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| Modeling and Control Methods for Tapping Forces of Automatic Forming Fabrics Seam Equipment |
| Received:July 30, 2022 |
| DOI：10.11981/j.issn.1000-6842.2023.04.76 |
| Key Words:automatic fabric seam equipment;control of tapping force;forming fabrics;PID control |
| Author Name | Affiliation | Postcode | | ZENG Wenhong* | Guangdong University of Technology， Guangzhou， Guangdong province， 510006 | 510006 | | ZENG Qijie | Guangdong University of Technology， Guangzhou， Guangdong province， 510006 | 510006 | | HUANG Zhifeng | Guangdong University of Technology， Guangzhou， Guangdong province， 510006 | 510006 | | LIN Bin | Jiangmen Tailin Precision Machinery Corporation， Jiangmen， Guangdong province， 529100 | 529100 | | CHEN Sizhe | Guangdong University of Technology， Guangzhou， Guangdong province， 510006 | 510006 | | ZHANG Yun | Guangdong University of Technology， Guangzhou， Guangdong province， 510006 | 510006 |
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| Abstract: |
| Automatic forming fabric seam equipment is the core equipment of forming fabrics manufacturing. Currently， this equipment is mainly monopolized by foreign companies， and the domestic research and development on this special equipment is still in its infancy. One of the main challenges in the process of seaming is how to control the tapping force on the weft during the process， which directly determines the quality of the forming fabrics. This paper first analyses the main mechanisms that influence the tapping force—the tapping force， the wire extraction and the tapping travel mechanism—the kinematic modeling of the wire extraction mechanism is carried out， and establishes a geometric force model for the tapping force of the forming fabric， which in turn leads to two main factors that influence the force—the travel distance of the equipment and the wire extraction angle. Based on the force model， a simplified kinetic model of the equipment is then developed and a PID controller is used to design the system’s tapping force control framework. Finally， the proposed control framework is validated by comparative simulations based on field sampling data from the prototype. The experimental results show that the decoupled independent control of the moving distance and the extraction angle can effectively achieve stable control of the tapping force. This paper provides an important methodological reference for improving the quality of the forming fabrics of the domestic automatic forming fabrics seam equipment. |
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