2. 2  Servo motor

The servo motor which drove the guide bar always reversed start and stop at high frequency in the shogging processing. Thus, the servo motor which had higher acceleration property should be the priority to guamntee the excellent response property of system , which is based on the enough driving power. The equaBoo loom zotadng )dnemaBcs w:s over  mfollows •

where, n(rad •  s  ') is the load  angular  acceleration,  Ip (10 "‘ kg • in' ) presents the motor self inertia, Ip ( 10 "’kg • & ) is load inertia, and T( 5 • in) is the torsion of servo motor. When Ip is a fixed value, the maximal angular acceleration ap or loading depends on the ratio between the maximal torque of motor  and  its  self  inertia.   Therefore,  the  maximal angular acceleration of motor without loading (I  =0) is odes employed as the index of dynamic response property of motor.

where, ‹i„„ ,(rad • s " ) is the maximal angular acceleration of motor without loading, Tq ( N • in) is the maximal torque of However, the loading Ip cannot be 0, we know from the rotating kinematics that the loading can get the maximal angular acceleration easily when the load inertia ratio approaches to 1. In other words, the angular acceleration n is maximal When the numerical values of  Ip and Ip are  e9ual.  Therefore,  calculate é *L n load inertia and motor self inertia can be as another index of motor property.

where , ftp is the load inertia ratio , Ip ( 10 "’kg • in' ) is the equivalent total load inertia, and Ip ( 10 "‘ kg   motor self inertia.

For  the  shogging   mechanism   of  the  high-speed   warp

remitting machine, the motor shaft is connected by high precision saii screw. The transition from rotational motion to Linear motion is forced by the screw pushing and pulling guide bar. The screw and guide bar can be placed hon:iontally; therefore, the guide bar shogging mechanism of the warp-Omitting machine can be simplified as a standard screw turntable drag model, and the guide bar is equivalent into screw slider. The components of equivalent total load inertia for simplified slogging drag model are shown in Fig. 2.

Fig.2 The towage modct of wacp luttUng guide bac In this model, the general load inertia ( If ) of motor axle head is the total of rotational inertia (Ip ) of coupling, rotational inertia ( *s ) of lead screw, and the equivalent rotational inertia

(Jg_,q ) of motor axle head, where guide bar is regarded as the slider then equals the rotational inertia ( *Tax ) by ball screw.

摘要：本文提出了一种基于旋转式伺服电机的柔性电子系统，旨在提高冲击驱动器的动态响应，减小导轨在高速运行中的冲击。这个系统选择了速度控制模式和更快的响应伺服电机、不平改性的梯形运动电机及其电子凸轮，并且详细介绍了实现标准和方法。负载电机的速度响应曲线表明，该系统可以满足实验中以1000r/min的速度运行的高速经编机的技术要求，而且振动曲线显示有更弱的导杆机械冲击和更高的动态响应特性。结果表明，按照上一步设计的柔性电子横移系统是成功的，电子横移的设计原则得到了有效验证。

关键词：整经；无平纹改性梯形；柔性电子横移系统；电子凸轮

介绍

经编机的电子横移是驱动导杆通过伺服电机根据图案完成重叠和重叠的重要机构。配有电子收拢系统的经编机，可以缩短生产发展期，并能生产大于8000多条编织线的较大图案。经编机电子收拢中使用的擦刮电机有两种，直线型和旋转型。线性电机的控制精度和响应性优于旋转电机，然而线性电机的价格相当昂贵。因此，有必要选择较便宜的旋转电机以满足高速经编机。