纺织学报 ›› 2019, Vol. 40 ›› Issue (12): 134-139.doi: 10.13475/j.fzxb.20180705606

• 机械与器材 • 上一篇    下一篇

针织大圆机运动实时控制技术

戴宁, 胡旭东, 彭来湖()   

  1. 浙江理工大学 现代纺织装备技术教育部工程研究中心, 浙江 杭州 310018
  • 收稿日期:2018-07-23 修回日期:2019-09-16 出版日期:2019-12-15 发布日期:2019-12-18
  • 通讯作者: 彭来湖
  • 作者简介:戴宁(1991—),男,博士生。主要研究方向为针织装备控制技术。
  • 基金资助:
    国家工信部2016年智能制造综合标准化与新模式应用项目(工信部联装[2016]213号)

Real-time motion control technology of knitting circular machine

DAI Ning, HU Xudong, PENG Laihu()   

  1. The Center for Engineering Technology of Modern Textile Machinery & Technology of Ministry of Education, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
  • Received:2018-07-23 Revised:2019-09-16 Online:2019-12-15 Published:2019-12-18
  • Contact: PENG Laihu

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摘要：

针对现有针织大圆机运转状态模式切换易出错、速度控制不稳定且精度较低等问题,提出一种基于ARM处理器的针织大圆机运动控制设计方案。结合针织大圆机运行、点动、强迫运行、停止等多种运动状态的特点,归纳分析了变频电动机的控制方式和运转特性。根据针织大圆机运动控制工艺,构建了本方案的总体设计架构,论述了关键硬件电路设计与运动控制算法,并进行软件开发。对点动、运行、停止3个按钮不同的工作状态进行分类,得出当前时刻针织大圆机所需的运动状态。对变频电动机采用模拟量输入进行速度控制,并采用脉冲宽度调制(PWM)控制其模拟量输入的大小。为控制针织大圆机运转速度的稳定性,研究PWM在不同频率值下模拟量输入的电压波动情况,结合实际情况选择最合适的频率值。测试结果表明,该方案具有较高的实时性及稳定性,满足针织大圆机的控制要求。

关键词: 针织大圆机, 运动控制, 硬件电路, 变频电动机

Abstract:

Aiming at problems of existing knitting circular machine, such as easy failure in the operation state switching, unstable speed control and low precision, a motion control design scheme for knitting circular machine based on advanced RISE machine(ARM ) processor was proposed. Combined with the characteristics of various motion states such as running, jogging, forced running and stopping of the knitting circular machine, the control mode and running characteristics of the variable frequency motor were summarized and analyzed. According to the motion control technology of the knitting circular machine, the overall design structure of the scheme was constructed. The key hardware circuit design and motion control algorithm were discussed, and software development was carried out. Three different working states were classified for the inching, running, stopping buttons to acquire the current state of motion required to knitting circular machine at the moment. Analog input was adopted for the variable frequency motor speed control, and pulse width modulation (PWM) was adopted to control the size of its analog input. In order to control the stability of the knitting circular machine's running speed, the voltage fluctuation of PWM analog input was studied at different frequency values, and the most suitable frequency value was selected according to the actual situation. The results indicate that this scheme has high real-time performance and stability, meeting the control requirements of the knitting circular machine.

Key words: knitting circular machine, motion control, hardware circuit, variable frequency motor

中图分类号: 

  • TS103.7

图1

针织大圆机机械结构简图 1—给纱机构; 2—编织机构; 3—传动机构; 4—牵拉卷取机构。"

图2

针织大圆机运动控制技术总体结构图"

图3

状态检测电路图 注: S1—按钮标识; P1—光耦标识; GND—逻辑地信号标识; C1—电容标识; R1、R2—电阻标识; sig—状态检测信号标识。"

图4

运动控制电路图 注: P2—光耦隔离芯片标识; Q1—场效应管标识;D、S、G—场效应管管脚标识; R3、R4、R5、R6、R7、R8—电阻标识; PWM—前端方波信号标识;SON—前端使能信号标识; U1—运算放大电路标识; AVI—后端模拟信号标识; EN—后端使能信号标识; C2、C3—电容标识;D1—二极管标识。"

图5

状态检测程序流程图"

图6

变频电动机速度控制程序流程图 注: TIM1->ARR为自动装载寄存器标识;TIM1->PSC为预分频器标识; TIM1->CCR1为捕获/比较寄存器标识; Period、Prescaler、Count为寄存器配置变量标识。"

图7

PWM在低频和高频下的波形图"

图8

变频器控制电路后端波形图"

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