Multi-dimension dynamic synergic movement control method of high-speed intelligent prototype

Abstract

The invention relates to a multi-dimension dynamic synergic movement control method of a high-speed intelligent prototype. According to the pre-time servo motor movement speed, available moving duration of current the X axis and the Y axis, namely, the time dimension, and the cloth delivery distance of nest stitch of the X axis and the Y axis, namely, the spatial domain can be worked out. In the whole accelerating and decelerating process, variable accelerating and decelerating parameters are applied, and conflict between speed increase and stable performance is avoided. A dynamic variation acceleration curve are applied to an X-axis stepping motor and a Y-axis stepping motor, the speed in the process of the acceleration is higher than normal fixed acceleration curve, and the deceleration has the same characteristic of the acceleration process. Under the condition that the dynamic variation acceleration curve satisfies a motor drive torque equation, the driving frequency smoothly changes, and torque overmeasure is stable. Compared with the fixed acceleration curve, the dynamic variation acceleration curve is provided with no inflection point, the out-of-step possibility of the motor is reduced, and stability is improved. The dynamic variation acceleration curve is worked out according to self torque frequency characteristics of the motor used by the system and mechanical system characteristics, and therefore the whole performance is enabled to be optimal.

Description

Technical field [0001] The invention relates to a high-speed intelligent pattern machine multi-dimensional dynamic cooperative motion control method, which belongs to the technical field of pattern machine control. Background technique [0002] The electronic pattern machine is a new type of CNC precision high-end sewing equipment that combines embedded system, servo control, stepper motor drive and precision machinery manufacturing technology. It is mainly used for the sewing and processing of complex patterns. Classes, luggage and various industries that require special sewing are all useful. [0003] At present, domestic medium and low-speed electronic pattern machines are relatively mature and have been widely used in the market; however, high-speed intelligent pattern machines with independent intellectual property rights are still relatively rare. Compared with similar products in foreign countries, such as Japan, Germany and other countries, my country's electronic pattern ...

AI Technical Summary

Problems solved by technology

[0005] Patent Publication No. CN 1794561A discloses a motor motion control method for an electronic pattern machine. Although the continuous operation of the main shaft motor is realized, the speed of the main shaft of the pattern machine changes with different stitches, so it is difficult to Realize the high-speed and stable operation of the electronic pattern machine, but at the same time, it will also cause unfavorable phenomena such as machine shaking due to speed changes

But it is an integrated control method, which does not separate the operation processing and control, so that the control system cannot realize the parallel operation of operation and control, thus slowing down the speed of the system and reducing the performance of the machine

At the same time, the sewing speed of 800 needles per minute cannot well meet the needs of high-speed electronic pattern machine movement.

[0007] Patent Publication No. CN 101519831A discloses a motion control method for a computerized pattern sewing machine. Although it can realize the motion control of an electronic pattern machine, it also makes up for the lack of high-speed and stable operation mentioned in the previous patent. In terms of processing, there is still no solution, and phenomena such as overshoot will occur from time to time

The reason is as mentioned above, short-distance and short-term, frequent instantaneous acceleration and instantaneous stop are the key factors that cause the conflict between the XY axis movement speed and smooth performance, and it is difficult to improve synchronously.

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