The Research Of Rapier Loom Cluster Control System

To solve the problems that the slow-running speed and the poor stability which the existing loom control system have, a cluster of rapier loom control system is designed in this paper.With the idea of modularized, this loom control system is divided into four modules, they are the master control module, the input signal control module, the output signal control module, the LCD control and display module. Each of the module has a CPU chip to control the singles, and we used the serial communication or CAN bus communication between the different modules, it improved the control efficiency effectively and increased the stability of the system.The main controller of this system used the control option of the STM32+FPGA and the BUS was used to communication between the STM32 and FPGA. Using the FPGA to assist the STM32, reduced the burden of the STM32, improved the control stability.To overcome the lower start regulation speed and the larger regulation error in the current let-off and take-up control systems of the rapier loom, a double control method was proposed to regulate the speed of the let-off motor in this system. Using the direct control method to control the let-off motor’s speed, utilize the PID regulation to correct the value of the speed. To make the system work steadily,the executes part of the let-off and take-up used the AC servo technology and effectively increased the stability of the system and improved the quality of the fabric.To solve the problems that the inaccurate of the five big movements’s control angle, we use a encoder to record the information of the SRM and use the FPGA to decode it. At last we achieved the goal of the fixed-point control of the loom’s five movements.This system has been tested on a rapier loom, the five movements can operate accurately and fast in an orderly way and it have a better stability. The fastest speed of the rapier loom can achieve to 700 r/min by the control of this system. It can keep the start regulation time less than 0.4 seconds, keep the overshoot within 3% and the the regulation error within 1.25%.