instead of the loop gain of the position control loop 20c.
The loop gain of 0b can be adjusted. At this time, the function of the deviation d and the loop gain G may be set according to each control system, and the gain g from the gain correction unit 30 may be output to the speed amplifier 25 or the current amplifier 26. In this case, instead of the deviation d in the position control loop 20c, the deviation of the control system to be adjusted is used, or the deviation of another control system is used to change the control system to be adjusted. A suitable loop gain G and amplification factor g may be calculated.

The loop gain from the gain correction unit 30 may be simultaneously applied to two or more of the position control loop 20c, the speed control loop 20a, and the current control loop 20b by the same method. That is, the gain correction unit 30
Can adjust at least one loop gain of these control loops.

The gain correction unit 30 may have any configuration as long as the gain g of each amplifier can be changed in order to adjust the loop gain of each control system. For example, the function of the gain setting device 32 may be added to each amplifier.

Further, such a control device can be applied to a rapier movement mechanism or a beating movement mechanism in the same manner, instead of the heddle frame opening movement mechanism. That is, when the rapier motion mechanism is to be controlled, the drive motor M may be connected to the carrier or insert rapier drive mechanism. When the beating motion mechanism is to be controlled, the drive motor M may be connected to the reed drive mechanism. What is necessary is just to connect with the cam mechanism for a drive.

[0046]

As described above, according to the present invention, the gain of the position command section and the position control section for controlling the position of the drive motor such as the opening motion mechanism in synchronization with the rotation of the main shaft of the loom is increased. By providing a correction unit and adjusting at least one loop gain of the position control loop, speed control loop or current control loop of the position control unit so as to follow the deviation, when the deviation is large, the loop gain is increased. The responsiveness of the entire control system can be increased, and when the deviation is small, the loop gain can be reduced to increase the stability of the entire control system. There is an excellent effect that good controllability can be easily realized in all motion states of the controlled object.

[Brief description of the drawings]

FIG. 1 is an overall block diagram showing a comparative example.

FIG. 2 is a block diagram of a main part of FIG. 1;

FIG. 3 is an explanatory diagram of an operation (1).

FIG. 4 is an operation explanatory view (2).

FIG. 5 is a main block diagram showing another comparative example.

FIG. 6 is a diagram corresponding to FIG. 5, showing another comparative example.

FIG. 7 is a diagram corresponding to FIG. 5 showing an embodiment.

FIG. 8 is an operation explanatory view (3).

FIG. 9 is a view corresponding to FIG. 5, showing another embodiment.

[Explanation of symbols]

 A: Loom main shaft M: Drive motor θ: Rotation angle Po: Target rotation amount Pf: Rotation amount d: Deviation G: Loop gain 10: Position command unit 20: Position control unit 20a: Speed control loop 20b: Current control loop 20c ... Position control loop 30 ... Gain correction unit 31f ... Memory means

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-168888 (JP, A) JP-A-2-262883 (JP, A) JP-A-2-60481 (JP, A) JP-A-2- 174580 (JP, A) JP-A-1-229845 (JP, A) JP-A-60-162842 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) D03D 51/00 D03D 47 / 27 D03D 49/60 H02P 5/00

Claims (3)

(57) [Claims] 1. A loom motion mechanism control device for driving a loom locomotive mechanism in synchronization with a loom main shaft so as to follow a predetermined drive pattern via a dedicated drive motor, wherein the drive motor corresponds to a rotation angle of the loom main shaft. A position command unit that outputs a target rotation amount of the motor, a position control unit that controls rotation of the drive motor so as to eliminate a deviation between the target rotation amount from the position command unit and the rotation amount of the drive motor, and the position control unit. A gain correction unit that adjusts at least one loop gain of a position control loop, a speed control loop, and a current control loop of the position control unit so as to follow the deviation of the position control unit. A motion control device for a loom, characterized by having a memory means for storing the deviation of the control section as a function of the main axis of the loom, and determining a loop gain based on the deviation stored in the memory means. . 2. The motion mechanism control device for a loom according to claim 1, wherein the gain correction unit has a loop gain correction function. 3. The loom motion mechanism according to claim 1, wherein the gain correction unit determines the loop gain based on different functions for when the loom is stopped and when the loom is operated. Control device.