Research On Control System Of Selective Cross-linking Braiding Machine

In the field of modern industry,three-dimensional braiding technology is becoming more and more popular,and the accompanying automatic control technology has also received more and more attention.This paper takes the selective cross-linking braiding machine as the research object.This machine has three circular braiding tracks on one end surface,which undoubtedly increases the difficulty of accomplishing automatic control.Previously,no scholars in the field of control have studied similar textile machines.Research on multi-motor synchronous control technology to realize the singletrack and track-changing movement of the spindle on selective cross-linking braiding machine machine,so as to complete the interweaving of yarns and forming fabrics.The research on the control system of selective cross-linking braiding machine mainly includes:(1)According to the operation requirements of the selective cross-linking braiding machine,select control motor for the dial and the track changeover of the braiding machine——the permanent magnet synchronous motor(Permanent Magnet Synchronous Motor,PMSM)controls the dial,the two-phase hybrid stepper motor(Two Phase Hybrid Stepper Motor,2PHSM)controls the track changeover,there are 3 sets of PMSM and 12 sets of 2PHSM.The process of converting the motor from the stationary coordinate system to the rotating coordinate system is deduced,and the mathematical models of PMSM and 2PHSM are established.(2)Based on vector control,adopt the direct axis current is equal to zero control method(id=0 control),and propose the double closed-loop control system based on speed loop and current loop for PMSM and 2PHSM.In order to solve the shortcomings of the PID control method with fixed parameters and lack of self-adaptability,the fuzzy variable structure PID control method is used to realize motor control,and fuzzy domain,fuzzy set,fuzzy rule and defuzzification method are selected for the input and output of the closed-loop control system.The fuzzy controller and the double closed-loop control system model are built in Matlab/Simulink,and the advantages of fuzzy variable structure PID control are obtained according to the simulation results.(3)Adopt the multi-motor synchronous control method based on CAN bus,analyze the advantages of using CAN bus communication,and design the multi-motor synchronous control system.According to the network topology structure of the master nodes and slave nodes of the CAN bus,the corresponding hardware design is proposed——STM32F407IGT6 MCU is selected for both the master node’s microcontroller and slave nodes’ microcontrollers,the master node’s microcontroller is used as a transfer station for data and control commands,and the slave nodes’ microcontrollers pass the motor drivers directly control the motor,the upper computer communicates with the master node’s microcontroller through the serial port,and the master node microcontroller connects with the slave nodes’ microcontrollers through the CAN bus.(4)Based on the master-slave topology of the CAN bus,use the C# language to complete the design of the upper computer software,use the embedded C language to complete the design of the lower computer software,and design the overall architecture of the embedded software with a modular idea.After fully understanding the technology stack of Winform platform and the HAL library of STM32F407,the software programming design of human-computer interaction module,serial communication module,initialization module,CAN bus communication module,control module and main program is completed.