摘要
针对现有电子引纬系统中伺服电动机输入变速规律保持恒定,无法满足变动程引纬过程中运动特性动态调控需求的问题,基于软硬混编预制体窄缝通道变动程引纬工艺,构建了一种基于非对称修正摆线函数的变速运动规律。该规律采用速比系数和非对称系数作为关键控制变量,实现了变动程引纬过程中运动特性的动态调控以及换向位置处静止时间的一致性。通过理论分析推导出变动程下速比系数的函数关系式及非对称系数的取值,并通过数值模拟验证了该规律的正确性。进一步地运用电子凸轮技术,将该规律运用在实际的引纬工作。实验结果表明:与传统的脉冲控制相比,理论上进剑速度提升了16%,进剑时间减少了13.8%,末端位移最大误差为2.32 mm,相对误差仅为0.53%。研究工作为变动程变速引纬运动规律的设计提供了理论参考,并为生产实践中的引纬工艺优化提供了新的解决方案。
Objective Electronic weft insertion mechanisms can significantly enhance both stability and flexibility in the weft insertion process.However,current electronic weft insertion systems maintain a constant input motion,which fails to meet the requirements for regulating variable-stroke weft insertion motion characteristics.Therefore,this study proposes a variable-speed motion model based on an asymmetric modified cycloid function for optimizing the weft insertion process.This model is expected to enable precise control of weft insertion motion characteristics while improving insertion efficiency,thereby providing critical technical support for the development of high-speed weaving equipment.Method This study adopts an integrated approach combining theoretical modeling,numerical simulation,and experimental validation to systematically investigate weft insertion motion in narrow channels.First,an asymmetric modified cycloid function model with dual control variables(κ and k)is established based on variable-stroke weft insertion requirements.Subsequently,MatLab simulations verify the model capability to maintain consistent dwell time across different channel lengths.To validate practical application,an electronic weft insertion platform is developed using electronic cam technology for motion control,demonstrating superior performance in both motion smoothness and speed enhancement compared to conventional pulse control.Furthermore,comparative analysis between encoder-collected trajectory data and simulation results further confirms the model′s accuracy and engineering feasibility.Results Comparative experimental results based on the electromechanical system platform demonstrate that the proposed variable-speed motion exhibits significant performance advantages over traditional pulse control in actual weft insertion operations.During the first phase of experiments,the optimal operating parameters for constant-speed motion were determined.When the rapier head travel distance reached 30 mm,measurements within the 50-90 mm/s speed range revealed that the displacement fluctuation in the thickness direction increased with speed.In the 70-80 mm/s range,the fluctuation stabilized near the critical value of 0.25 mm,which ultimately confirmed 75 mm/s as the optimal constant-speed for weft insertion.In the second phase,by applying electronic cam technology to increase the cam spindle angular velocity from 5 rad/s to 9 rad/s,experimental data showed that a dwell time of 0.47 s could be achieved at ω=7 rad/s,corresponding to an average speed increase to 87 mm/s.Theoretical calculations demonstrated that the variable-speed motion could increase the average weft insertion speed by 16%across all weft insertion channels while reducing weft insertion time by 13.8%.For experimental validation,high-precision servo motor encoders were used to collect real-time motion trajectory data.Under the extreme channel condition(i=54),the maximum measured end displacement error was 2.32 mm,with a relative error of 0.53%.Conclusion The variable-speed motion model developed in this study dynamically regulates motion characteristics during variable-stroke weft insertion by adjusting the speed ratio coefficient(κ)and the asymmetry coefficient(k).Numerical simulations and experimental results was used to validate the model′s accuracy and feasibility.Specifically,for shorter channels,the rapier head enters with higher velocity and acceleration,while these parameters are proportionally reduced for longer channels.Compared to traditional constant-speed pulse motion,this model significantly increases weft insertion speed,reduces insertion time,and improves preform forming efficiency.Moreover,this technology is not limited to blended soft-hard preforms but can also be extended to other 3-D fabric forming processes involving rapier weft insertion.
作者
邢力鹏
董九志
梅宝龙
陈云军
李锐
XING Lipeng;DONG Jiuzhi;MEI Baolong;CHEN Yunjun;LI Rui(College of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin 300387,China;College of Control Science and Engineering,Tiangong University,Tianjin 300387,China)
出处
《纺织学报》
北大核心
2025年第10期217-226,共10页
Journal of Textile Research
关键词
软硬混编预制体
电子引纬
变动程
变速规律
运动特性调控
soft-hard blended preform
electronic weft insertion
variable-stroke
variable-speed law
motion characteristic control
