An Embedded Motion Controller And Its Application In Rapier Loom

These years, with the development of the computer electric power & electron technology and the sensor technology, in many countries more and more products that are used in machinery and power-generating equipment unify fields are coming up. Many kinds of industrial products like as machine tools, motor vehicles, instruments, family electrical equipments, light machines, textile machines, packing machines, print machines, metallurgy machines, chemical engineering machines, industrial robots, intelligent robots, and many other kinds of industrial products grows up every year. The technology about machinery and power-generating equipment unify are so closely concerned by all aspects in society that it has had an great effect on many fields, like as improving the level of people's life, improving the working efficiency, saving energy, reducing the wastage of materials, and enhancing the enterprise's competition ability. At the same time as the development of the machinery and power-generating equipment unify, motion-control technology, as an important component of it, has acquired a great of progress.The motion controller, as the representing object in researching, is being attached importance in automation field more and more. Especially on NC machines, whether a motion controller's performance is good or bad, which will affect the machining performance and the metrical effect. The motion controller is a controlling device, whose core is central logic unit, whose sensitive organ is sensor,and whose controlling objects are motors, powerful devices or some implements. These days, there are several plans about the most abroad used motion controllers are below: single chip systems, programmable logic controllers, PC-based motion-control cards, embedded motion controllers and some special NC systems.The oriental intention of this task is to be used in practice. Through plenary research and analysis for motion controllers, we had done a plenty of works, including the makeup of the motion controller and embedded motion controller, their sorts according to the application, and their design methods. Meanwhile, combining the technical request of civil rapier looms, we designed a motion controller based on embedded computer system. And then, we had applied it in a project, which is about the electronic let-off and electronic take-up in rapier looms. After accomplishing the testing task, we had acquired our anticipative aim. In practice, we also validated the motion controller's performance and the feasibility of some arithmetic, such as PID arithmetic, in motion control technology.In the paper, there are the following major contents:Firstly, we had expounded the developing condition, which the motion-control technology is in, explained the motion-controller's difference and sorts according to the applications. Meanwhile, we had a simple and clear introduction in the condition of our country's rapier looms.Secondly, relating to the composing of the motion-control system, we analyzed the status and the effect that the motion-controller is, and put forward some specific requisitions that the motion-controller, designed in this project, can achieve. Had introduced in detail the composing of the embedded motion-controller and the function that every part in this system can realize.Thirdly, in this paper, we placed emphasis on expounding the comparisons with a few of plans that could be settled in the hardware design of the embedded motion-controller. When we were busy on this research, on a starting point, where we placed emphasis on the practice, we selected some electron components that were powerful in function and were so cheap. Also, we introduced the function ofthe key components in broad outline.And then, after going through the research that we discussed the rapier loom's let-off and take-up system, we expounded the application where the embedded motion-controller bring into play. According to the controlling demands, we had designed a set of controlling software to realize the electronic let-off and electronic take-up. Above all, we had accomplished adjusting the rapier looms during experimentation.Finally, analyzing in detail the characters of the "electronic let-off' and the "electronic take-up" in a rapier loom. And on this base, utilizing the two principles, "electronic gear" and "PID control", having achieved the success in controlling the two main motions in rapier looms. Meanwhile, revealing the related algorithm, giving out the related electronic circuit drawing and the related analysis about the error.