新型剑杆织机运动控制研究

The New Weft Inserting Motion Control of Rapier Weaving Machine

针对不同的纤维材料特性要求，需要有不同的织机运动曲线相对应的问题，本文介绍了采用机械凸轮控制的固有运动与计算机控制的交流伺服电机自由运动相复合的新型剑杆织机，它可以很方便地实现运动轨迹的变化；提出了采用周期校正型重复控制法的运动控制方案，仿真结果表明，该控制法可达到快速、平滑、高精度的控制目的。

In this research the finite motion of cam mechanism and the free motion of AC servo motor were compounded together in order to satisfy the variable weft inserting pattern easily. A new modified repetitive control method is presented, in which the delay time is shorter than that of reference signal. The result of simulating shows that the high precision of follow-up control can be achieved.