JP3124652B2 - 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 does not use a main shaft of a loom as a driving source, but drives a moving mechanism for opening, rapier and beating of a loom by a dedicated driving motor, and synchronizes with a main shaft of the loom. The present invention relates to a motion mechanism control device for a loom capable of minimizing a loss of a drive motor when controlling the rotation amount of a loom.

[0002]

2. Description of the Related Art In looms, respective movement mechanisms such as shedding, rapiers, and beating are sometimes driven by dedicated drive motors without using the main shaft of the loom as a drive source. ing.

[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 main shaft of the loom becomes a problem, and in order to prevent this synchronism, it is preferable to control the drive motor by using position control. Therefore, in these prior arts, it is common to control the drive motor to follow the loom main shaft via an appropriate position control system.

In this case, it is preferable that the position control system changes the loop gain depending on the magnitude of the control deviation. The opening, rapier, and beating motion mechanisms generally repeat stop, constant speed drive, and rapid acceleration / deceleration drive when the loom is operated. The deviation is small because the change is small, and the deviation becomes large in the state of rapid acceleration / deceleration driving. At this time, the control system requires a small loop gain so that hunting does not occur for a small deviation, and for a large deviation,
This is because a large loop gain is required to solve the problem promptly (Japanese Patent Laid-Open No. 5-25751).

[0005]

However, according to the prior art, there is a problem that a large drive current is supplied to the drive motor when it is not always necessary, and the loss may be excessive. For example, in the case of the shedding control of a loom, for example, the control accuracy of the position control system is required to be high when the heald frame is closed, but is not necessarily required to be high when opening the heald frame. Absent. Also,
In beating control, high accuracy is required at the front end of the reed, but at the back end,
Not much precision is needed. So, like before,
Simply changing the loop gain by focusing only on the deviation of the position control system may cause the loop gain of the control system to be set excessively, although not so high accuracy is required. In this case, an excessively large drive current is unnecessarily supplied.

When an excessively large drive current is supplied to the drive motor unnecessarily, and the loss is excessive, the heat generated by the drive motor increases. Therefore, the drive motor must be increased in size and capacity. However, the overall cost may be unnecessarily large.

Accordingly, an object of the present invention is to provide a gain correction unit that adjusts a loop gain based on a movement position of a control target of a position control unit in view of the problem of the related art, so that loss of a drive motor is required. An object of the present invention is to provide a loom motion mechanism control device that can be minimized.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the structure of the present invention is such that when a locomotion mechanism of a loom is driven via a dedicated drive motor, the drive motor is driven in accordance with the rotation angle of the main shaft of the loom. A position command unit that outputs a target rotation amount, 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 control of the position control unit. A position control loop and a speed control loop of the position control unit based on the movement position of the target;
The gist of the invention is to include a gain correction unit for adjusting at least one loop gain of the current control loop.

[0009]

According to the structure of the present invention, the position control unit includes:
According to the target rotation amount output from the position command unit, the rotation amount of the drive motor is position-controlled so as to eliminate the deviation between the target rotation amount and the rotation amount of the drive motor, and the drive motor follows the rotation angle of the loom main shaft. be able to. On the other hand, the gain correction unit 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,
Since the position can be adjusted based on the movement position of the object to be controlled by the position control unit, the loop gain is increased only when the position control unit truly requires high accuracy, and otherwise, the loop gain is reduced. By doing so, the drive current of the drive motor and the loss due to it can be suppressed to the minimum necessary.

[0010] The movement position of the controlled object includes the actual movement position of the heald frame, reed or rapier connected to the drive motor via the movement mechanism, the actual rotation position of the drive motor,
Alternatively, it may be a target rotation position or the like with respect to the drive motor. When a reed or a rapier is a control target, the rotation position of the main shaft of the loom may be used. This is because a reed or a rapier generally performs one operation for one rotation of the loom main shaft, and the drive motor cannot stop with respect to the loom main shaft.

[0011]

Embodiments will be described below with reference to the drawings.

A locomotion mechanism control device (hereinafter simply referred to as a control device) includes a position command section 10 and a position control section 20.
And a gain correction unit 30 (FIG. 1). However, here, the control device is to control the opening movement mechanism by the dedicated drive motor M.

The rotation angle θ of the loom main shaft A is input to the position command unit 10 via the encoder E 1. The position command unit 10 drives the position control unit 20 and the gain correction unit 30, respectively. A command rotation signal So for instructing a target rotation amount Po of the motor M and a position signal Sp are output.

The position command unit 10 includes a step counter 11
And a pulse pattern generator 12 (FIG. 2). The rotation angle θ from the encoder E1 is branched and input to the step counter 11 and the pulse pattern generator 12. 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. Also,
To the step counter 11 and the pulse pattern generator 12, the prescribed number of steps Nr and the aperture pattern SK from the aperture pattern setting device 13 are also input. Note that the command rotation signal So from the pulse pattern generator 12 is branched and input to the discriminator 14, and the output of the discriminator 14 is output to the outside as a position signal Sp.

The position control unit 20 includes a position control loop 20c including a polarity determiner 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 judgment 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. The difference counter 22 is individually connected to an addition terminal and a subtraction terminal. The deviation counter 22 outputs a deviation signal Sd indicating a deviation d = Po−Pf. The deviation signal Sd is guided to a position amplifier 24 via a D / A converter 23. Position amplifier 24
Outputs a speed command signal Sv.

The speed command signal Sv corresponds to the speed control loop 20
At the addition point 25a of a, the signal is synthesized with the position feedback signal Sf passing through the F / V converter 28 and guided to the speed amplifier 25. The output of the speed amplifier 25 is supplied to the current amplifier 2 via the summing point 26a of the current control loop 20b.
6 and the output of the current amplifier 26 is
It is connected to the. The output of the current amplifier 26 includes:
A current detector CT is interposed, and its output is provided at an addition point 26a.
Has been negatively fed back.

The gain correction unit 30 includes an amplification factor setting unit 31, to which the position signal Sp from the position command unit 10 is input. In addition, the amplification factor setting device 3
The amplification factor g output from 1 is input to the position amplifier 24.

The drive motor M is connected to a link mechanism LK for driving the heald frame SW (FIG. 3).

The link mechanism LK includes a short revolving arm LK1 protruding from the shaft end of the drive motor M, a connecting lever LK2 connected to the tip of the revolving arm LK1, and a rotating shaft LK3 provided below the heald frame SW. Are the main members. An arm LK3a protrudes from one end of the rotating shaft LK3,
The arm LK3a is connected to the revolving arm LK1 via a connecting lever LK2. Further, another arm LK3b, LK3b is protrudingly provided on the rotation shaft LK3.
3b, LK3b has a rod LK vertically attached to the heald frame SW
4, connected to the lower end of LK4. Therefore, assuming that the swing arm LK1 is sufficiently shorter than the arm LK3a,
When the turning arm LK1 makes one rotation via the drive motor M, the turning axis LK3 turns forward and backward by a predetermined angle via the arm LK3a (in the direction of arrow K1 in FIG. 3), and the arm LK3b,
Through LK3b, rods LK4 and LK4, the heald frame SW is
It can reciprocate up and down by a predetermined stroke (in the direction of the arrow K2 in the figure). That is, the link mechanism LK
Is an opening movement mechanism interposed between the drive motor M and the heald frame SW.

In general, a plurality of heald frames SW are used in combination, but FIGS. 1 to 3 show only one heald frame.

Now, when the loom is started and the loom main shaft A rotates, the encoder E1 outputs the rotation angle θ of the loom main shaft A. Therefore, the step counter 1 of the position command unit 10
1 is the prescribed number of steps N from the aperture pattern setting device 13
With reference to r, the motion pattern of the heald frame SW, that is, the number of steps N in one repeat of the opening pattern SK can be updated and output for each rotation of the main shaft A of the loom. 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 in the example of FIG. 4, Nr = 8.

The pulse pattern generator 12 refers to the opening pattern SK from the opening pattern setting device 13 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 dense / 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. I have.

The pulse pattern generator 12 responds to the rotation angle θ of the loom main shaft A such that one cycle of the opening pattern SK, that is, one reciprocation of the heald frame SW corresponds to one rotation of the drive motor M. , The pulse rate of the target rotation amount Po. Further, the pulse pattern generator 12 can detect the rotation direction of the loom main shaft A by, for example, converting the output signal of the encoder E1 into a two-phase pulse train signal. The direction of rotation can be determined. Therefore, the pulse pattern generator 12 can instruct the rotation direction of the drive motor M together, for example, by selecting the polarity of the pulse train in the command rotation signal So.

As described above, 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 determiner 21 determines the rotation direction of the drive motor M from the polarity of the pulse train constituting the command rotation signal So,
The target rotation amount Po is input to the addition terminal of the deviation counter 22 for positive rotation, and to the subtraction terminal for negative rotation. The polarity determiner 21 also receives, for example, a position feedback signal Sf indicating the rotation amount Pf of the drive motor M, for example,
The rotation direction of the drive motor M is determined from the two-phase pulse train signal constituting the signal, and the rotation amount Pf is input to the subtraction terminal of the deviation counter 22 for positive rotation and to the addition terminal for negative rotation. Therefore, the deviation counter 22 calculates the deviation d = P between the target rotation amount Po for the drive motor M and the actual rotation amount Pf.
o-Pf can be calculated and output 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. The speed command signal Sv is transmitted to the drive motor M via the speed control loop 20a and the current control loop 20b.
And 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 is basically a constant value proportional to the rotation speed of the main shaft A of the loom. At this time, the gain g of the position amplifier 24 is set by the gain setting unit 31 of the gain correction unit 30.

On the other hand, the discriminator 14 of the position command section 10 receives the command rotation signal So from the pulse pattern generator 12 and counts the pulse train, thereby obtaining the drive motor M
When the heald frame SW driven by the
That is, the position signal Sp having the pulse width Δθ is output around the time when the heald frame SW is at the intermediate position between the top dead center and the bottom dead center (FIG. 4). For example, when the heald frame SW at the bottom dead center is driven to the top dead center and then returns to the bottom dead center continuously (1 ≦ N ≦ 3 in FIG. 4), the command rotation signal So is output from the drive motor. M = θ = 180 (degrees) from N = 1 to θ = N = 3
= 180 (degrees) until the drive motor M
A rotating pulse train is obtained.

Then, the discriminator 14 at this time detects the rotation angle θm (degree) of the drive motor M by counting the command rotation signal So, and obtains 90−Δθm / 2 ≦ θm ≦ 90 + Δθm / 2 and 270− What is necessary is just to output the position signal Sp corresponding to Δθm / 2 ≦ θm ≦ 270 + Δθm / 2. Heald frame S
This is because W assumes the closing position at θm = 90 (degrees) and θm = 270 (degrees), assuming that θm = 0 (degree) when it is at the bottom dead center. Here, Δθm is
The pulse width Δθ is an appropriate constant that determines the pulse width Δθ of the position signal Sp, and the pulse width Δθ is expressed based on the rotation angle θ of the main shaft A of the loom.

Such a position signal Sp is supplied to the gain correction unit 3
When input to the gain setting unit 31 of 0, the gain setting unit 3
1 can output the amplification factor g to the position amplifier 24 of the position control loop 20c corresponding to the position signal Sp.
That is, the gain setting unit 31 outputs g = g1 when the position signal Sp does not exist, and outputs g = g2> g1 when the position signal Sp exists.
Sets the loop gain of the position control loop 20c to be large only when the heald frame SW is within a predetermined upper and lower range including the closing position, and makes the position control of the heald frame SW by the drive motor M highly accurate. When the motor is at another position, the loop gain can be set small so that an unnecessary excessive drive current is not supplied to the drive motor M.

In the above description, the gain setting unit 31 may smoothly change the gain g in accordance with the position signal Sp (two-dot chain line in FIG. 4). Also,
The discriminator 14 determines the rotation angle θm of the drive motor M = 90
Instead of setting a symmetrical pulse width Δθ before and after (degrees) and θm = 270 (degrees), the pulse width Δθ may be set to be asymmetrical in the front-rear direction.

[0031]

[Other Embodiments] A position signal Sp is generated by a discriminator 14 of a position command unit 10 based on a command rotation signal So, that is, a drive detected by an encoder E2 instead of being generated based on a target rotation position of a drive motor M. It can be created based on the actual rotation amount Pf of the motor M, that is, the actual rotation position of the drive motor M. That is, the discriminator 14 at this time may count the pulse train of the position feedback signal Sf instead of counting the pulse train of the command rotation signal So.

The position signal Sp can be generated by an appropriate position sensor for detecting the stroke of the heald frame SW to be controlled. That is, the position sensor at this time may detect that the heald frame SW is within a predetermined vertical range including the closing position, and output the position signal Sp based on the actual movement position of the heald frame SW.

The present invention can be applied as it is even if the control object of the position control unit 20 connected to the drive motor M is not a heald frame SW but a rapier or a reed.
However, the movement mechanism that connects the drive motor M and the heald frame SW and the like is not limited to the link mechanism LK that rotates the drive motor M in one direction. It may be a type of cam mechanism or the like.
When the control object is a rapier or a reed, the position signal S
p may be created based on the rotation angle θ of the main shaft A of the loom.

Further, the target for setting and adjusting the loop gain by the gain correction unit 30 is either the speed control loop 20a or the current control loop 20b or both of the position control loop 20c and the position control loop 20c. Good. That is, the gain correction unit 30 determines the position control loop 20c and the speed control loop 2 based on the arbitrary movement position of the control target by the method of generating the position signal Sp.
0a, at least one loop gain of the current control loop 20b can be adjusted.

[0035]

As described above, according to the present invention, a gain correction section is added to a position control section for controlling a position of a drive motor for driving a movement mechanism of a loom in synchronization with a main shaft of a loom, and By adjusting at least one loop gain of the position control loop, speed control loop or current control loop of the control unit based on the movement position of the control target of the position control unit, when the position of the control target is to be controlled with high precision Only the gain loop can be increased and the gain loop at other times can be kept small, so that the drive current of the drive motor also increases only in the former case and does not become unnecessarily excessive in the latter case. Therefore, there is an excellent effect that the loss of the drive motor can be suppressed to the minimum necessary.

[Brief description of the drawings]

Fig. 1 Overall block system diagram

[Fig. 2] Block diagram of main parts

FIG. 3 is a schematic perspective view of an exercise mechanism.

FIG. 4 is an operation explanatory diagram.

[Explanation of symbols]

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

Continuation of the front page (56) References JP-A-5-25751 (JP, A) JP-A-4-222248 (JP, A) JP-A-4-222255 (JP, A) JP-A-4-153342 (JP) JP-A-54-64165 (JP, A) JP-A-2-60481 (JP, A) JP-A-5-25751 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB Name) D03D 51/00-51/02 D03D 47/27 H02P 5/00 D03C 13/00

Claims (1)

(57) [Claims] 1. A locomotive motion mechanism control device for driving a loom motion mechanism via a dedicated drive motor, a position command unit for outputting a target rotation amount of the drive motor in accordance with a rotation angle of a loom main shaft; A position control unit that controls the 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 based on a movement position of a control target of the position control unit. A motion mechanism control device for a loom, comprising: a gain correction unit configured to adjust at least one loop gain of a position control loop, a speed control loop, and a current control loop.