The Development Of Embedded Control System Software For The Rapier Loom

Advanced Rapier loom is one of the key equipment of textile machine, and occupies a pivotal position in the textile industry. However, the core technology in internal, such as mechanical and electrical integration technologies, have a certain gap with foreign advanced level, which greatly restricted the development of the domestic rapier. So, in this paper, embedded control systems of Rapier loom is developed, which lack of a study in domestic.On the analysis of the situation and the trend and the foreign advanced electrical control system for the rapier looms, the advanced control system software based on the Mcf5235 32-bit MCU and in the use of the embedded real-time operation system VxWorks is designed. This paper designed the scheduling of multitask based on preemptive scheduling and strategy of time coordination based on list to improve the reliability and the stability of the control system of rapier looms.The characteristics of the modern control system, such as high speed, distribution and using real time operation system are analyzed. And then it researches the function of the rapier loom organs deeply. At the same time, the paper also analyses the time coordination of the rapier loom organs and the input and output signal of rapier loom control system.Because the request of the hardware structure, CPU choice, and the software design, Mcf5235 is chosen based on the framework of the whole control system. To satisfy the real-time demand of the system, the real time operation system VxWorks is selected and embedded into the micro processor MCF5235. And then, the interface of the hardware is designed, which makes a foundation of the software design in detail.The frame of software is made and the system task of system, communications, time interrupt are designed. The mostly statuses of the rapier loom are analyzed and the way of switching statuses are designed. The paper adopted the strategy based on Event-Driven scheduling to design the scheduling of task, analyzed the statuses of rapier loom and designed the scheduling of switch status.There are many status of the rapier loom, such as fast weaving, slowly shutting down, finding weft, and so on. Base on the analysis of all the status, the framework of the software for every status is designed. During the weaving, the time coordination control for the process of warp repairing, weft repairing and fast weaving is completed in the use of angel list and task scheduler. Thus the structure of the software for the main control system of the rapier loom. In this paper, the anti-jamming and recovery scheme is designed to solve the trouble in the system running.