【作者】 况云峰；

【导师】 丁彩红；

【作者基本信息】 东华大学 ， 机械电子工程， 2007， 硕士

【摘要】 提花地毯主要是由地毯簇绒机通过形成不同绒圈或配置不同颜色的纱线来生产实现的，而不同绒圈高度则是通过控制植入底布的绒纱的喂入量来实现的，即提花控制。提花控制技术是地毯簇绒机生产高品质提花地毯的核心技术。目前这些核心技术基本被国外垄断，国内还缺乏这样技术的自主产权。本论文以地毯簇绒机提花控制系统为研究对象，以喂纱量的控制作为研究主线，对基于电磁离合器的提花控制方法进行了分析和改进，并提出了一种基于直流无刷伺服电机的新提花控制方法。通过相关理论和实验的研究，设计了提花控制系统，并进行了比较分析。主要研究工作如下：1)基于电磁离合器的提花控制方法中，根据提花罗拉轴动力的来源不同，分别设计了两种提花控制系统，采用机械传动和伺服同步的方式驱动提花罗拉轴，再通过电磁离合器的切换，使各提花罗拉组获得不同的喂纱转速，向成圈机构输出不同的喂纱量，实现喂纱量的控制。2)分析了影响提花成圈的主要因素，提出利用电磁离合器动作特性改善和伺服补偿的方法来实现喂纱量的精确控制。由此，提出了基于PWM的电磁离合器动作特性改善方法，设计了控制电路，提高了喂纱量的控制精度；在伺服同步的控制方式中，通过对实测数据的分析拟和，得出伺服电机转速与绒高的数学关系描述，实现喂纱量的精确控制。3)将CAN总线技术应用到地毯簇绒机的控制系统中，提出了基于直流无刷伺服电机的地毯簇绒机提花控制方案，通过CAN总线控制整个系统提花伺服电机的协同工作。提花伺服电机作为CAN总线的控制节点，每一个提花罗拉用一个直流无刷伺服电机控制，使经过每一个提花罗拉的绒纱的喂入速度都可以不同于其他绒纱的喂入速度，从而可实现绒高的大范围可调。同时通过总线实现提花电机与主轴电机的同步控制。4)提花节点的伺服性能直接影响到喂纱量控制的精度，系统选用DSP作为主控芯片，设计了提花伺服电机的控制系统。通过建立纱线受力分析模型，分析了提花节点的机械负载特性，对提花节点控制系统进行建模仿真，并对其控制策略进行了研究。分别采用普通PID和模糊PID进行转速调节，比较分析了控制系统的调速性能，为实现高性能伺服控制提供了理论依据。对比电磁离合器和直流无刷伺服电机提花控制方法，可以得出，基于直流无刷伺服电机提花方法可得到更大调节范围的绒纱喂入量，且控制灵活、精度高，可实现高品质多绒高地毯提花效果。并且，基于CAN总线的控制系统扩展性强，便于实现监控一体化，体现了簇绒机的数字化和信息化的发展趋势。更多还原

【Abstract】 Jacquard carpet is manufactured by the tufting carpet machine with variable pile heights or different color arrange of the yarns. The needles in the tufting machine stitch the yarns into the base with different feed amount which is controlled by a jacquard control system. Jacquard control technology is the key technology to make high quality jacquard carpet. In this paper, the jacquard control system of tufting carpet machine is studied. The jacquard control method based on Electromagnetism Clutch is analyzed and improved; a new jacquard control method based on Brushless DC Motor (BLDCM) is proposed. By studying on the related theory and experiment, the jacquard control systems are designed and the comparative analysis is processed on the systems. The main research work is as follows:1) As researching the jacquard control system based on Electromagnetism Clutch, two types of control system are designed in terms of different power resources of jacquard roller shafts, the shafts are driven by mechanical transmission or synchronous servo. By toggling the Electromagnetism Clutch, the jacquard rollers have different rotate speed and feed different amount of the yarn to the looper, then the pile height of jacquard is controlled. 2) The main factors affecting jacquard looping are analyzed. To control the yarn feeding accurately, dynamic characteristics of the Electromagnetism Clutch improvement and servo compensation method are proposed. The control system based on PWM is designed to improve the dynamic characteristics of Electromagnetism Clutch. On the other side, in the servo control method, the relationship between the rotate speed of servo motor and the pile height is described by analysis on experiment data.3) To achieve multi pile jacquard, a new jacquard control method based on BLDCM is proposed. Each yarn feeding roller is controlled by one BLDCM to get wide adjustable range of pile height, and the feeding speed of each roller is different from each other. CAN bus is applied on the jacquard control system. Each jacquard servo motor composes one node of the CAN bus. Besides, jacquard motor and principal shafts motor is controlled synchronously through CAN bus.4) The control system of jacquard servo motor based on DSP is designed, as the servo performance of jacquard node is directly affecting the precision of yarning feeding amount control. A math model of the force applying on the yarn is constructed, and the mechanical load characteristic of jacquard node is analyzed, the jacquard node control system is simulated and the control strategy of the system is studied. Normal PID and Fuzzy-PID are applied on rotate speed adjustment respectively, the adjustability of the two methods is compared and analyzed to provide theoretical basis for high performance servo control.Comparing jacquard control method based on Electromagnetism Clutch and BLDCM, it is showed that the jacquard control method based on BLDCM has wider range adjustability of yarn feeding and is more flexible and precise. Moreover, the control system based on CAN bus has strong extensibility and is easy to achieve integrative control, which represents digitalization and informatization trends of the tufting machine.更多还原