JP4851495B2 - Loom warp control device - Google Patents

Description

  The present invention relates to an apparatus for controlling warp yarns to suppress weaving steps in a loom.

  In looms, weaving steps occur in the weaving fabric due to warp elongation during stopping and processing to eliminate the cause of the stopping. Let me do it.

  As one of the weaving step prevention techniques, there is a technique (first and second conventional techniques) that causes a loom to perform a so-called kickback operation in which a warp beam or a take-up roll is reversed or forwardly rotated prior to restart ( Patent Documents 1 and 2).

  Another technique for preventing weaving steps is to operate the winding roll in a normal operation so that the weft density is reduced over a period of several picks (weft insertion) after the start-up of the woven fabric that is thick after the loom is started up ( That is, there is one (third prior art) that rotates at a speed faster than the speed corresponding to the weft density during steady operation) (Patent Document 3).

  As another one of the weaving step prevention technologies, the weft density actually used for control (actual weft density) is first controlled in response to the occurrence of a thin or thick step due to fluctuations in warp tension after the start of the loom. This is changed based on the correction pattern so as to approach the normal density, and then the actual weft density is further changed to reverse the magnitude relationship of the actual weft density with respect to the normal weft density. There is a technique (fourth prior art) in which a winding roll is rotationally driven so as to increase a difference (density difference) from the weft density and then gradually return to a normal weft density (Patent Document 4).

  During the operation of the loom, the warp yarn feeding device of the loom controls the rotational speed of the warp beam so as to eliminate the warp tension deviation. In order to eliminate the inconvenience that the speed becomes inappropriate and the fluctuation range of the warp tension becomes excessive, the speed command signal from the controller is corrected through a multiplier for a predetermined period after the loom is restarted. (5th prior art) which corrects the control gain for the tension deviation (Patent Document 5).

Japanese Patent Laid-Open No. 61-63749 JP-A-60-181349 JP-A-2-234957 Japanese Patent Laid-Open No. 10-280255 JP-A-7-34356

  In the first and second prior arts, the warp tension changes greatly with the kickback operation, and therefore, a weaving stage due to the greatly changed warp tension may occur after the loom is started.

  None of the third and fourth prior arts considers the fact that the warp tension fluctuates as the take-up roll is driven and the drive amount by the feeding device becomes excessive.

  In general, the control gain for the tension deviation of the delivery device (difference between the actual value and the target value of the warp tension) is about several picks when the warp opening movement (change weaving like dobby weave) is performed. It is set higher to eliminate the deviation.

  On the other hand, since the device responds excessively to the tension fluctuation generated by the speed change drive of the winding device as described above (the warp beam is rotated excessively), the actual value of the tension vibrates with respect to the target value. End up.

  Therefore, the third and fourth prior arts have a problem that the tension changes rapidly in a relatively short period, and as a result, the weft density also changes in the same manner, and the density unevenness is conspicuous.

  In the fifth prior art, no consideration is given to the point at which the winding roll is driven to change speed after the loom is restarted.

  In the fifth prior art, in order to prevent the occurrence of a weaving step, when the loom performs a kickback operation for rotating the warp beam or the take-up roll prior to restarting the loom, the warp is stopped. Discloses that tension fluctuation occurs. However, the kickback operation alone cannot prevent the weaving step from occurring as in the first prior art.

  The object of the present invention is to control the tension of the warp during this period when the take-up roll is driven in accordance with a predetermined weft density pattern for a predetermined period from the start of operation of the loom to prevent the occurrence of weaving steps. This is to make the density unevenness of the weft generated due to the inconspicuous.

  The warp control device according to the present invention is a density pattern set to a weft density different from that during steady operation during a first period including a period of multiple picks from the start of operation of the loom, and finally in the steady operation. A take-up device that drives the take-up roll to change speed according to a density pattern set so as to approach the weft density, and at least during steady state operation, the warp tension deviation with respect to the basic feed speed according to the rotational speed of the loom spindle and the weft density A loom including a feeding device for executing warp tension control for rotating and driving a warp beam according to a speed obtained by adding a corrected sending speed obtained based on a canceling condition for correcting the tension deviation in a canceling direction. Assuming

  Then, in the warp control device premised on the loom, the feeding device is defined with the start time of the first period as the start time and the end time of the first period or a time after that as the end time. The warp tension control is executed also during the second period, and the value of the corrected sending speed in the warp tension control with respect to the tension deviation in the second period is the tension deviation after the second period. The warp tension control for the warp tension control with respect to the tension deviation in the second period so that the warp tension control with respect to A cancellation condition is set.

  During the second period, by setting the cancellation condition so that a corrected sending speed smaller than the subsequent value is output, the weft density during steady operation over the first period after the start of operation of the loom Despite the fact that the take-up roll is driven to change speed according to the weft density pattern that is set to a density different from that and finally reaches the density during steady operation, the following effects are produced.

  Even if the warp tension changes due to the variable speed driving of the winding roll performed over the first period after the start of the operation of the loom, the feeding device performs warp tension control based on the tension deviation during the second period. Then, the cancellation condition set for the second period, that is, the value of the correction signal for the tension deviation is a value based on the tension deviation and the value for the same tension deviation after the second period. Based on the cancellation condition set so that the correction signal with a smaller value is output, the warp beam is rotated to output the correction signal based on the tension deviation with respect to the basic delivery speed to rotate the warp beam. The speed is gradually changed over a long period of time in the direction of preventing the tension deviation without being rapidly changed as in the prior art. For this reason, the weft density changes corresponding to the warp tension, but the change is slow, and therefore the density unevenness of the wefts is not noticeable.

  In addition, the phenomenon that the actual value of the warp tension oscillates with respect to the target value occurs due to the fact that the rotational speed of the warp beam is changed so as to eliminate the tension deviation under the high cancellation condition as in the prior art, and the weft is generated. The inconvenience that the density non-uniformity is conspicuous is prevented.

  The delivery device obtains the corrected delivery speed by correcting the tension deviation with the coefficient and a setter in which a predetermined coefficient is set as the cancellation condition, and outputs the obtained corrected delivery speed The setter includes a first coefficient used in the warp tension control after the second period, and the warp in the second period as the coefficient as the cancellation condition. A second coefficient used in the tension control and a second coefficient whose value is determined to be less than the value of the first coefficient may be set.

  Further, as the first and second coefficients, a control gain of at least one of a proportional element and an integral element may be set in the setting device.

  Further, in the warp control device, a plurality of the coefficients may be set according to the tension deviation, and a corresponding coefficient may be selected according to the tension deviation at the start of the loom.

  Further, in the warp control device, when the tension deviation is canceled within the second period, the coefficient as the cancellation condition in the subsequent warp tension control is set to the warp after the second period. You may make it switch to the value of the said coefficient in tension control.

  Referring to FIG. 1, in a loom 10, a warp 12 is connected from a warp beam (delivery beam) 14 around which the warp 12 is wound to a front weave 22 through a back roller 16, a plurality of reed frames 18 and reeds 20. . The woven fabric 24 woven reaches the clothing roll 28 from the pre-weaving 22 via the guide roller 26, and is sent out to the fabric winding beam 32 by the clothing winding roll 28 and the pair of press rolls 30, and is wound around the fabric winding beam 32. It is done.

  The warp beam 14 is rotated by a feed motor 34 via a feed adjusting mechanism 36 constituted by a speed reduction mechanism such as a gear, and feeds a plurality of warps 12 in the form of a sheet. The amount of the warp 12 wound around the warp beam 14 gradually decreases as the warp 12 is fed from the warp beam 14.

  For this reason, the winding diameter of the warp beam 14 is detected by the winding diameter sensor 38, and the detected winding diameter signal D is supplied to a delivery control device 40 that controls the delivery motor 34. The rotational speed of the output shaft of the delivery motor 34 is detected by the tachometer generator 42, and the detected rotational speed signal S 1 is supplied to the delivery control device 40.

  The value (actual value) of the tension acting on the warp 12 is detected by a warp tension sensor 44 that detects the load acting on the back roller 16, and the detected tension signal T1 is supplied to the delivery control device 40.

  Each reed frame 18 is reciprocated up and down by a motion converting mechanism 48 that receives the rotational motion of the main shaft 46 rotated by a main shaft motor (not shown), thereby opening the warp 12 up and down.

  The scissors 20 are swung by a motion conversion mechanism 50 that receives the rotational motion of the main shaft 46, and strikes the weft 52 that is inserted into the opening of the warp 12 against the weft 22.

  The clothing roll 28 is constituted by a speed reduction mechanism such as a gear and is rotated by a winding adjustment mechanism 56 that receives the rotational motion of the winding motor 54, so that the woven cloth 24 and the cloth beam 32 are combined with the pair of press rolls 30. To send. For this reason, the clothing roll 28 acts as a winding roll.

  The rotation angle of the main shaft 46 is detected by an encoder 58 connected to the main shaft 46. The detected spindle rotation angle signal S <b> 2 is supplied to the winding control device 62 that controls the sending motor 52 and the sending control device 40.

  On the other hand, the rotation speed of the winding motor 54 is detected by the encoder 60 connected to the output shaft of the winding motor 54. The detected motor speed signal S3 is supplied to the winding control device 62.

  The cloth winding beam 32 is a sliding bearing (see FIG. 4) by a winding torque adjusting mechanism 64 that receives the rotational movement of the main shaft 46 so that the peripheral speed of the woven cloth 24 wound around the cloth winding beam 32 is slightly higher than the feed speed of the woven cloth 24. (Not shown) and rotated to maintain the winding tension of the woven fabric 24 constant.

  The winding control device 62 normally rotates the winding motor 54 at a basic winding speed V1 determined by the weft density, but at the start after the stoppage, the first period including a period of plural picks from the start of operation of the loom During this period, the winding roll is driven to change speed at the starting winding speed V2 in accordance with a density pattern set to a weft density different from that during steady operation. The density pattern is finally set to approach the weft density during steady operation.

  On the other hand, the delivery control device 40 is calculated based on the basic delivery speed V3 of the delivery motor 34 and the cancellation condition for eliminating the tension deviation of the warp 12 (the difference between the actual value and the target value of the warp tension). The warp beam 14 is rotated at a speed obtained by adding the corrected delivery speed V4. The cancellation condition is set to a different value between steady operation and startup.

  With reference to FIGS. 2 and 3, the winding control device 62 and the feeding control device 40 constituting the warp control device will be described.

  As shown in FIG. 2, the winding control device 62 includes an operation controller 66 that controls the rotation speed of the winding motor 54 when the loom 10 is operating in a steady state (during steady operation), and the loom 10. And a start-up controller 68 for controlling the rotation speed of the winding motor 54 at the start-up.

  The main shaft rotation angle signal S2 representing the rotation angle of the main shaft 46 is not only supplied to the operation time controller 66 and the start time controller 68, but is provided in association with the main controller 70 of the loom shown in FIG. It is also supplied to the signal generator 72 during the same period.

  A press signal when the operator presses the operation button 74 for starting the operation of the loom 10 stopped is input to the main control device 70. The main control device 70 first outputs an ON operation signal S0 to the sending control device 40 and the winding control device 62 in response to the input of the press signal. The main controller 70 also drives a main shaft motor (not shown) to rotate the main shaft of the loom, thereby starting (running operation) the loom.

  The period signal generator 72 generates a pick signal by the pick signal generator 76 every time the main shaft makes one rotation based on the main shaft rotation angle signal S 2, and counts the pick signal by the counter 78.

  The counter 78 is connected to a setting device 80 in which various periods used in the sending control device 40 and the winding control device 62 are set, and the first time is set for the first time from the start of operation of the loom to the setting device 80. The second period signals S11 and S12 are generated, and the first and second period signals S11 and S12 are supplied to the winding control device 62 and the sending control device 40, respectively.

  The first period signal S11 is turned on for a first period including a plurality of pick periods from the start of operation of the loom. The second period signal S12 is turned on for a second period having a start point of the first period as a start point and an end point later than the end point of the first period.

  The operation controller 66 is a basic winding for winding the woven fabric 24 on the basis of the weft density selection signal S4 and the main shaft rotation angle signal S2 supplied in response to a weft insertion pick from a selection signal generator (not shown). A basic speed generator 82 for calculating the taking speed V1 is provided. In the basic speed generator 82, the weft density corresponding to the selection signal S4 is set in advance via a setter (not shown) according to the type of woven fabric to be woven.

  The start-up controller 68 is a start-up winding for winding up the woven fabric 24 at the start-up based on the density pattern of the wefts set in the density pattern setting unit 84 and the main shaft rotation angle signal S2 at the start-up. The velocity V2 is calculated in the basic velocity generator 86.

  The density pattern set in the setting device 84 is different from the weft density in the steady operation during the first period starting from the start of the operation of the loom, and is gradually or stepwise approximated to the weft density in the steady operation. The density pattern finally approaches the weft density during steady operation.

  The weft density pattern as described above is, for example, for woven fabrics that are likely to be thinly stepped, gradually or continuously from the weft density that is larger (dense) than the weft density during steady operation. For woven fabrics that can be made closer to the density and are prone to thick steps, the weft density during steady operation is gradually or continuously from the weft density smaller (rough) than the weft density during steady operation. It can be a pattern that approaches.

  Specifically, the density pattern is set so as to change the normal weft density so as to be close to the normal density based on the density correction pattern.

  An example of the above density pattern is shown in FIG. 4A, and the rotation speed of the winding motor achieved as a result is shown in FIG. 4B. 4A and 4B, the vertical axis represents the weft density and the winding (cloth winding) roll speed, and the horizontal axis represents the number of weft insertion picks.

  However, as shown in FIGS. 8A and 8B, the density pattern is changed so that the normal weft density is brought close to the normal density based on the correction pattern, and thereafter, the size is increased or decreased with respect to the normal density by further change. The relationship may be reversed and the difference from the normal density may be increased and then gradually returned to the normal density.

  More specifically, as shown in FIG. 8 (A), for a woven fabric that tends to generate thin steps, the weft density pattern corresponds to the weft density during steady operation, which is a normal density immediately after startup. In order to reverse the magnitude relation of the weft density so that the weft density is coarser than the normal weft density, and then the weft density is restored to the normal weft density (normal weft density) Can be set).

  Contrary to the above, for fabrics that tend to generate thick and thin steps, the pattern is set upside down compared to FIG. 8A, that is, as shown in FIG. The weft density during a steady operation is reversed with respect to the density of the weft density by reversing the magnitude relation of the weft density so that the weft density during a steady operation is coarser than the weft density during the steady operation. It can be set to return to the density (to make the weft density coarse).

  The basic winding speed V1 and the starting winding speed V2 are individually supplied to the input terminals of the switch 88. The switch 88 receives the first period signal S11 from the period signal generator 72 and receives the operation signal S0 that is turned on after the start preparation is completed from the main controller 70.

  When receiving the operation signal S0 and the first period signal S11 (when activated), the switch 88 outputs the activation winding speed V2 to the adder 90 and receives the operation signal S0. If the first period signal S11 is not received (during steady operation), the basic winding speed V1 is output to the adder 90.

  The adder 90 receives the output signal of the switching device 88 at the input terminal on the addition side, and receives the take-up motor speed signal S3 from the speed detector 64 connected to the output shaft of the take-up motor 54 at the input terminal on the subtraction side. In response, a difference signal between the two signals is output to the driver 92 as a winding drive signal S5.

  In FIG. 2, the take-up control device 62 is configured to control the speed of the take-up motor 54. However, the take-up motor 54 is generated in accordance with the configuration in which the position of the take-up motor 54 is controlled, that is, the spindle rotation angle. The position of the winding motor 54 may be controlled in accordance with the pulse signal.

  The driver 92 is an amplification circuit that rotates the winding motor 54 in response to the winding driving signal S5. If the winding driving signal S5 from the adder 90 is positive, the winding motor 54 is rotated forward. If negative, the winding motor 54 is reversed. Thereby, the position of the weave 22 in the moving direction of the warp yarn 12 is maintained at a predetermined position.

  As shown in FIG. 3, the delivery control device 40 includes a basic speed generator 94 that generates a basic delivery speed V <b> 3 that sends out the warp 12, and a tension controller that generates a corrected delivery speed V <b> 4 that eliminates the tension deviation of the warp 12. 96, and the tension controller 96 receives the tension signal T1 from the warp tension sensor 44.

  The basic speed generator 94 receives a spindle rotation angle signal S2 and a weft density selection signal S4. The basic speed generator 94 calculates a warp sending speed according to the rotational speed of the loom, that is, the winding speed of the woven fabric 24, and outputs the calculated speed to one input terminal of the adder 98 as the basic sending speed V3. To do. Also in the basic speed signal generator 94, the weft density corresponding to the selection signal S4 is set in advance via a setting device (not shown).

  The tension controller 96 is based on the tension signal T1 supplied from the tension sensor 44, the target warp tension T0 preset in the setting device 100, and the cancellation condition set in the setting device 102 or 104. The corrected delivery speed V4 is calculated in a direction to eliminate the tension deviation so that the actual value T1 becomes the target value T0, and the calculated corrected delivery speed V4 is output to the other input terminal of the adding unit 98.

  The warp tension varies greatly depending on the warp opening movement during one rotation (one pick) of the loom. For this reason, it is preferable that the tension controller 96 calculates an average value of warp tension from one pick to several picks and controls the average value to approach the target value T0.

  More specifically, the tension controller 96 calculates the average value by sampling the tension value a plurality of times over the period based on the tension signal T1 from the tension sensor 44, and the average value obtained. It is preferable to calculate a tension deviation between the target tension and the target value, correct the obtained tension deviation with a coefficient set in the setting device 102 or 104, and output the corrected tension deviation as a corrected sending speed V4.

  As the tension controller 96 as described above, an amplifier or an arithmetic unit whose amplification degree can be changed (switched), a PID controller which can change (switch) a proportional element or an integral element, and the like can be included. In the following description, a PID controller is used as the tension controller 96.

  The tension controller 96 is connected to two setting devices 102 and 104 in which cancellation conditions for eliminating the tension deviation are set, and sets a difference (tension deviation) between the target value and the actual value of the warp tension. The corrected sending speed V4 is generated by correcting with the cancellation condition set in the device 102 or 104.

  The cancellation condition can be a coefficient used for calculating the correction speed for the tension deviation, such as the control gain (p gain or i gain) of the proportional element (p) or the integral element (i). One setter 102 is set with a cancellation condition (second coefficient) used in the second period, and the other setter 104 is set with a cancellation condition (first coefficient) used in steady operation after the second period. Is set).

  The cancellation condition (second coefficient) set in the setting device 102 is used in the second period. For example, the value of the correction speed V4 is less than that after the second period (that is, during steady operation). It is set to become. The cancellation condition (second coefficient) set in the setting device 102 is a constant value. Specifically, the cancellation condition (second coefficient) is set so that the coefficients such as p gain and i gain in the second period are less than the coefficient values in the second period and thereafter.

  FIGS. 4C and 4D show examples of actual values of the warp tension and the warp feed speed by the warp beam when the cancellation condition is set in the setting device 102 as described above. 4 (C) and 4 (D), the vertical axis represents the actual values of the warp tension and the warp feed speed, and the horizontal axis represents the number of weft insertion picks.

  The tension controller 96 receives the operation signal S0 from the main controller 70 and the ON second period signal S12 from the period signal generator 72 when the loom is started. As a result, the tension controller 96 generates the corrected delivery speed V4 using the second coefficient set in the setting device 102 during the second period from the start of operation (startup).

  In (C) and (D) of FIG. 4, the warp tension with respect to the target tension value in the steady operation immediately before the start of the operation of the loom due to the correction operation of the pre-weaving position performed immediately before the stop or the loom is started. It is assumed that the pressure is reduced by about 20.0 kg · f (ie, the tension deviation is −20 kg · f). Further, a so-called known PI controller is used as the tension controller 96, and the proportional gain (p gain) and integral gain (i gain) in the second period are set to values after the second period (during steady operation). On the other hand, it is a thing when it makes each 1/10.

  As shown in FIGS. 4C and 4D, since the proportional gain (p gain) and integral gain (i gain) in the second period are set smaller than those in the period and thereafter, correction transmission is performed. The speed V4 (that is, the warp feeding speed) gradually decreases, and as a result, the warp tension after the start of the loom operation also decreases. As a result, as the warp tension decreases, the weft density also becomes somewhat coarse.

  On the other hand, with the drop in tension, the weft driving condition (degree of warp and weft bending) changes and more warp is consumed, and the decrease in warp tension is absorbed naturally, and Since the corrected delivery speed V4 also decreases continuously thereafter, the decrease in warp tension stops and then gradually increases toward the target tension during steady operation. The warp tension reaches the target tension during steady operation after several hundred picks from the start of operation. As described above, the warp tension is reduced within a few hundred picks from the start of operation, but the fluctuation thereof is relatively gentle. Therefore, the unevenness of the weft density caused by this is relatively inconspicuous.

  However, when the proportional gain or integral gain is set to the value at the time of steady operation as in the conventional device, the tension controller 95 should quickly eliminate the tension deviation because the gain may be large. As a result of outputting a large negative value for V4, the warp feeding speed V is rapidly reduced, so the warp tension rises rapidly and eventually the warp tension greatly exceeds the target tension. In order to reduce the warp tension, the feeding speed is rapidly increased. Thus, so-called hunting occurs in which the warp tension rises and falls with respect to the target value. As the warp tension fluctuates up and down, the weft density repeats the coarse and dense state in a short period of several pick units. As a result, the weft density unevenness after the start of operation becomes more conspicuous.

  When the second period elapses, the tension controller 96 generates a correction signal using the first coefficient set in the setting unit 104 because the ON second period signal S12 is not input. . Thereby, the sending control device 40 shifts to a steady operation.

  As a result, the tension controller 95 switches to the cancellation condition corresponding to the second period and thereafter (that is, the proportional gain and the integral gain during steady operation), and outputs the corrected sending speed V4 for the tension deviation. In some cases, the warp tension deviation is almost eliminated, and the warp tension is controlled to the target tension without causing large hunting thereafter.

  The basic sending speed V3 and the corrected sending speed V4 are added by the adder 98, and the addition signal S8 is supplied to the winding diameter corrector 106. The winding diameter corrector 106 corrects the addition signal S6 from the adding section 98 based on the winding diameter signal D from the winding diameter sensor 38 shown in FIG. Output to the input terminal.

  The subtracting unit 108 subtracts the sending motor speed signal S3 from the sending speed signal S7 from the winding diameter corrector 106, and outputs the calculation result to the driver 110 as a sending speed command S8. The driver 110 functions as an amplification circuit that amplifies the sending speed command S8 and drives the sending motor 34.

  Specifically, the driver 110 is an amplification circuit that rotates the sending motor 34 in response to the sending speed command S8. If the sending speed command S8 from the subtractor 108 is positive, the driver 110 increases the speed of the sending motor 34. If it is negative, the delivery motor 34 is decelerated.

  As described above, the feed control device 40 uses the signals S2 and S7 to perform feedback for controlling the feed motor 34 so that the speed of the warp 12 sent from the warp beam 14 becomes a speed corresponding to the send speed command S8. It has the function of a circuit.

  It is desirable to determine the proportional gain and integral gain, which are the cancellation conditions for the second period, by looking at the actual state of the fabric. Specifically, it is set to be less than the value during steady operation. (Except that both are set to zero). For example, in some examples of woven fabrics (filament woven fabrics), it has been confirmed that it is effective if the range is 1/2 to 1/20 with respect to the value during steady operation.

  The length of the second period is also preferably determined after confirming the period during which the tension deviation is eliminated by setting the elimination condition. In the example of the fabric, it is several hundred big.

  As is apparent from FIG. 4, the second period is several times to several hundred times, preferably several times to one hundred times as long as the first period. For example, the first period is set to several picks to hundreds of tens of picks, preferably several picks to tens of picks, more preferably several picks to tens of picks, and the second period is set to 10 picks to 1000 picks, preferably several picks. The number of picks can be from 10 picks to 800 picks, more preferably from 10 dozen picks to several hundred picks.

  In the example shown in FIG. 4, it is conceivable that the warp tension temporarily changes suddenly as the winding speed suddenly changes stepwise as shown in FIGS. For this reason, it is desirable to set the second coefficient set in the setting device 102 to a value slightly lower than the illustrated example.

  From the above, when the ON operation signal S0 is generated, as shown in FIG. 2, the winding control device 62 is in the starting time controller 68 while the ON first period signal S11 is input. The take-up motor 54 is driven in accordance with the start-up take-up speed V2 output from.

  The winding control device 62 also outputs the basic winding output from the controller 66 during operation when the ON first period signal S11 is not input even though the ON operation signal S0 is input. The winding motor 54 is driven according to the speed V1.

  On the other hand, when the ON operation signal S0 is generated, the transmission control device 40, while the ON second period signal S12 is input, the basic transmission speed V3 generated by the basic speed generator 94, Using the second coefficient set in the setting device 102, the sending motor 34 is driven in accordance with a signal S6 of the sum with the corrected sending speed V4 generated by the tension controller 96.

  In addition, when the on-operation signal S0 is input and the second on-period signal S12 is not input, the transmission control device 40 generates the basic transmission speed V3 generated by the basic speed generator 94. Using the first coefficient set in the setting device 104, the sending motor 34 is driven in accordance with a signal S6 of the sum with the corrected sending speed V4 generated by the tension controller 96.

  As a result of the above, even if the warp tension changes due to the variable speed driving of the take-up roll 28 performed over the first period after the start of operation, the rotational speed of the warp beam 14 is rapidly changed as in the prior art. However, it is gradually changed over a long time in the direction of preventing the tension deviation. For this reason, the weft density changes corresponding to the warp tension, but the change is slow, and therefore the density unevenness of the wefts is not noticeable.

  In addition, the phenomenon in which the actual value of the warp tension vibrates with respect to the target value due to the change in the rotational speed of the warp beam in order to eliminate the tension deviation due to a high cancellation condition as in the past (over warp tension overload). Shoot) occurs, and the inconvenience that the density unevenness of the weft is noticeable is prevented.

  Referring to FIG. 5, the delivery control device 120 moves the delivery motor 34 and the warp beam 14 in accordance with a preset speed pattern during a third period including a plurality of pick periods from the start of the first period. A so-called feed-forward control is performed to shift the drive. After the end of the third period, control is performed to output a correction signal for the rotational speed of the warp beam based on the warp tension deviation, and after the third period, During the period of 4, reduce the coefficient used in the tension controller.

The third period is preferably set to be the same as the fourth period, but it is also possible to make the setting different, that is, the end point of the third period is earlier or later than the end point of the fourth period. For this reason, the start time point of the fourth period may be determined as appropriate within the period from the start time point of the third period to the end time point of the first period.

  The speed pattern is set in the setter 122 so that the rotation speed of the delivery motor 34 increases stepwise as shown by a solid line in FIG. 6 and is used in the speed signal generator 124 during the third period. .

  The third and fourth period signals S13 and S14 designating the third and fourth periods, respectively, are supplied from the period signal generator 72 in FIG. 2 to the switch 126 and the tension controller 96, respectively.

  During the third period, the speed signal generator 124 sends the speed signal V5 corresponding to the speed pattern set in the setting device 122 to one input terminal of the switch 126 and the winding control device 62 shown in FIG. This is output in synchronization with the output of the winding speed V2 at startup from the startup controller 68. For this reason, during the third period, even if the winding speed of the woven fabric changes due to the control of the winding control device 62, the warp is sent out in synchronization with the speed of the woven fabric. Is prevented from changing significantly.

  The basic input speed V3 from the basic speed generator 94 is supplied to the other input terminal of the switch 126. The switch 126 outputs the speed signal V5 from the speed signal generator 124 to one input terminal of the adding unit 98 while the ON third period signal S13 is being input, and the third period signal S13 is When turned off, the basic sending speed V3 from the basic speed generator 94 is outputted to one input terminal of the adding section 98.

  The tension controller 96 is based on the tension signal T1 supplied from the tension sensor 44, the target warp tension T0 preset in the setting device 100, and the cancellation condition set in the setting device 102 or 104. The corrected sending speed V4 is calculated such that the actual value T1 becomes the target value T0, and the calculated corrected sending speed V4 is output to the other input terminal of the adding unit 100.

  The tension controller 96 uses the cancellation condition set in the setting unit 102 while the fourth period signal S14 is on, and the cancellation set in the setting unit 104 when the fourth period signal S14 is off. Use conditions.

  A coefficient is set so that the speed signal generator 124 generates a speed signal V5 so as to relieve a change in warp tension caused by a change in the winding speed of the woven fabric by the winding control device 62 during the third period. It may be set to 122.

  An example of the density pattern is shown in FIG. 6 (A), and the rotation speed of the winding roll achieved as a result is shown in FIG. 6 (B). 6A and 6B, the vertical axis represents the weft density and the clothing winding (winding) roll speed, respectively, and the horizontal axis represents the number of weft insertion picks.

  In addition, examples of actual values of the warp tension and the warp delivery speed by the warp beam are shown in FIGS. 6C and 6D, respectively. 6 (C) and 6 (D), the vertical axis indicates the actual values of the warp tension and the warp feed speed, and the horizontal axis indicates the number of weft insertion picks.

  In FIG. 6, as in FIG. 4, it is assumed that the warp tension is about 20.0 kg · f lower than the target tension during steady operation immediately before the start of loom operation.

  On the other hand, in the winding control device, as in the case of FIG. 4, the weft density pattern for several tens of picks from the start of operation, which is the first period, is more dense than the weft density pattern in steady operation immediately after the start of operation. Since the density is set so as to approach the density during steady operation from this state, the winding roll speed approaches the speed during steady operation from a speed lower than the speed during steady operation as shown in FIG. The gears are driven in such a manner.

  On the other hand, the warp yarn is sent out to the feed control device in synchronism with the take-up roll speed over a third period determined in the same period as the first period on the take-up control device side.

  For this reason, the warp feeding speed is driven to change speed in synchronization with the winding roll speed as shown in FIG. As a result, even at the end of the first period (third period) after the start of operation, the warp tension deviation remains in the original state, which is reduced by 20 kg · f.

  In the delivery control device, as in the case of FIG. 4, a so-called known PI controller is used as the tension controller 96, and the proportional gain (p gain) and integral gain (i gain) in the second period are set to the first. The values after the period of 4 (during steady operation) are each 1/10. The length of the fourth period is set to a period of several hundred picks after the third period.

  As shown in FIGS. 6C and 6D, since the proportional gain (p gain) and integral gain (i gain) in the fourth period are set smaller than those in the period and thereafter, the corrected sending speed is set. V4 (that is, the warp feeding speed) gradually decreases, and thus the warp tension after the start of the loom operation also decreases. As a result, the weft density becomes somewhat coarse as the warp tension decreases.

  On the other hand, the weft insertion (warp and weft bend degree) changes as the tension decreases, so that more warp is consumed, and the decrease in warp tension is naturally absorbed and further corrected. Since the delivery speed V4 also decreases continuously thereafter, the decrease in warp tension stops and then gradually increases toward the target tension during steady operation. The warp tension reaches the target tension during steady operation after several hundred picks from the start of operation.

  As described above, although the warp tension decreases within a few hundreds of big since the start of operation, the fluctuation thereof is relatively gentle, and thus the unevenness of the weft density generated by this is relatively inconspicuous.

  In the sending device 120, the speed command in the third period may be a constant value different from the speed during steady operation, as indicated by a dotted line in FIG. 6D, or as indicated by a solid line at the same location. The value may increase (or decrease) over time.

  That is, by setting the warp feeding speed to be different from the winding roll speed in the first period (third period), it becomes possible to change the warp tension in this period to a desired tension. Weaving steps can be eliminated.

  Further, the third period may be the same as the first period, or may be a period longer or shorter than the first period. In the latter case, the third period can be about ½ to twice the first period.

  In any of the above-described embodiments, the first period and the winding speed may be set freely at each activation according to the state of the weaving stage.

  For example, the first period can be set from several picks to hundreds of tens of picks, specifically, from 2 picks to 80 picks. The first period can be several mm to several tens mm, specifically 5 mm to 50 mm, in terms of weaving length.

  The winding speed may be set so as to be slower than the weft density in the steady state when the stage is thin.

  When a differential amplifier whose reference value can be changed (switched) is used as part of the tension controller 96, the cancellation condition (coefficient) can be a reference value, and the reference value during the second period is It is set to be less than the reference value after the second period.

  Instead of using the second coefficient set in the setter 102 to correct the delivery speed in the second or fourth period with the tension controller 96, the output of the tension controller 96 itself is corrected with another circuit. You may make it output in the 2nd or 3rd period.

  Referring to FIG. 7, in this embodiment, the tension controller 96 outputs the corrected delivery speed V4 using the coefficient set in the setting device 104, and instead, the signal processing circuit 130 and the switching device 132. Are arranged between the tension controller 96 and the adder 98.

  The output signal V4 of the tension controller 96 is supplied to the signal processing circuit 130 and also supplied to one input terminal of the switch 132. The signal processing circuit 130 corrects the input signal V <b> 4 with the coefficient set in the setting device 102 and outputs the second corrected sending speed V <b> 7 to the other input terminal of the switching device 132.

  The signal processing circuit 180 is a so-called multiplier, and a value less than 1 (positive value) is set in the setting unit 102 as a coefficient. Therefore, the signal processing circuit 130 can output a signal obtained by multiplying the input signal by a coefficient as the corrected sending speed V7.

  The switch 132 outputs the second corrected sending speed V7 to the adder 98 when the ON second period signal S12 is input, and when the ON second period signal S12 is not input, The corrected sending speed V4 is output to the adding unit 98.

  In any of the above-described embodiments, the generation of the weaving steps can be prevented without causing the loom to perform the start-up preparation operation. However, the present invention is not only for starting the stopped loom without causing the stopped loom to perform the start preparation operation, but also for starting the loom after causing the stopped loom to perform the start preparation operation. It can also be applied to cases.

  It can be considered that the above embodiment is modified as follows. In the case of a loom that performs so-called change weaving in which a plurality of weft densities are switched for each number of weft insertion picks during loom operation, more preferably in the first period according to the selected weft density at the start of operation of the loom. If the weft density pattern, the length of the first to fourth periods, the elimination conditions for eliminating the tension deviation, the output mode of the delivery speed in the third period, etc. are set and selected each time Good. By doing so, unevenness in the weft density can be eliminated by setting values corresponding to any weft density at the start of operation.

  Further, in the above embodiment, the second period or the fourth period is set to about several hundred picks, and during this period, a small value is output for the warp feeding speed (correction speed corresponding to the tension deviation). Needless to say, this period should be as short as possible.

  For example, according to the tension deviation immediately before the start of operation, the weft density pattern in the first period, the lengths of the first to fourth periods, the cancellation conditions for eliminating the tension deviation, and the transmission in the third period A speed output mode or the like is set, and these may be selected according to the tension deviation at the start of loom operation. In this way, these can be set according to the tension deviation and can be selected each time, which is more preferable.

  Furthermore, in the second period or the fourth period, the cancellation condition (coefficient) for eliminating the tension deviation is set so that the corrected warp feed speed with a small value is output, but the tension deviation is eliminated. At this point, the control up to now can be stopped, and the control can be performed by switching to the cancellation condition after this period (based on the cancellation condition during so-called steady operation) to cancel the tension deviation.

  In any of the above-described embodiments, the control period in which a small value of the corrected sending speed with respect to the tension deviation is output after the operation is started can be further shortened.

  The present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit of the present invention.

It is the schematic of the loom provided with the weaving step prevention apparatus which concerns on this invention. It is a block diagram of the winding control apparatus which comprises a part of weaving step prevention apparatus shown in FIG. FIG. 2 is a block diagram of a delivery control device that constitutes a part of the weave prevention device shown in FIG. 1. It is a time chart for demonstrating operation | movement of the weaving step prevention apparatus shown in FIG. It is a block diagram which shows the other Example of a transmission control apparatus. 6 is a graph showing an output with respect to time for explaining the operation of the transmission control device shown in FIG. 5. It is a block diagram which shows the other Example of the apparatus which generate | occur | produces correction | amendment sending speed. It is a figure which shows the Example of a weft density pattern.

D Winding diameter signal T0 Tension target value T1 Tension signal V1 Basic winding speed V2 Startup winding speed V3 Basic feed speed V4 Corrected feed speed S0 Operation signal S1 Rotation speed signal S2 Spindle rotation angle signal S3 Sending motor speed signal S4 Weft Density signal S6 Addition signal S7 Delivery speed signal S8 Delivery speed command S11 1st period signal S12 2nd period signal S13 3rd period signal S14 4th period signal 10 Loom 12 Warp 14 Delivery beam 16 Back roller 18 Reed Frame 18 綜 絖 Frame 20 筬 22 Before weaving 24 Weaving cloth 26 Guide roller 28 Clothing roll 30 Press roll 32 Cloth winding beam 34 Feeding motor 36 Feeding torque adjustment mechanism 38 Winding diameter sensor 40, 120 Feeding control device 42 Tacho generator 44 Warp tension sensor 46 Spindle 48, 50 Motion conversion mechanism 52 54 take-up motor 56 take-up torque adjusting mechanism 58, 60 encoders 62 winding control device 72 operating buttons 92,110 driver 98 adding unit 108 subtracting unit

Claims (5)

During the first period including the period of multiple picks from the start of operation of the loom, the density pattern was set to a weft density different from that during steady operation, and was finally set to approach the weft density during steady operation. A winding device that drives the winding roll in accordance with the density pattern, and at least during steady operation, the warp tension deviation and the direction to eliminate the tension deviation with respect to the basic feed speed according to the rotational speed of the loom spindle and the weft density A loom including a sending device that executes warp tension control for rotating and driving a warp beam according to a speed obtained by adding a corrected sending speed obtained based on a cancellation condition for correction,
The delivery device also executes the warp tension control during a second period in which the start time of the first period is a start time and the end time of the first period or a time after that is set as an end time In addition, the value of the corrected sending speed in the warp tension control for the tension deviation in the second period is equal to the tension deviation of the same value in the warp tension control for the tension deviation after the second period. In the loom, the cancellation condition for the warp tension control with respect to the tension deviation in the second period is set so as to be output at a value smaller than the value of the corrected feeding speed obtained. Warp control device. The delivery device obtains the corrected delivery speed by correcting the tension deviation with the coefficient, and outputs the obtained corrected delivery speed, wherein a preset coefficient is set as the cancellation condition. Equipped with a tension controller
The setter includes a first coefficient used in the warp tension control after the second period and a second coefficient used in the warp tension control in the second period as the coefficient as the cancellation condition. 2. The warp control device for a loom according to claim 1, wherein a second coefficient whose value is less than the value of the first coefficient is set. The warp control device for a loom according to claim 2, wherein the first and second coefficients are control gains of at least one of a proportional element and an integral element. While setting a plurality of the coefficients according to the tension deviation,
Selecting a corresponding coefficient according to the tension deviation at the start of the loom,
The warp control device for a loom according to any one of claims 2 and 3, characterized in that Further, when the tension deviation is canceled within the second period, the coefficient as the cancellation condition in the warp tension control thereafter is set as the coefficient in the warp tension control after the second period. Including switching to the value of
The warp control device for a loom according to any one of claims 2 to 4, wherein the warp control device is used.

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