纺织学报 ›› 2021, Vol. 42 ›› Issue (09): 163-169.doi: 10.13475/j.fzxb.20201202807

• 机械与器材 • 上一篇    下一篇

基于模型预测的经编送经动态张力补偿系统设计

郑宝平, 蒋高明(), 夏风林, 张爱军   

  1. 江南大学 针织技术教育部工程研究中心, 江苏 无锡 214122
  • 收稿日期:2020-12-10 修回日期:2021-06-08 出版日期:2021-09-15 发布日期:2021-09-27
  • 通讯作者: 蒋高明
  • 作者简介:郑宝平(1986—),男,博士生。主要研究方向为针织装备智能化控制技术。
  • 基金资助:
    中央高校基本科研业务费专项资金资助项目(JUSRP52013B);国家自然科学基金项目(61772238);泰山产业领军人才项目(tscy20180224)

Design of dynamic tension compensation system for warp knitting let-off based on model predictions

ZHENG Baoping, JIANG Gaoming(), XIA Fenglin, ZHANG Aijun   

  1. Engineering Research Center for Knitting Technology, Ministry of Education, Jiangnan University, Wuxi, Jiangsu 214122, China
  • Received:2020-12-10 Revised:2021-06-08 Published:2021-09-15 Online:2021-09-27
  • Contact: JIANG Gaoming

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摘要：

经编机编织过程中首先要实现控制经纱在1个横列内不同角度区域张力值的变化,才能达成纱线的动态张力补偿控制。为解决当前系统控制经轴送经量出现的纱线张力波动大,且无法精确到控制1个横列内不同角度纱线张力等缺陷,设计了一种基于模型预测的经编送经动态张力补偿系统。通过结合经编机成圈机构运动规律进行分析,设计出系统的硬件和软件平台,优化张力传感器选型,设计了电子凸轮规划曲线算法和模型预测控制算法,实现了纱线动态张力补偿控制。通过理论分析和实验测试,从反馈的纱线动态张力值曲线分析验证了该模型预测控制算法能够使纱线张力峰值降低至少56%以上。

关键词: 经编机, 动态张力补偿, 张力传感器, 电子凸轮, 控制算法

Abstract:

In order to control the yarn dynamic tension compensation, warp knitting machines are required to control the variation of tension values in different angles in a cycle of knitting process. In view of the defects associated with controlling the let-off of warp beam, such as excessive yarn tension fluctuation and difficulty in accurate control of yarn tension with different angles in a row, a warp knitting let-off dynamic tension compensation system based on model prediction has been developed. To faclitate the yarn dynamic tension compensation control, a hardware and software platform of the system was designed, tension sensors were selected and optimized, algorithm for determining the electronic cam programming profile and the control algorithm for model prediction were created, on the basis of analyzing the movement law of the winding mechanism of the warp knitting machine. Through theoretical analysis and experimental validation, the control algorithm of model prediction is found to reduce the yarn tension peak value by at least 56% by analyzing the feedback yarn dynamic tension curve.

Key words: warp knitting machine, dynamic tension compensation, tension sensor, electronic cam, control algorithm

中图分类号: 

  • TS183.92

图1

主轴1个编织周期内纱线张力波动曲线"

图2

纱线动态张力补偿系统控制原理"

图3

动态张力补偿系统纱线路径图"

图4

送经动态张力补偿控制系统上位人机交互界面"

表1

张力传感器标定及精度指标"

砝码质量/g 输出电压/V 输出电压变化率/(V·g-1)
0 1.68 —
10 2.14 0.046 0
20 2.60 0.046 0
40 3.51 0.045 7
50 3.96 0.045 6
60 4.43 0.045 8
90 5.80 0.045 8
100 6.26 0.045 8

图5

五次多项式角位移、角速度、角加速度规划曲线"

表2

测试平台硬件名称及功能"

硬件名称 数量 功能
HKS4 EL经编机 1台 主机结构
上位机控制系统 1套 人机交互、控制
固高运动控制卡 1套 运动控制器
多摩川伺服系统 1套 控制及执行机构
张力传感器 1套 纱线张力值测试
LMS振动测试仪 1台 采集纱线张力值曲线

表3

不同转速无动态补偿和有动态补偿纱线张力峰值对比"

主轴转速/
(r·min-1)		 无张力补偿
峰值/N		 有张力补偿
峰值/N		 峰值降低
率/%
1 100 0.176 0.075 57.4
1 300 0.180 0.070 61.1
1 500 0.198 0.087 56.1

图6

不同主轴转速下纱线张力值曲线"

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