经编机钢丝花梳无零位传感器归零控制策略

Zero Control Strategy for Multi-wire-bar Warp Knitting Machine Without Zero Sensors

针对多梳栉钢丝花梳经编机因难以安装零位传感器而无法进行定点归零的问题,提出利用钢丝花梳伺服驱动的位置转矩混合控制模式,在实施归零动作时启用预设的内部转矩限制功能,用固定安装的机械零位挡点代替零位传感器,用转矩超限信号取代零位接近信号,从而实现多把钢丝花梳无零位传感器时的精确定点归零动作。文中同时给出基于安川∑-V系列伺服电动机的策略实施方案,该控制方案系统结构简洁,运行可靠。本控制策略已在国内多家钢丝花梳经编机上付诸应用。

In terms of the problem of multi wire-bar warp knitting machine having no place to install zero sen- sors and unable to set zero point, this paper puts forward the control strategy which can drive the servo motor with position/torque hybrid control mode, enable the preset internal torque limit function, use fixed mechanical zero stop point instead of zero sensor, and torque transfinite signal instead of zero close signal in the action of the zero, to realize the precise point zero control without zero sensors for multi-wire-bars. Meanwhile, the implementation plan of this strategy based on YASKAWA ∑-V series servo motor has been given, which has simple control system struc- ture and reliable operation. This control strategy made in this paper has been put into application on the multi- wire-bar warp knitting machines of several manufacturers.