Study On Control System Integration Of CAN Bus Based Carpet Tufting Machine

Researchers at home have done many years research on carpet tufting machines, and many other key technologies have been worked out, however, most types of the machines can only be adjusted digitally part of the technological parameters, so the whole machine's flexibility is very limited. And then the control system integration of carpet tufting machine becomes an urgent problem. This paper takes this problem as the research object, makes the modularity of whole machine to be the principle line, and does some works with every typical function module of the carpet tufting machine control system, like analyzing, improving and designing. The main works during the research are as follow:Analyze the structure and function of the existing control system, re-plan the overall structure of the upper and lower computer of the system, and add the carpet surface quality diction module to the upper computer. Divide the lower computer to five parts, the synchronization control system, the servo horizontal shifting system, the back cloth feeding system, the roller control system and the yarn guiding roller system. And make reality of the communication between the upper computer and the lower ones, and the lower ones with each other. Start with the function of different parts, this paper analyzes the communication requirements, designs the CAN message codes and obligate many message codes of different priorities, in case to the system needs to be updated. Then this paper does some schedulability analysis with the designed CAN communication module, and obtained the frequency meeting the deadlines of the system communication.Considering the overall performance requirement of the system, choosing some proper devices, like TMS320LF2407A, TPS7333 and 6N137, this paper designs the lower computer in accordance with the modular design concept. Also some software programs are designed, like the main program, the main loop, CAN interrupt program and so on. Make use of the standard modules and some special programs in the main loop, the control function the lower computer can be realized.Using VC++language, this paper designs the control logic and human-machine interface of the upper computer, realizes the CAN communication between the upper computer and the lower ones through calling the CAN communication API. Also through calling the exiting carpet surface quality detection program, the upper computer analyzes the data from the camera, and realizes the detection function. The upper computer analyzes the pattern data and the set parameters, downloads the control information to the lower computer, and releases the control power to the synchronization control system of the lower computer. Then during the operating period of the carpet tufting machine, the upper computer detects the running status of the lower ones through analyzes the information like revolving speed and the current line number received. In case some error happens, the upper pop up an error message and gives some disposal suggestions.By the simulating test, the lower computer can realize the speed follow of motors to the main shaft, the upper computer can real-time display the running status of the lower computer. The design requirements have been achieved.