CN114657688A - Method, device, equipment and medium for controlling horizontal loom - Google Patents

Abstract

The method comprises the steps of planning a table motion speed curve through table motion instructions issued by a main controller, planning speed curves of a main shaft in a deceleration section and a speed increasing section according to a current line main shaft motion instruction and a next line main shaft motion instruction issued by the main controller, and planning the speed curve of the main shaft in a constant speed section according to the calculated distance between an ideal revolution point and the end position of the current line in a weaving area. Controlling the shaking table to operate according to the shaking table action speed curve, and controlling the main shaft to operate according to the speed curves of the main shaft in the speed reduction section, the constant speed section and the speed increase section. The main shaft runs according to the speed curve, so that the running speed of the main shaft starts to run at a speed higher than 0 when the next row of knitting is carried out, and the knitting efficiency of the flat knitting machine is effectively improved.

Description

Method, device, equipment and medium for controlling horizontal loom

Technical Field

The present disclosure relates to the field of flat knitting machines, and more particularly, to a method, an apparatus, a device and a medium for controlling a flat knitting machine.

Background

With the rapid development of science and technology, people have higher and higher requirements on the quality and quantity of textile articles such as clothes and the like, and the technical development of a horizontal weaving machine is driven. The normal operation of the transverse weaving machine can be realized only by the cooperative matching of the main shaft and the shaking table of the transverse weaving machine, and the shaking table cannot act when the main shaft is required to be in a weaving area of the transverse weaving machine; when the shaking table acts, the machine head controlled by the main shaft cannot be in the knitting area, otherwise, missed stitches or wrong knitting patterns can be caused. The main shaft of the flat knitting machine controls the left and right reciprocating motion of the machine head to make the knitting needle move up and down, and then the knitting needle moves to realize different fabric tissues by matching with the needle bed. The cradle of the flat knitting machine controls the mutual movement between the front and rear needle beds to knit the corrugated structure having the corrugated appearance effect formed by the inclined stitches.

In the prior art, when a main shaft and a shaking table of a transverse weaving machine are controlled, a main shaft motor and a shaking table motor are relatively independent, and the main control controls the two motors to act through pulse or serial communication. After the main shaft has traveled out of the weaving zone, the rocking bed can start its motion. After the action of the shaking table is finished and stopped and the running speed of the main shaft is 0, the main shaft is started to rotate again, the running speed is started from 0, and the main shaft enters a weaving area to weave the next line.

As described above, in the conventional method for controlling the flat knitting machine, the operation speed of the main shaft starts from 0 when the next row of knitting is performed, and the efficiency of the flat knitting machine is low.

Disclosure of Invention

The embodiment of the application provides a control method, a control device, control equipment and a control medium of a flat knitting machine, which are used for solving the problem that the efficiency of the flat knitting machine is low because the running speed of a main shaft starts from 0 when the next row of knitting is performed in the conventional control method of the flat knitting machine.

In a first aspect, a method for controlling a flat knitting machine according to an embodiment of the present application is applied to a central processing unit CPU for controlling a spindle motor and a cradle motor, the method including:

receiving a current row of spindle action instructions, a shaking table action instruction and a next row of spindle action instruction sent by a main controller;

planning a shaking table action speed curve according to the shaking table action instruction, and calculating shaking table action time;

planning speed curves of the main shaft in a speed reduction section and a speed increase section according to the main shaft action instruction in the current row, the main shaft action instruction in the next row and preset speed increase and decrease time, and calculating speed reduction displacement of the main shaft in the current row and speed increase displacement of the main shaft in the next row;

calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculation parameters, wherein the ideal turning point calculation parameters comprise: the method comprises the following steps of obtaining the end position of a current row in a weaving area, the start position of a next row in the weaving area, the table motion time, the deceleration displacement of a main shaft in the current row, the acceleration displacement of the main shaft in the next row, the acceleration and deceleration time, the main shaft running speed of the current row corresponding to the rotating speed of a main shaft motor of the current row and the main shaft running speed of the next row corresponding to the rotating speed of the main shaft motor of the next row, wherein an ideal turning point is a position corresponding to the main shaft when the speed in a deceleration curve of a deceleration section is 0;

if the distance between the ideal turning point and the end position of the current row in the weaving area is larger than the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, planning a speed curve of the main shaft in a constant speed section according to the distance between the ideal turning point and the end position of the current row in the weaving area;

controlling the main shaft to operate according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the deceleration section and the acceleration section, and controlling the shaking table to operate according to the action speed curve of the shaking table.

In one embodiment, the method further comprises:

if the distance between the ideal turning point and the end position of the current row in the weaving area is smaller than or equal to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, planning a speed curve of the main shaft in a constant speed section according to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area.

In one embodiment, the calculating a distance between an ideal turning point and an end position of the current row in the knitting area according to the ideal turning point calculation parameter includes:

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current line in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c＝S_d-S_D1(t_Y-t_D)v₁；

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current line in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c₁＝S_d-S_D2(t_Y-t_D)v₂；

wherein S is_dRepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current line in the weaving zone.

In a second aspect, an embodiment of the present application provides a control device for a flat knitting machine, including:

the receiving module is far away from the receiving module and is used for receiving the main shaft action command in the current row, the shaking table action command and the next row of main shaft action command sent by the main controller;

the processing module is used for planning a shaking table action speed curve according to the shaking table action instruction and calculating shaking table action time;

the processing module is further configured to plan a speed curve of the spindle in a deceleration section and a speed increasing section according to the spindle action command of the current row, the spindle action command of the next row and a preset speed increasing and decreasing time, and calculate deceleration displacement of the spindle in the current row and acceleration displacement of the spindle in the next row;

the processing module is further configured to calculate a distance between an ideal turning point and an end position of the current row in the knitting area according to an ideal turning point calculation parameter, where the ideal turning point calculation parameter includes: the method comprises the following steps that the end position of a current row in a weaving area, the start position of a next row in the weaving area, the table action time, the deceleration displacement of a main shaft in the current row, the acceleration displacement of the main shaft in the next row, the acceleration and deceleration time, the running speed of the main shaft of the current row corresponding to the rotating speed of a main shaft motor of the current row and the running speed of the main shaft of the next row corresponding to the rotating speed of the main shaft motor of the next row are calculated, and the ideal turning point is the position corresponding to the main shaft when the speed is 0 in a deceleration curve of a deceleration section;

the processing module is further configured to plan a speed curve of the main shaft in the constant velocity section according to the distance between the ideal turning point and the end position of the current row in the knitting area if the distance between the ideal turning point and the end position of the current row in the knitting area is greater than the distance between the target position of the main shaft of the current row and the end position of the current row in the knitting area;

the processing module is further used for controlling the main shaft to operate according to the speed curve of the main shaft in the uniform speed section and the speed curves of the main shaft in the speed reduction section and the speed increase section, and controlling the shaking table to operate according to the action speed curve of the shaking table.

In a specific embodiment, the processing module is further configured to:

if the distance between the ideal turning point and the end position of the current row in the weaving area is smaller than or equal to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, planning a speed curve of the main shaft in a constant speed section according to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area.

In a specific embodiment, the processing module is specifically configured to:

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

then the ideal pivot point and the current lineThe distance between the end positions of the weaving zones is according to the formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c＝S_d-S_D1(t_Y-t_D)v₁；

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c₁＝S_d-S_D2(t_Y-t_D)v₂；

wherein S is_dRepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current row in the weaving zone.

In a third aspect, an embodiment of the present application provides a processing apparatus, including:

a processor, a memory, an interactive interface;

the memory is used for storing executable instructions of the processor;

wherein the processor is configured to execute the control method of the flat knitting machine of any one of the first aspect via execution of the executable instructions.

In a fourth aspect, embodiments of the present application provide a flat knitting machine, including:

the main controller, the spindle motor, the table motor and the CPU;

the CPU is used for controlling the spindle motor and the shaking table motor;

the CPU is configured to execute the control method of the flat knitting machine according to any one of the first aspect.

In a fifth aspect, the present application is embodied in a readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the control method of the flat knitting machine according to any one of the first aspect.

In a sixth aspect, an embodiment of the present application provides a computer program product, which includes a computer program that is executed by a processor to implement the control method for a flat knitting machine according to any one of the first aspect.

According to the control method, the control device, the control equipment and the control medium of the flat knitting machine, a table motion speed curve is planned through table motion instructions issued by a main controller, speed curves of a main shaft in a speed reduction section and a speed increase section are planned according to a current line main shaft motion instruction and a next line main shaft motion instruction issued by the main controller, and then the speed curve of the main shaft in a constant speed section is planned through the calculated distance between an ideal revolution point and the end position of a current line in a knitting area. Controlling the shaking table to operate according to the shaking table action speed curve, and controlling the main shaft to operate according to the speed curves of the main shaft in the speed reduction section, the constant speed section and the speed increase section. The main shaft runs according to the speed curve, so that the running speed of the main shaft starts to run at a speed greater than 0 when the next row of knitting is carried out, and the knitting efficiency of the flat knitting machine is effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic structural view of a flat knitting machine according to the present application;

FIG. 2a is a schematic flow chart of a first embodiment of a method for controlling a flat knitting machine according to the present application;

FIG. 2b is a first graph illustrating the speed curve of the rocking platform according to the embodiment of the present application;

FIG. 2c is a graph showing the second swing speed curve according to the present embodiment;

FIG. 2d is a schematic speed curve diagram of the spindle in the deceleration section and the acceleration section according to the embodiment of the present disclosure;

FIG. 3 is a first schematic diagram of a speed curve of the spindle based on FIG. 2d according to an embodiment of the present disclosure;

FIG. 4 is a second schematic diagram of a speed curve of the spindle based on FIG. 2d according to an embodiment of the present invention;

FIG. 5 is a third schematic diagram of the speed curve of the spindle based on FIG. 2d according to the embodiment of the present application;

FIG. 6 is a fourth schematic speed curve of the spindle based on FIG. 2d according to the embodiment of the present application;

FIG. 7 is a fifth schematic diagram of the speed curve of the spindle based on FIG. 2d according to the embodiment of the present application;

FIG. 8 is a sixth schematic velocity profile of the spindle based on FIG. 2d according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural view of a first embodiment of a control device of the cross knitting machine according to the present application;

fig. 10 is a schematic structural diagram of a processing apparatus provided in the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments that can be made by one skilled in the art based on the embodiments in the present application in light of the present disclosure are within the scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

With the rapid development of science and technology and the improvement of living standard of people, the requirements of people on the quality and quantity of textile articles such as clothes are higher and higher, and the technical development of a transverse weaving machine is driven. The normal operation of the transverse weaving machine can be realized only by the cooperative matching of the main shaft and the shaking table of the transverse weaving machine, and the shaking table cannot act when the main shaft is required to be in a weaving area of the transverse weaving machine; when the shaking table acts, the machine head controlled by the main shaft cannot be in the knitting area, otherwise, missed stitches or wrong knitting patterns can be caused.

In the prior art, when the shaking table and the main shaft are controlled, the main shaft is controlled to operate to the end position of the current line in the weaving area, the machine head is moved out of the weaving area, the shaking table starts to work, and meanwhile, the operation speed of the main shaft is controlled to be reduced to 0. And after the action of the shaking table is finished and stopped, and the running speed of the main shaft is 0, the main shaft is started to rotate again, and the running speed is started from 0, and the main shaft enters a weaving area to weave the next row, so that the problem of low efficiency of the flat weaving machine is caused.

Aiming at the problems in the prior art, the inventor finds that the efficiency of the flat knitting machine can be improved only by enabling the running speed of a main shaft entering a knitting area to be greater than 0 in the next row in the process of researching the control method of the flat knitting machine. Based on the conception, the inventor considers that a table shaking motor and a spindle motor are controlled by a Central Processing Unit (CPU), a main controller issues an instruction to the CPU, the CPU plans a table shaking action speed curve according to the instruction, the spindle is in a speed reduction section, a speed constant section and a speed increasing section, and then the spindle and the table shaking are controlled to operate according to the speed curve. The CPU controls the main shaft and the shaking table to operate according to the speed curve, the shaking table can be guaranteed to start to work when the main shaft operates to the end position of the current line in the weaving area, and the main shaft operates to the start position of the next line in the weaving area at a speed greater than 0 when the shaking table finishes working. Based on the inventive concept described above, a control scheme of the flat knitting machine in the present application is designed.

Illustratively, fig. 1 is a schematic structural view of a flat knitting machine provided in the present application, and as shown in fig. 1, the flat knitting machine 10 includes: a main controller 11, a spindle motor 12, a table motor 13 and a CPU 14; the CPU is used for controlling the spindle motor and the shaking table motor; the CPU is used for executing the control method of the flat knitting machine provided by the embodiment of the application.

For example, referring to fig. 1, an application scenario of the control method of the flat knitting machine provided in the present application is described below, as shown in fig. 1, when a user uses the flat knitting machine, a pattern to be knitted is input into the flat knitting machine, and the main controller 11 can generate a current main shaft action command, a shaker action command, and a next main shaft action command according to the pattern, and then issue these commands to the CPU 14.

After receiving the command issued by the main controller 11, the CPU 14 plans the table motion speed curve according to the table motion command, and plans the speed curves of the spindle in the deceleration section and the acceleration section according to the current spindle motion command and the next spindle motion command. And then calculating the distance between the ideal turning point and the end position of the current row in the weaving area, and planning the speed curve of the main shaft in the constant speed section according to the larger of the distance between the ideal turning point and the end position of the current row in the weaving area and the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area.

The CPU 14 controls the spindle motor 12 to operate according to the speed curves of the spindle in the speed reduction section, the speed increase section and the constant speed section, and the CPU 14 controls the shaking table motor 13 to operate according to the shaking table action speed curve.

It should be noted that the number of the CPUs in the flat knitting machine may be two, one controls the spindle motor, the other controls the table motor, and the main controller issues table motion instructions to the CPU controlling the table motor, thereby planning a table motion speed curve and calculating table motion time. The main controller sends the current row of spindle action instructions and the next row of spindle action instructions to the CPU for controlling the spindle motor, the CPU for controlling the table motor sends table action time to the CPU for controlling the spindle motor, and then the CPU for controlling the spindle motor plans the speed curves of the spindle in the deceleration section and the acceleration section and the speed curve of the spindle in the uniform speed section. The CPU of the shaking table motor operates according to the shaking table action speed curve, and the CPU of the main shaft motor controls the main shaft motor to operate according to the speed curves of the main shaft in the speed reduction section, the speed increase section and the constant speed section.

It should be noted that fig. 1 is only a schematic structural diagram of a flat knitting machine provided in the embodiment of the present application, and the embodiment of the present application does not limit the actual forms of various devices included in fig. 1, nor limits the interaction modes between the devices in fig. 1, and in a specific application of the scheme, the configuration may be set according to actual requirements.

It should be noted that the flat knitting machine is provided with a main shaft and a shaking table, the main shaft controls the left and right reciprocating motion of a control head to enable a knitting needle to move up and down, and then different fabric tissues are realized by matching with the movement of a needle bed.

The shaking table controls the mutual movement between the front needle bed and the back needle bed, and weaves the ripple tissue with ripple appearance effect formed by the inclined coils; the cradle can also achieve the accurate positioning between the transfer needle and the receiving needle by moving the needle bed.

According to the flat knitting machine provided by the embodiment of the application, the spindle motor and the shaking table motor are controlled through the CPU, and the speed curves of the spindle and the shaking table are planned, so that the shaking table starts to work when the spindle runs to the end position of the current row in a knitting area, and when the shaking table finishes working, the spindle runs to the start position of the next row in the knitting area at a speed larger than 0, and the efficiency of the flat knitting machine is effectively improved.

The technical solution of the present application will be described in detail below with reference to specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2a is a schematic flow chart of a first embodiment of a control method of a flat knitting machine provided in the present application, and as shown in fig. 2a, the control method of the flat knitting machine specifically includes the following steps:

s201: and receiving the current row of spindle action instructions, the shaking table action instructions and the next row of spindle action instructions sent by the main controller.

When a user uses the flat knitting machine, the patterns to be knitted need to be input into the flat knitting machine, the flat knitting machine is knitted according to rows when in operation, the knitting is performed from left to right when in current row, the knitting is performed from right to left when in next row, the knitting is performed from left to right when in next row, and a main controller in the flat knitting machine can generate a main shaft action command of the current row, a shaking table action command and a main shaft action command of the next row according to the patterns and sends the commands to a CPU (central processing unit) for controlling a main shaft motor and a shaking table motor.

In this step, after the main controller issues the command to the CPU, the CPU can receive the current row of spindle motion command, the table motion command and the next row of spindle motion command issued by the main controller, so as to plan the speed curves of the spindle and the table according to these commands in the following.

The current line spindle motion command includes: the rotating speed of a main shaft motor of the current row, the target position of the main shaft of the current row, the ending position of the current row in the weaving area and the starting position of the next row in the weaving area. The shaking table action instruction comprises: target position of the shaking table and motor speed of the shaking table. The next row of spindle action commands comprises: the next row of spindle motor rotating speed, the next row of spindle target position and the next row of spindle target position are respectively arranged at the end position and the start position of the next row of spindle motor rotating speed.

S202: planning the action speed curve of the shaking table according to the action instructions of the shaking table, and calculating the action time of the shaking table.

In this step, after receiving the command issued by the main controller, the CPU plans a line from a speed of 0 to an operating speed corresponding to the rotational speed of the shaker motor according to the target position of the shaker and the rotational speed of the shaker motor in the shaker motion command, and then reduces the speed to a shaker motion speed curve with a speed of 0 according to the speed of 0. The abscissa of the coordinate system of the speed curve is time, and the ordinate is a speed value. According to this curve, the rocking motion time can be calculated.

For example, fig. 2b is a graph illustrating a first table motion speed curve provided by the embodiment of the present application, and fig. 2c is a graph illustrating a second table motion speed curve provided by the embodiment of the present application, as shown in fig. 2b and fig. 2c, t represents time, v represents speed, v1 represents an operation speed corresponding to the rotation speed of the table motor, when the table is operated according to the two speed curves, the table starts to operate at time t1 and is accelerated, and when the table is accelerated to speed v1 at time t2 according to the speed curves, the table is operated to speed t3 according to the speed curves, the table starts to decelerate, and when the table is decelerated to speed 0 at time t 4. the time obtained by subtracting t1 from t4 is the shaking table action time.

It should be noted that, the above example is only an example of a table motion speed curve, and a curve of an acceleration section and a curve of a deceleration section in the speed curve may be a straight line or a curve.

S203: and planning speed curves of the main shaft in a deceleration section and a deceleration section according to the main shaft action command in the current row, the main shaft action command in the next row and preset deceleration time, and calculating deceleration displacement of the main shaft in the current row and deceleration displacement of the main shaft in the next row.

In this step, after receiving an instruction issued by the main controller, the CPU plans a deceleration section curve according to the current row spindle motor rotation speed and the preset deceleration time in the current row spindle action instruction, where the shape of the deceleration section curve conforms to a sine curve, the highest point of the sine curve is the current row spindle running speed corresponding to the current row spindle motor rotation speed, and the abscissa distance from the highest point of the sine curve to the point where the ordinate of the sine curve is 0 is the preset deceleration time. And planning a curve of a speed-up section according to the rotating speed of the next row of spindle motors in the next row of spindle action instructions and the preset speed-up and speed-down time, wherein the shape of the curve of the speed-up section conforms to a sine curve, the highest point of the sine curve is the running speed of the next row of spindles corresponding to the rotating speed of the next row of spindle motors, and the abscissa distance from the highest point of the sine curve to the point of which the ordinate of the sine curve is 0 is the preset speed-up and speed-down time.

It should be noted that the preset speed increasing and decreasing time includes a speed increasing time and a speed decreasing time, and the speed increasing time and the speed decreasing time are the same, and the speed increasing time and the speed decreasing time are set in the flat knitting machine by a worker and used for planning a speed curve of the main shaft in the speed decreasing section and the speed increasing section and calculating a distance between an ideal turning point and an end position of the current row in the knitting area.

For example, fig. 2d is a schematic speed curve diagram of the spindle in the deceleration section and the acceleration section provided in the embodiment of the present application, as shown in fig. 2d, t represents time, v represents speed₁Indicating the current line spindle running speed, v, corresponding to the current line spindle motor speed₂Represents the next line of spindle running speed, t, corresponding to the next line of spindle motor rotating speed_DShowing a preset speed-up and speed-down time, and the dotted line under the speed-down curve shows the speed-up curve with time t₂The dotted line of positions is the axis, the curve turned over horizontally. The spindle is operated according to this speed profile, at time t₁To t₂The direction of travel is from left to right at time t₁Starting to decelerate according to the speed curve at time t₂The speed is reduced to 0, then the speed is increased, the running direction is from right to left, and at the time t₃Acceleration to velocity v₂. Deceleration curve with abscissa axis and t₁The area enclosed by the dotted line of the position is the deceleration displacement of the main shaft in the current row. Acceleration curve and abscissa axis and t₃The area enclosed by the dotted line of the position is the acceleration displacement of the main shaft in the next row.

It should be noted that the above example is only an example of the speed curves of the main shaft in the deceleration section and the acceleration section, and the parameters in the speed curves are not limited in the embodiment of the present application and can be determined according to actual situations.

S204: and calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculation parameters.

In this step, after obtaining the table motion time, the deceleration displacement of the main shaft in the current row and the deceleration displacement of the main shaft in the next row, the CPU can calculate the distance between the ideal turning point and the end position of the current row in the knitting area according to the calculation parameters of the ideal turning point. Wherein, the ideal revolution point calculation parameters comprise: the method comprises the steps of finishing the current row in a weaving area, starting the next row in the weaving area, table motion time, deceleration displacement of a main shaft in the current row, acceleration displacement and deceleration time of the main shaft in the next row, the operation speed of the main shaft in the current row corresponding to the rotation speed of a main shaft motor in the current row and the operation speed of the main shaft in the next row corresponding to the rotation speed of a main shaft motor in the next row, wherein an ideal turning point is the position corresponding to the main shaft when the speed in a deceleration curve of a deceleration section is 0.

Specifically, before and after the main shaft is decelerated, the main shaft runs at a constant speed according to the speed before deceleration or the speed after acceleration, so that in a curve planned by the CPU, the ending position of the current line in the knitting area may be located at the constant speed section or the deceleration section, and the starting position of the next line in the knitting area may be located at the acceleration section or the constant speed section. Therefore, the end position of the current row in the knitting area and the position of the start position of the next row in the knitting area in the speed curve are judged according to the ideal revolution point calculation parameters, and the distance between the end positions of the current row in the knitting area can be calculated according to a corresponding formula.

S205: if the distance between the ideal turning point and the end position of the current row in the weaving area is larger than the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, the speed curve of the main shaft in the constant speed section is planned according to the distance between the ideal turning point and the end position of the current row in the weaving area.

In this step, after calculating the distance between the ideal turning point and the ending position of the current line in the knitting area, the CPU determines the relationship between the distance between the ideal turning point and the ending position of the current line in the knitting area and the distance between the target position of the main axis of the current line and the ending position of the current line in the knitting area. If the distance between the ideal turning point and the end position of the current line in the weaving area is greater than the distance between the target position of the main shaft of the current line and the end position of the current line in the weaving area, it means that if the main shaft is controlled to turn at the target position of the main shaft of the current line, that is, the speed is reduced to 0 at the position and the direction is switched to accelerate, the situation that when the main shaft runs to the start position of the weaving area, the table is not operated completely and stops, and the like, can be caused. Therefore, the speed curve of the main shaft in the constant speed section, that is, the running time of the constant speed section, needs to be planned according to the distance between the ideal turning point and the end position of the current row in the knitting area.

S206: controlling the main shaft to operate according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the deceleration section and the acceleration section, and controlling the shaking table to operate according to the action speed curve of the shaking table.

In this step, after the CPU obtains the speed curves of the shaker and the main shaft, the CPU controls the main shaft to operate according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the speed reduction section and the speed increase section, and controls the shaker to operate according to the shaking table action speed curve, and operates according to the speed curve, so that when the main shaft operates to the end position of the current row in the weaving area, the shaker starts to operate, and when the shaker finishes operating, the main shaft operates to the start position of the next row in the weaving area at a speed greater than 0.

It should be noted that, the execution sequence of step S203 and step S204 may be that step S203 is executed first and then step S204 is executed, step S204 is executed first and then step S203 is executed, or step S203 and step S204 are executed simultaneously, and the execution sequence of step S203 and step S204 is not limited in the embodiment of the present application, and may be set according to actual situations.

In the control method of the flat knitting machine provided in this embodiment, the table motion time and the speed curves of the main shaft in the deceleration section and the acceleration section are planned through the current main shaft motion instruction, the table motion instruction and the next main shaft motion instruction issued by the main controller, and the speed curve of the main shaft in the uniform speed section is further determined. Compared with the prior art that when the next row is woven, namely the next row is at the starting position of the weaving area, the running speed of the main shaft starts from 0, the table and the main shaft are controlled to run according to the speed curve, so that when the main shaft runs to the ending position of the current row in the weaving area, the table starts to work, and when the table is finished, the main shaft runs to the starting position of the next row in the weaving area at a speed greater than 0, and the efficiency of the flat knitting machine is effectively improved.

The following describes a case where a distance between the ideal turning point and the ending position of the current line in the knitting area is less than or equal to a distance between the current line main axis target position and the ending position of the current line in the knitting area.

After the CPU calculates and obtains the distance between the ideal turning point and the end position of the current line in the weaving area, the CPU judges the relationship between the distance between the ideal turning point and the end position of the current line in the weaving area and the distance between the target position of the main shaft of the current line and the end position of the current line in the weaving area.

If the distance between the ideal turning point and the end position of the current row in the weaving area is less than or equal to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, it is described that if the main shaft is controlled to turn at the ideal turning point, although the main shaft can be made to run to the start position of the next row in the weaving area at a speed greater than 0, other parts of the flat knitting machine may have problems, so that it is necessary to plan the speed curve of the main shaft in the constant speed section, that is, plan the running time of the constant speed section, according to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area.

In the control method of the flat knitting machine provided in this embodiment, under the condition that the distance between the ideal turning point and the end position of the current row in the knitting area is less than or equal to the distance between the target position of the current row spindle and the end position of the current row in the knitting area, the speed curve of the spindle in the constant speed section is planned according to the distance between the target position of the current row spindle and the end position of the current row in the knitting area, so that the spindle can run to the start position of the next row in the knitting area at a speed greater than 0, and the normal and safe operation of the flat knitting machine can be ensured.

The following describes calculating a distance between an ideal turning point and an ending position of the current row in the knitting area according to the ideal turning point calculation parameter provided in the embodiment of the present application.

Before and after the main shaft is decelerated, the main shaft runs at a constant speed according to the speed before deceleration or the speed after acceleration, so that in a speed curve planned by the CPU, the end position of the current line in a knitting area may be positioned in a constant speed section or a deceleration section, and the start position of the next line in the knitting area may be positioned in an acceleration section or a constant speed section.

When the ending position of the current row in the weaving area and the starting position of the next row in the weaving area are both located at the constant speed section, the time between the time corresponding to the ending position of the current row in the weaving area and the time corresponding to the ideal turning point is different from the time between the time corresponding to the starting position of the next row in the weaving area and the time corresponding to the ideal turning point.

When the ending position of the current row in the weaving area is located at the constant speed section and the starting position of the next row in the weaving area is located at the accelerating section, the time between the time corresponding to the ending position of the current row in the weaving area and the time corresponding to the ideal turning point is different from the time between the time corresponding to the starting position of the next row in the weaving area and the time corresponding to the ideal turning point.

Therefore, the position of the ending position of the current row in the knitting area and the position of the starting position of the next row in the knitting area in the speed curve are judged according to the calculation parameters of the ideal turning points, the time between the time corresponding to the ending position of the previous row in the knitting area and the time corresponding to the ideal turning points and the time size relation between the time corresponding to the starting position of the next row in the knitting area and the time corresponding to the ideal turning points are also judged, and the distance between the ending positions of the current row in the knitting area can be calculated according to a corresponding formula.

Specifically, if the ideal turning point calculation parameter satisfies the formula:

the end position of the current row in the weaving area is positioned in the constant speed section, the start position of the next row in the weaving area is positioned in the constant speed section, the time between the time corresponding to the end position of the current row in the weaving area and the time corresponding to the ideal turning point is larger than or equal to the time between the time corresponding to the start position of the next row in the weaving area and the time corresponding to the ideal turning point, and then the distance between the ideal turning point and the end position of the current row in the weaving area is calculated according to a formula

And (4) calculating. Wherein S is_dRepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current line in the weaving zone.

FIG. 3 is a schematic diagram of a speed curve of the spindle based on FIG. 2d, as shown in FIG. 3, P₁Indicating the end position, P, of the current line in the weaving zone₂Indicates the start position of the next line in the weaving zone, t₄Indicates the time, t, corresponding to the end position of the current line in the weaving zone₅Indicates the time, t, corresponding to the start position of the next line in the weaving zone_P1Representing the time between the time corresponding to the end position of the current row in the weaving zone and the time corresponding to the ideal turning point, t_P2The time between the time corresponding to the start position of the weaving zone and the time corresponding to the ideal turning point of the next row is indicated. P₁At the uniform velocity section, P₂At the uniform velocity section, t_P1Greater than t_P2. If the ideal turning point calculation parameter satisfies the formula:

illustrating the case where the spindle speed profile corresponds to that of FIG. 3, a formula may be used

Calculating the distance between the ideal turning point and the end position of the current row in the weaving zone, also from P in figure 3₁To t₂Velocity curve between and the axis of abscissa and t₄The area enclosed by the dotted line of the position is the distance between the ideal turning point and the end position of the current row in the knitting area.

If the ideal turning point calculation parameter satisfies the formula:

explaining that the end position of the current row in the weaving area is positioned in the deceleration section, the start position of the next row in the weaving area is positioned in the acceleration section, and the time between the time corresponding to the end position of the current row in the weaving area and the time corresponding to the ideal turning point is greater than or equal to the time between the time corresponding to the start position of the next row in the weaving area and the time corresponding to the ideal turning point, the distance between the ideal turning point and the end position of the current row in the weaving area is according to the formula S₁＝S_D1[1-cos(θ+arccos(b))]And (4) calculating. Wherein,

S_drepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresents the time of said rocking motion, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the ideal turning point and the current line are codedDistance between the end positions of the woven zones.

Exemplarily, fig. 4 is a schematic diagram of a velocity curve of the spindle based on fig. 2d provided in the embodiment of the present application, as shown in fig. 4, P₁Indicating the end position, P, of the current line in the weaving zone₂Indicates the start position of the next line in the weaving zone, t₄Indicating the time, t, corresponding to the end position of the current line in the weaving zone₅Indicates the time, t, corresponding to the start position of the next line in the weaving zone_P1Representing the time between the time corresponding to the end position of the current row in the weaving zone and the time corresponding to the ideal turning point, t_P2The time between the time corresponding to the start position of the weaving zone and the time corresponding to the ideal turning point of the next row is indicated. P₁In the deceleration section, P₂At the speed-up section, t_P1Greater than t_P2. If the ideal turning point calculation parameter satisfies the formula:

illustrating the case where the velocity profile of the spindle corresponds to that of FIG. 4, equation S can be used₁＝S_D1[1-cos(θ+arccos(b))]Calculating the distance between the ideal turning point and the end position of the current row in the weaving zone, also from P in figure 4₁To t₂Velocity curve between and the axis of abscissa and t₄The area enclosed by the dotted line of the position is the distance between the ideal turning point and the end position of the current row in the knitting area.

If the ideal turning point calculation parameter satisfies the formula:

the end position of the current row in the weaving area is positioned in the constant speed section, the start position of the next row in the weaving area is positioned in the acceleration section, and the distance between the ideal turning point and the end position of the current row in the weaving area is calculated according to a formula

And (4) calculating. Wherein,

c＝S_d-S_D1(t_Y-t_D)v₁，S_drepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresents the time of said rocking motion, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current row in the weaving zone.

Exemplarily, fig. 5 is a schematic diagram of a speed curve of the spindle based on fig. 2d provided by the embodiment of the present application, as shown in fig. 5, P₁Indicating the end position, P, of the current line in the weaving zone₂Indicates the start position of the next line in the weaving zone, t₄Indicates the time, t, corresponding to the end position of the current line in the weaving zone₅Indicates the time, t, corresponding to the start position of the next line in the weaving zone_P1Representing the time between the time corresponding to the end position of the current row in the weaving zone and the time corresponding to the ideal turning point, t_P2The time between the time corresponding to the start position of the weaving zone and the time corresponding to the ideal turning point of the next row is indicated. P₁At the uniform velocity section, P₂At the speed-up section, t_P1Greater than t_P2. If the ideal turning point calculation parameter satisfies the formula:

illustrating the case where the spindle speed profile corresponds to that of FIG. 5, a formula may be used

Calculating the distance between the ideal turning point and the end position of the current row in the weaving zone, also from P in FIG. 5₁To t₂Velocity curve between and on the axis of abscissaAnd t₄The area enclosed by the dotted line of the position is the distance between the ideal turning point and the end position of the current row in the knitting area.

If the ideal turning point calculation parameter satisfies the formula:

the end position of the current row in the weaving area is positioned in the constant speed section, the start position of the next row in the weaving area is positioned in the constant speed section, the time between the time corresponding to the end position of the current row in the weaving area and the time corresponding to the ideal turning point is less than or equal to the time between the time corresponding to the start position of the next row in the weaving area and the time corresponding to the ideal turning point, and then the distance between the ideal turning point and the end position of the current row in the weaving area is calculated according to a formula

And (4) calculating. Wherein S is_dRepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current row in the weaving zone.

Fig. 6 is a schematic diagram of a speed curve of the spindle based on fig. 2d, as shown in fig. 6, P₁Indicating the end position, P, of the current line in the weaving zone₂Indicates the start position of the next line in the weaving zone, t₄Indicating the time, t, corresponding to the end position of the current line in the weaving zone₅Indicates the time, t, corresponding to the start position of the next line in the weaving zone_P1Indicating the time corresponding to the end position of the current line in the knitting area and the ideal turning pointCorresponding time between times, t_P2The time between the time corresponding to the start position of the weaving zone and the time corresponding to the ideal turning point of the next row is indicated. P₁At the uniform velocity section, P₂At the uniform velocity section, t_P1Less than t_P2. If the ideal turning point calculation parameter satisfies the formula:

illustrating that the speed profile of the spindle corresponds to that in fig. 6, or t in fig. 6_P1Is equal to t_P2In the case of time, the formula can be used

Calculating the distance between the ideal turning point and the end position of the current line in the weaving zone, also from P in FIG. 6₁To t₂Velocity curve between and the axis of abscissa and t₄The area enclosed by the dotted line of the position is the distance between the ideal turning point and the end position of the current row in the knitting area.

If the ideal turning point calculation parameter satisfies the formula:

explaining that the end position of the current row in the weaving area is positioned in the deceleration section, the start position of the next row in the weaving area is positioned in the acceleration section, and the time between the time corresponding to the end position of the current row in the weaving area and the time corresponding to the ideal turning point is less than or equal to the time between the time corresponding to the start position of the next row in the weaving area and the time corresponding to the ideal turning point, the distance between the ideal turning point and the end position of the current row in the weaving area is according to the formula S₁＝S_D1[1-cos(θ+arccos(b))]And (4) calculating. Wherein,

S_drepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Is shown inThe rising speed displacement of the main shaft in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current row in the weaving zone.

Exemplarily, fig. 7 is a velocity curve diagram five of the spindle based on fig. 2d provided by the embodiment of the present application, as shown in fig. 7, P₁Indicating the end position, P, of the current line in the weaving zone₂Indicates the start position of the next line in the weaving zone, t₄Indicates the time, t, corresponding to the end position of the current line in the weaving zone₅Indicates the time, t, corresponding to the start position of the next line in the weaving zone_P1Representing the time between the time corresponding to the end position of the current row in the weaving zone and the time corresponding to the ideal turning point, t_P2Indicating the time between the time corresponding to the start position of the weaving zone and the time corresponding to the ideal turning point of the next row. P₁In the deceleration section, P₂At the speed-up section, t_P1Less than t_P2. If the ideal turning point calculation parameter satisfies the formula:

illustrating the spindle speed profile corresponding to that of FIG. 7, or t of FIG. 7_P1Is equal to t_P2In the case of time, the formula S can be used₁＝S_D1[1-cos(θ+arccos(b))]Calculating the distance between the ideal turning point and the end position of the current row in the weaving zone, also from P in FIG. 7₁To t₂Velocity curve between and the axis of abscissa and t₄The area enclosed by the dotted line of the position is the distance between the ideal turning point and the end position of the current row in the knitting area.

If the ideal turning point calculation parameter satisfies the formula:

it is indicated that the ending position of the current line in the weaving area is located at the deceleration section, the starting position of the next line in the weaving area is located at the uniform velocity section, and the distance between the ideal turning point and the ending position of the current line in the weaving area is according to a formula

And (4) calculating. Wherein,

c₁＝S_d-S_D2(t_Y-t_D)v₂，S_drepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current line in the weaving zone.

Illustratively, fig. 8 is a six-diagram of the speed curve of the spindle based on fig. 2d provided by the embodiment of the present application, as shown in fig. 8, P₁Indicating the end position, P, of the current line in the weaving zone₂Indicates the start position of the next line in the weaving zone, t₄Indicating the time, t, corresponding to the end position of the current line in the weaving zone₅Indicates the time, t, corresponding to the start position of the next line in the weaving zone_P1Representing the time between the time corresponding to the end position of the current row in the weaving zone and the time corresponding to the ideal turning point, t_P2The time between the time corresponding to the start position of the weaving zone and the time corresponding to the ideal turning point of the next row is indicated. P₁At the uniform velocity section, P₂At the speed-up section, t_P1Less than t_P2. If the ideal turning point calculation parameter satisfies the formula:

illustrating the case where the spindle speed profile conforms to that of FIG. 8, the equation can be used

Calculating the distance between the ideal turning point and the end position of the current row in the weaving zone, also from P in FIG. 8₁To t₂Velocity curve between and the axis of abscissa and t₄The area enclosed by the dotted line of the position is the distance between the ideal turning point and the end position of the current row in the knitting area.

According to the control method of the flat knitting machine provided by the embodiment, the distance between the ideal turning point and the end position of the current row in the knitting area is calculated according to the relationship between the end position of the current row in the knitting area, the position of the start position of the next row in the knitting area in the speed curve, the time between the time corresponding to the end position of the current row in the knitting area, the time corresponding to the start position of the next row in the knitting area and the time corresponding to the ideal turning point, the distance is used for planning the speed curve of the main shaft in the constant speed section, and the main shaft is controlled to run according to the speed curve, so that the time of the main shaft outside the knitting area is equal to the shaking table action time, the main shaft runs to the start position of the next row in the knitting area at a speed greater than 0, and the efficiency of the flat knitting machine is effectively improved.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

FIG. 9 is a schematic structural view of a first embodiment of a control device of the cross knitting machine according to the present application; as shown in fig. 9, the control device 90 of the flat knitting machine includes:

the receiving module 91 is far away from the receiving module for receiving the current row of spindle action instructions, the shaking table action instructions and the next row of spindle action instructions sent by the main controller;

the processing module 92 is used for planning a shaking table action speed curve according to the shaking table action instruction and calculating shaking table action time;

the processing module 92 is further configured to plan a speed curve of the spindle in a deceleration section and a speed increasing section according to the current spindle action instruction, the next spindle action instruction and a preset speed increasing and decreasing time, and calculate a deceleration displacement of the spindle in the current row and a speed increasing displacement of the spindle in the next row;

the processing module 92 is further configured to calculate a distance between an ideal turning point and an end position of the current row in the knitting area according to an ideal turning point calculation parameter, where the ideal turning point calculation parameter includes: the method comprises the following steps that the end position of a current row in a weaving area, the start position of a next row in the weaving area, the table action time, the deceleration displacement of a main shaft in the current row, the acceleration displacement of the main shaft in the next row, the acceleration and deceleration time, the running speed of the main shaft of the current row corresponding to the rotating speed of a main shaft motor of the current row and the running speed of the main shaft of the next row corresponding to the rotating speed of the main shaft motor of the next row are calculated, and the ideal turning point is the position corresponding to the main shaft when the speed is 0 in a deceleration curve of a deceleration section;

the processing module 92 is further configured to plan a speed curve of the main shaft in the constant velocity section according to the distance between the ideal turning point and the end position of the current row in the knitting area if the distance between the ideal turning point and the end position of the current row in the knitting area is greater than the distance between the target position of the main shaft of the current row and the end position of the current row in the knitting area;

the processing module 92 is further configured to control the main shaft to operate according to a speed curve of the main shaft in the constant speed section and speed curves of the main shaft in the speed reduction section and the speed increase section, and control the shaking table to operate according to a speed curve of the shaking table.

Further, the processing module 92 is further configured to:

if the distance between the ideal turning point and the end position of the current row in the weaving area is smaller than or equal to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, planning a speed curve of the main shaft in a constant speed section according to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area.

Further, the processing module 92 is specifically configured to:

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c₁＝S_d-S_D2(t_Y-t_D)v₂；

wherein S is_dRepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁To representThe current line spindle running speed v corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current row in the weaving zone.

The control device of the flat knitting machine provided by this embodiment is used for executing the technical solutions in any of the foregoing method embodiments, and the implementation principle and technical effects are similar, and are not described herein again.

Fig. 10 is a schematic structural diagram of a processing apparatus provided in the present application. As shown in fig. 10, the processing apparatus 100 includes:

a processor 101, a memory 102, and an interactive interface 103;

the memory 102 is used for storing executable instructions of the processor 101;

wherein the processor 101 is configured to execute the technical solution of the CPU in any of the foregoing method embodiments via executing the executable instructions.

Optionally, the memory 102 may be separate or integrated with the processor 101.

Optionally, when the memory 102 is a device independent from the processor 101, the processing apparatus 100 may further include:

and the bus is used for connecting the devices.

The processing device is configured to execute the technical solution of the CPU in any of the foregoing method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.

The embodiment of the present application further provides a readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the technical solutions provided by any of the foregoing method embodiments.

The embodiment of the present application further provides a computer program product, which includes a computer program, and the computer program is used for implementing the technical solution provided by any of the foregoing method embodiments when being executed by a processor.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A control method of a flat knitting machine, applied to a central processing unit CPU for controlling a spindle motor and a shaker motor, the method comprising:

receiving a current row of spindle action instructions, a shaking table action instruction and a next row of spindle action instruction sent by a main controller;

planning a shaking table action speed curve according to the shaking table action instruction, and calculating shaking table action time;

planning speed curves of the main shaft in a speed reduction section and a speed increase section according to the main shaft action instruction in the current row, the main shaft action instruction in the next row and preset speed increase and decrease time, and calculating speed reduction displacement of the main shaft in the current row and speed increase displacement of the main shaft in the next row;

calculating the distance between the ideal turning point and the end position of the current row in the knitting area according to the ideal turning point calculation parameters, wherein the ideal turning point calculation parameters comprise: the method comprises the following steps that the end position of a current row in a weaving area, the start position of a next row in the weaving area, the table action time, the deceleration displacement of a main shaft in the current row, the acceleration displacement of the main shaft in the next row, the acceleration and deceleration time, the running speed of the main shaft of the current row corresponding to the rotating speed of a main shaft motor of the current row and the running speed of the main shaft of the next row corresponding to the rotating speed of the main shaft motor of the next row are calculated, and the ideal turning point is the position corresponding to the main shaft when the speed is 0 in a deceleration curve of a deceleration section;

if the distance between the ideal turning point and the end position of the current row in the weaving area is larger than the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, planning a speed curve of the main shaft in a constant speed section according to the distance between the ideal turning point and the end position of the current row in the weaving area;

and controlling the main shaft to operate according to the speed curve of the main shaft in the constant speed section and the speed curves of the main shaft in the speed reduction section and the speed increase section, and controlling the shaking table to operate according to the action speed curve of the shaking table.

2. The method of claim 1, further comprising:

if the distance between the ideal turning point and the end position of the current row in the weaving area is smaller than or equal to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, planning a speed curve of the main shaft in a constant speed section according to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area.

3. The method according to claim 1 or 2, wherein said calculating a distance between an ideal turning point and an end position of said current row in the weaving area based on said parameters calculated for said ideal turning point comprises:

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c＝S_d-S_D1(t_Y-t_D)v₁；

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the ideal revolution is madeThe point calculation parameters satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c₁＝S_d-S_D2(t_Y-t_D)v₂；

wherein S is_dRepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current row in the weaving zone.

4. A control device for a flat knitting machine, comprising:

the receiving module is far away from the receiving module and is used for receiving the main shaft action command in the current row, the shaking table action command and the next row of main shaft action command sent by the main controller;

the processing module is used for planning a shaking table action speed curve according to the shaking table action instruction and calculating shaking table action time;

the processing module is further configured to plan a speed curve of the spindle in a deceleration section and a speed increasing section according to the current spindle action instruction, the next spindle action instruction and preset speed increasing and decreasing time, and calculate deceleration displacement of the spindle in the current row and speed increasing displacement of the spindle in the next row;

the processing module is further configured to calculate a distance between an ideal turning point and an end position of the current row in the knitting area according to an ideal turning point calculation parameter, where the ideal turning point calculation parameter includes: the method comprises the following steps that the end position of a current row in a weaving area, the start position of a next row in the weaving area, the table action time, the deceleration displacement of a main shaft in the current row, the acceleration displacement of the main shaft in the next row, the acceleration and deceleration time, the running speed of the main shaft of the current row corresponding to the rotating speed of a main shaft motor of the current row and the running speed of the main shaft of the next row corresponding to the rotating speed of the main shaft motor of the next row are calculated, and the ideal turning point is the position corresponding to the main shaft when the speed is 0 in a deceleration curve of a deceleration section;

the processing module is further configured to plan a speed curve of the main shaft in the constant velocity section according to the distance between the ideal turning point and the end position of the current row in the knitting area if the distance between the ideal turning point and the end position of the current row in the knitting area is greater than the distance between the target position of the main shaft of the current row and the end position of the current row in the knitting area;

the processing module is further used for controlling the main shaft to operate according to the speed curve of the main shaft in the uniform speed section and the speed curves of the main shaft in the speed reduction section and the speed increase section, and controlling the shaking table to operate according to the action speed curve of the shaking table.

5. The apparatus of claim 4, wherein the processing module is further configured to:

if the distance between the ideal turning point and the end position of the current row in the weaving area is smaller than or equal to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area, planning a speed curve of the main shaft in a constant speed section according to the distance between the target position of the main shaft of the current row and the end position of the current row in the weaving area.

6. The apparatus according to claim 4 or 5, wherein the processing module is specifically configured to:

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current line in the weaving zone is according to the formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to the formula

And calculating to obtain the result, wherein,

c＝S_d-S_D1(t_Y-t_D)v₁；

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current line in the weaving zone is according to the formula

Calculating to obtain;

if the calculation parameters of the ideal turning point satisfy the formula:

the distance between said ideal turning point and the end position of said current row in the weaving zone is according to formula S₁＝S_D1[1-cos(θ+arccos(b))]And calculating to obtain the result, wherein,

if the calculation parameters of the ideal turning point satisfy the formula:

then theThe distance between the ideal turning point and the end position of the current line in the knitting area is calculated according to a formula

And calculating to obtain the result, wherein,

c₁＝S_d-S_D2(t_Y-t_D)v₂；

wherein S is_dRepresenting the distance, S, between the end position of the current row in the weaving area and the start position of the next row in the weaving area_D1Representing the deceleration displacement of said spindle in the current row, S_D2Representing the acceleration displacement of the spindle in the next line, t_DRepresenting said ramp-up and ramp-down time, t_YRepresenting said shaker action time, v₁Representing the current line spindle running speed, v, corresponding to the current line spindle motor rotating speed₂Representing the next line of spindle running speed, S, corresponding to the next line of spindle motor rotating speed₁Representing the distance between said ideal turning point and the end position of said current row in the weaving zone.

7. A processing device, comprising:

a processor, a memory, an interactive interface;

the memory is used for storing executable instructions of the processor;

wherein the processor is configured to execute the control method of the flat knitting machine according to any one of claims 1 to 3 via execution of the executable instructions.

8. A flat knitting machine, comprising:

the main controller, the spindle motor, the table motor and the CPU;

the CPU is used for controlling the spindle motor and the shaking table motor;

the CPU is used for executing the control method of the flat knitting machine according to any one of claims 1 to 3.

9. A readable storage medium on which a computer program is stored, the computer program realizing the control method of the flat knitting machine according to any one of claims 1 to 3 when executed by a processor.

10. A computer program product, characterized by comprising a computer program which, when being executed by a processor, is adapted to implement the control method of a flat knitting machine according to any one of claims 1 to 3.

Images