阅读说明：本技术 一种智能手套机电机的柔性速度控制方法 (Flexible speed control method for motor of intelligent glove knitting machine ) 是由 董辉 董高锋 金雨芳 吴祥 罗立锋 于 2020-07-01 设计创作，主要内容包括：本发明公开了一种智能手套机电机的柔性速度控制方法,包括以下步骤：确定智能手套机电机动作时允许的最大加速度,并设定电机的初始速度、结束速度、最大速度、加速度和目标位置距离；将电机的速度控制轨迹依照梯形曲线划分为加速阶段、匀速阶段和减速阶段,并根据初始速度、结束速度、最大速度和加速度计算出加速阶段、匀速阶段和减速阶段对应的运行距离,并判断是否存在匀速阶段；以时间周期为速度规划周期进行实时速度规划,当系统位置脉冲发送时间大于或等于速度规划周期时,即进行一次加减速控制直至智能手套机运动至目标位置。本发明满足了加减速平稳、加速度连续且运算量小,非常适合嵌入式系统。(The invention discloses a flexible speed control method of an intelligent glove machine motor, which comprises the following steps: determining the maximum acceleration allowed by the motor of the intelligent glove knitting machine during action, and setting the initial speed, the finishing speed, the maximum speed, the acceleration and the target position distance of the motor; dividing the speed control track of the motor into an acceleration stage, a constant speed stage and a deceleration stage according to a trapezoidal curve, calculating the corresponding running distances of the acceleration stage, the constant speed stage and the deceleration stage according to the initial speed, the final speed, the maximum speed and the acceleration, and judging whether the constant speed stage exists or not; and performing real-time speed planning by taking the time period as a speed planning period, and performing acceleration and deceleration control once when the pulse sending time of the system position is greater than or equal to the speed planning period until the intelligent glove knitting machine moves to the target position. The invention meets the requirements of stable acceleration and deceleration, continuous acceleration and small operand, and is very suitable for an embedded system.)

1. A flexible speed control method of an intelligent glove machine motor is characterized by comprising the following steps:

step 1, determining the maximum acceleration a allowed by the intelligent glove machine motor during action_maxAnd setting an initial speed v of the motor_sEnd velocity v_eMaximum velocity v_maxAcceleration a and target position distance S;

step 2, dividing the speed control track of the motor into an acceleration stage, a constant speed stage and a deceleration stage according to a trapezoidal curve, calculating the corresponding running distances of the acceleration stage, the constant speed stage and the deceleration stage according to the initial speed, the final speed, the maximum speed and the acceleration, and judging whether the constant speed stage exists or not;

step 3, performing real-time speed planning by taking the time period T as a speed planning period, and performing acceleration and deceleration control once until the intelligent glove machine moves to a target position when the pulse sending time of the system position is greater than or equal to the speed planning period;

wherein the step 3 comprises:

step 3.1, the motor performs cosine acceleration at an initial speed, when the sending time of the system position pulse is greater than or equal to the speed planning period, the angle of the motor at the current moment is obtained, a cosine value is read from a preset cosine value table according to the angle, and an expected speed value v (t) of the ith speed planning period is obtained through calculation_i；

Step 3.2, planning the expected speed value v (t) of the ith speed planning period_iTimer frequency f as the ith speed planning period_iThus, the timer period for each pulse in the ith speed program period can be calculated as

Step 3.3, establishing a timer period corresponding to each pulse in the ith speed planning period as

2. The method for controlling the flexible speed of a motor of an intelligent glove knitting machine as claimed in claim 1, wherein the initial speed v is set in the step 1_sIs equal to the end velocity v_eAnd setting an acceleration

Receiving a maximum velocity v of a user input through a human-machine interaction interface_maxAnd a target position distance S.

3. The method for controlling the flexible speed of the motor of the intelligent glove knitting machine as claimed in claim 1, wherein in the step 2, whether a uniform speed stage exists in the whole speed control process is calculated according to a trapezoidal curve, and the specific calculation method is as follows:

wherein, t₁、t₂、t₃Is an acceleration stage, a uniform speed stage andrun time, S, corresponding to the deceleration phase₁、S₂、S₃The running distances corresponding to the acceleration stage, the uniform speed stage and the deceleration stage are two conditions:

(a) when S is₁+S₂<S₃At this time, the speed control process can reach the maximum speed v_maxAnd the step S is divided into an acceleration stage, a uniform speed stage and a deceleration stage according to the step characteristics of the stepping motor₁、S₂、S₃Converted into corresponding control process pulse number P₁、P₂、P₃；

(b) When S is₁+S₂≥S₃When the speed control process is finished, the uniform speed stage does not exist in the whole speed control process, and if and only if S is₁+S₂＝S₃The speed can reach the maximum speed v in the time speed control process_maxAt this time, the acceleration and deceleration section time and distance need to be recalculated:S₁＝S₃s/2, according to the step length characteristic of the stepping motor₁、S₃Converted into corresponding control process pulse number P₁、P₃And then P is present₂＝0。

4. The method as claimed in claim 1, wherein the cosine value table in the step 3.1 includes cosine values calculated from 0 degree in 1 degree increments.

5. The method as claimed in claim 3, wherein the desired speed value v (t) of the ith speed planning period is calculated in the step 3.2_iThe method comprises the following steps:

the desired velocity calculation formula for the conventional acceleration phase is established as follows:

wherein t is the current speed control time,

using cosine values read from a table of cosine valuesThe desired velocity calculation formula for the update acceleration phase is as follows:

therefore, the expected speed value v (t) of the ith speed planning period in the acceleration stage is calculated according to the updated expected speed calculation formula_i。

6. The method as claimed in claim 3, wherein the total number of pulses n of the current control process is updated every time the acceleration and deceleration control is performed in the step 3_PAnd the number n of programming cycles_TWhen n is_P>P₁And then, entering the next control stage: when n is_P>P₁And P is₂>When 0, the speed control process enters a uniform speed stage; when the pulse counts n_P>P₁And P is₂When v (t) reaches v_maxThe deceleration phase is entered directly.

7. The method for controlling the flexible speed of the motor of the intelligent glove knitting machine as claimed in claim 3, wherein in the step 3, after the deceleration phase is entered, the expected speed is calculated by substituting each planned cycle of the deceleration phase into an expected speed calculation formula, wherein the formula is as follows:

wherein the content of the first and second substances,

and in each speed planning period in the deceleration stage, converting the calculated expected speed value into the value of the automatic reloading value according to the step 3.2 and the step 3.3, and performing motion control on the intelligent glove knitting machine.

Technical Field

The application belongs to the technical field of motion control, and particularly relates to a flexible speed control method for a motor of an intelligent glove knitting machine.

Background

Along with the increase of the demands of the textile industry, the full-automatic intelligent glove machine is widely applied, and the conventional gear structure is replaced by a multi-motor unit in the conventional intelligent glove machine. For example, the needle selection system of the intelligent glove knitting machine mainly depends on a stepping motor to drive a roller to rotate for a certain distance, so that a roller pin jacks up a needle selection bird sheet, and a knitting needle indirectly connected with the needle selection bird sheet is selected. However, the step motor is subjected to a large load when the needle selection bird selection piece is jacked up, so that the overload phenomenon is easy to occur, and once the step motor is overloaded, the step motor is out, so that the mechanical collision of the glove knitting machine is easy to damage the machine, and the mechanical collision is especially easy to occur under the conditions of high-speed movement and frequent acceleration and deceleration. The good control method for accelerating and decelerating the stepping motor can avoid the phenomena of impact, step loss or vibration in the movement process of the stepping motor of the glove machine, and simultaneously realize quick response of actions and reach the designated speed in a short time.

At present, an intelligent glove machine control system generally adopts an embedded device which is based on trapezoidal curve speed planning, has small calculated amount, is suitable for small capacity and low performance, but the algorithm has acceleration sudden change at the starting and stopping stages and the starting and ending stages of acceleration and deceleration, and is easy to generate impact; the S-shaped curve speed planning is adopted in part of glove knitting machine control systems, the acceleration and deceleration stage is stable, but the algorithm steps are complex, the operation is complex, and the problem of discontinuous acceleration is still existed in the acceleration and deceleration process.

Disclosure of Invention

The application aims to provide a flexible speed control method of an intelligent glove machine motor, which meets the requirements of stable acceleration and deceleration, continuous acceleration and small operand and is very suitable for an embedded system.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.

A flexible speed control method of an intelligent glove machine motor comprises the following steps:

step 1, determining the maximum acceleration a allowed by the intelligent glove machine motor during action_maxAnd setting an initial speed v of the motor_sEnd velocity v_eMaximum velocity v_maxAcceleration a and target position distance S;

step 2, dividing the speed control track of the motor into an acceleration stage, a constant speed stage and a deceleration stage according to a trapezoidal curve, calculating the corresponding running distances of the acceleration stage, the constant speed stage and the deceleration stage according to the initial speed, the final speed, the maximum speed and the acceleration, and judging whether the constant speed stage exists or not;

step 3, performing real-time speed planning by taking the time period T as a speed planning period, and performing acceleration and deceleration control once until the intelligent glove machine moves to a target position when the pulse sending time of the system position is greater than or equal to the speed planning period;

wherein the step 3 comprises:

step 3.1, the motor performs cosine acceleration at an initial speed, when the sending time of the system position pulse is greater than or equal to the speed planning period, the angle of the motor at the current moment is obtained, a cosine value is read from a preset cosine value table according to the angle, and an expected speed value v (t) of the ith speed planning period is obtained through calculation_i；

Step 3.2, planning the expected speed value v (t) of the ith speed planning period_iTimer frequency f as the ith speed planning period_iAnd can thus be calculatedObtaining the timer period corresponding to each pulse in the ith speed planning period as

From this, the number of pulses required in the ith speed programming cycle can be calculated

Step 3.3, establishing a timer period corresponding to each pulse in the ith speed planning period asWherein, arr_iPlanning the automatic reload value, Tim, of the cycle for the ith speed_prescalerA clock pre-frequency-division coefficient is adopted, and Tck is the dominant frequency of the processor; thus, the formula is established

Calculating arr according to the formula_iI.e. the desired velocity value v (t)_iAnd converting the real-time speed plan into an automatic reloading value, converting the real-time speed plan into a pulse number recording problem, and performing motion control on the intelligent glove knitting machine.

Preferably, the initial speed v is set in the step 1_sIs equal to the end velocity v_eAnd setting an acceleration

Receiving a maximum velocity v of a user input through a human-machine interaction interface_maxAnd a target position distance S.

Preferably, in step 2, whether a uniform speed stage exists in the entire speed control process is calculated according to the trapezoidal curve, and the specific calculation method is as follows:

wherein, t₁、t₂、t₃To accelerateThe corresponding operation time of the stage, the uniform speed stage and the deceleration stage, S₁、S₂、S₃The running distances corresponding to the acceleration stage, the uniform speed stage and the deceleration stage are two conditions:

(a) when S is₁+S₂<S₃At this time, the speed control process can reach the maximum speed v_maxAnd the step S is divided into an acceleration stage, a uniform speed stage and a deceleration stage according to the step characteristics of the stepping motor₁、S₂、S₃Converted into corresponding control process pulse number P₁、P₂、P₃；

(b) When S is₁+S₂≥S₃When the speed control process is finished, the uniform speed stage does not exist in the whole speed control process, and if and only if S is₁+S₂＝S₃The speed can reach the maximum speed v in the time speed control process_maxAt this time, the acceleration and deceleration section time and distance need to be recalculated:

S₁＝S₃s/2, according to the step length characteristic of the stepping motor₁、S₃Converted into corresponding control process pulse number P₁、P₃And then P is present₂＝0。

Preferably, the cosine value table in step 3.1 includes cosine values calculated in 1 degree increments starting from 0 degrees.

Preferably, the expected speed value v (t) of the ith speed planning period is calculated in the step 3.2_iThe method comprises the following steps:

the desired velocity calculation formula for the conventional acceleration phase is established as follows:

wherein t is the current speed control time,the angle of the current moment of the acceleration stage;

using cosine values read from a table of cosine valuesThe desired velocity calculation formula for the update acceleration phase is as follows:

therefore, the expected speed value v (t) of the ith speed planning period in the acceleration stage is calculated according to the updated expected speed calculation formula_i。

Preferably, in step 3, the total pulse number n of the current control process is updated every time acceleration and deceleration control is completed_PAnd the number n of programming cycles_TWhen n is_P>P₁And then, entering the next control stage: when n is_P>P₁And P is₂>When 0, the speed control process enters a uniform speed stage; when the pulse counts n_P>P₁And P is₂When v (t) reaches v_maxThe deceleration phase is entered directly.

Preferably, in step 3, after entering the deceleration phase, the expected speed is calculated by substituting each planning cycle of the deceleration phase into an expected speed calculation formula, where the formula is as follows:

wherein the content of the first and second substances,

the angle at the current moment of the deceleration phase,

the cosine value corresponding to the angle at the current moment is obtained by looking up a cosine value table;

and in each speed planning period in the deceleration stage, converting the calculated expected speed value into the value of the automatic reloading value according to the step 3.2 and the step 3.3, and performing motion control on the intelligent glove knitting machine.

Compared with the prior art, the flexible speed control method of the intelligent glove machine motor has the following beneficial effects: (1) on the basis of traditional trapezoidal acceleration and deceleration, a cosine acceleration and deceleration algorithm is introduced, so that the continuity of acceleration is guaranteed, the stable change of speed is realized, the phenomena of overshoot, step loss, vibration and the like in the operation process of a motor of the glove knitting machine are effectively reduced, and the operation stability is improved; (2) the running speed is calculated in real time according to the period, the change of the maximum speed can be responded in time, and the required speed is reached in the shortest time; (3) the cosine algorithm in the acceleration and deceleration speed planning calls the cosine value table stored in the storage unit in advance in real time, so that the calculated amount in the control process is reduced.

Drawings

FIG. 1 is a flow chart of one embodiment of a method for controlling the flexible speed of a motor of an intelligent glove knitting machine according to the present application;

FIG. 2 is a schematic diagram of a flexible speed variation curve of a motor of the smart glove knitting machine of the present application;

FIG. 3 is a velocity profile of the compliant velocity in the uniform velocity stage of example 1 of the present application;

FIG. 4 is an acceleration curve diagram of the compliant speed in the uniform speed stage of the embodiment 1 of the present application;

FIG. 5 is a velocity profile of the compliance velocity at the non-uniform velocity stage of example 2 of the present application;

fig. 6 is an acceleration curve diagram of the compliant velocity in the non-uniform velocity stage of embodiment 2 of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The embodiment aims at the problems of the traditional trapezoidal acceleration and deceleration and S-shaped acceleration and deceleration in a glove machine control system, adopts a flexible speed control method of an intelligent glove machine motor, meets the requirements of stable acceleration and deceleration, continuous acceleration and small operand, and is very suitable for an embedded system.

As shown in fig. 1, the method for controlling the flexible speed of the motor of the intelligent glove knitting machine according to the embodiment includes the following steps:

step 1, loading and calculating set system parameters: determining the maximum acceleration a allowed when the motor of the intelligent glove knitting machine acts_maxAnd setting an initial speed v of the motor_sEnd velocity v_eMaximum velocity v_maxAcceleration a and target position distance S. And determining the number of target pulses P based on the motor step characteristics and the target position distance S_s。

At the determination of the maximum acceleration a_maxThe method needs to be determined according to the attribute of a mechanical structure of a control part of a motor (stepping motor) of the intelligent glove knitting machine, the attribute of the motor and field test so as to avoid the damage of the motor.

For ease of understanding, the initial velocity v is set in this embodiment_sIs equal to the end velocity v_eIn other embodiments, the relationship between the initial and final speeds may be adjusted as desired.

And setting acceleration according to motor characteristicsTo meet maximum acceleration performance. Meanwhile, in order to improve the adaptability of the speed control method, the maximum speed v input by a user is received through a human-computer interaction interface_maxAnd a target position distance S. The human-computer interaction interface is a conventional interaction interface for setting parameters on the intelligent glove knitting machine, and is not further limited in the embodiment.

And 2, dividing the speed control track of the motor into an acceleration stage, a constant speed stage and a deceleration stage according to the trapezoidal curve, calculating the corresponding running distances of the acceleration stage, the constant speed stage and the deceleration stage according to the initial speed, the final speed, the maximum speed and the acceleration, and judging whether the constant speed stage exists.

Whether the constant speed stage has certain influence on the speed control or not needs to be judged, and therefore whether the constant speed stage exists in the speed control track of the motor needs to be judged firstly, and the judgment process can be realized based on the existing speed control method. In this embodiment, whether a uniform velocity stage exists in the entire velocity control process is calculated according to a trapezoidal curve, and a preferred specific calculation method is provided as follows, as shown in fig. 2:

wherein, t₁、t₂、t₃The running time corresponding to the acceleration stage, the uniform speed stage and the deceleration stage is S₁、S₂、S₃The running distances correspond to an acceleration stage, a constant speed stage and a deceleration stage. There are two cases at this time:

(a) when S is₁+S₂<S₃At this time, the speed control process can reach the maximum speed v_maxAnd the step S is divided into an acceleration stage, a uniform speed stage and a deceleration stage according to the step characteristics of the stepping motor₁、S₂、S₃Converted into corresponding control process pulse number P₁、P₂、P₃。

(b) When S is₁+S₂≥S₃When the speed control process is finished, the uniform speed stage does not exist in the whole speed control process, and if and only if S is₁+S₂＝S₃The speed can reach the maximum speed v in the time speed control process_maxAt this time, the acceleration and deceleration section time and distance need to be recalculated:

S₁＝S₃according to the step length of the stepping motor (S/2)Characteristic of S₁、S₃Converted into corresponding control process pulse number P₁、P₃And then P is present₂＝0。

It should be noted that, the operation distance is converted into the pulse number according to the step length, which is a conventional conversion for controlling the stepping motor, and further description is omitted in this embodiment.

It is easy to understand that, in the equation (1), when the execution times of the acceleration stage and the deceleration stage are calculated, the acceleration a is used, so in this embodiment, the absolute values of the accelerations in the acceleration stage and the deceleration stage are set to be the same, in other embodiments, if the acceleration is changed and the corresponding value is replaced, the acceleration in the deceleration stage is a negative number, the acceleration in the acceleration stage is a positive number, and the corresponding absolute value of the acceleration is used for calculation at the calculation execution time.

And 3, performing real-time speed planning by taking the time period T as a speed planning period, and performing acceleration and deceleration control once until the intelligent glove machine moves to the target position when the pulse sending time of the system position is greater than or equal to the speed planning period.

In order to facilitate understanding of the currently operating stage, in this embodiment, the total pulse number n in the current control process is updated once every time acceleration and deceleration control is completed_PAnd the number n of programming cycles_T。

And when n is_P>P₁And then, entering the next control stage: when n is_P>P₁And P is₂>When 0, the speed control process enters a uniform speed stage; when the pulse counts n_P>P₁And P is₂When v (t) reaches v_maxThe deceleration phase is entered directly. In combination with practical applications, the pulse number of the control process in the uniform speed stage is greater than or equal to 0, so that P is not discussed here₂<0, in the case of the first embodiment.

I.e. in the presence of a complete acceleration phase, uniform velocity phase, deceleration phase (i.e. P)₂>0), the intelligent glove knitting machine firstly performs acceleration stage operation by cosine acceleration algorithm, and when n is reached_P≥P₁In time, when entering the uniform speed stage, the motor protector of the intelligent glove machineAt a maximum velocity v_maxRunning; when n is_P≥P₁+P₂Then, entering a deceleration stage, and operating the intelligent glove machine by a cosine deceleration algorithm; when n is_P≥P_sAnd when the target position is reached, the motor of the intelligent glove machine is controlled at this time.

In the case where only an acceleration phase and a deceleration phase are present (i.e. P)₂When the value is 0), the intelligent glove knitting machine firstly operates in an acceleration stage by a cosine acceleration algorithm, and when n is equal to n_P≥P₁Then, entering a deceleration stage, and operating the intelligent glove machine by a cosine deceleration algorithm; when n is_P≥P_sAnd when the target position is reached, the motor of the intelligent glove machine is controlled at this time.

When the acceleration and deceleration control of the intelligent glove machine is carried out, the control process of the acceleration stage is as follows:

step 3.1, the motor performs cosine acceleration at an initial speed, when the sending time of the system position pulse is greater than or equal to the speed planning period, the angle of the motor at the current moment is obtained, a cosine value is read from a preset cosine value table according to the angle, and an expected speed value v (t) of the ith speed planning period is obtained through calculation_i。

In order to improve the real-time performance, cosine values of all angles are calculated in advance, and a cosine value table is established. In order to control the data amount, the cosine value table of the present embodiment includes cosine values calculated from 0 degree by 1 degree increment (increment to 360 degrees), i.e. the cosine value table is cos [361], so as to look up the table during the speed calculation.

Namely, the cosine value table in this embodiment is: cos [361] ═ 1.000000,0.999848,0.999391,0.998630,0.997564,0.996195,0.994522,0.992546,0.990268,0.987688,0.984808,0.981627,0.978148,0.974370,0.970296,0.965926,0.961262,0.956305,0.951057,0.945519,0.939693,0.933580,0.927184,0.920505,0.913545,0.906308,0.898794,0.891007,0.882948,0.874620,0.866025,0.857167,0.848048,0.838671,0.829038, … … }.

It should be noted that in other embodiments, the cosine table may be adjusted as needed, for example, the incremental angle interval is set to be 2 degrees or 0.5 degrees.

In the cosine acceleration algorithm, the expected speed calculation formula of the conventional acceleration stage is as follows:

wherein t is the current speed control time, i.e. n_T*T，For the angle at the current moment of the acceleration stage, if

If not, the decimal part is directly cut off for rounding. When the formula (2) is adopted for calculation, the value of the trigonometric function needs to be calculated in each calculation, so that the calculation amount is large, the consumed time is long, and larger system resources are occupied.

In order to overcome the problems of large calculation amount and long time consumption, the embodiment utilizes cosine values read from a cosine value table

The desired velocity calculation formula for the update acceleration phase is as follows:

therefore, a general formula of the acceleration stage is shown in a formula (3), and based on the formula (3), the cosine value can be read from the cosine value table in real time according to the angle value in each speed planning period, so that the response time is greatly reduced. Refining to each speed planning period, substituting the corresponding angle of the current moment into the formula (3), and calculating the expected speed value v (t) of the ith speed planning period in the acceleration stage according to the updated expected speed calculation formula_i。

Step 3.2, planning the expected speed value v (t) of the ith speed planning period_iTimer frequency f as the ith speed planning period_iI.e. assign f_i＝v(t)_iThus, the timer period for each pulse in the ith speed program period can be calculated as

From this, the number of pulses required in the ith speed programming cycle can be calculatedSince the time period T is used as the speed planning period, the time period T is used for calculation.

Step 3.3, establishing a timer period corresponding to each pulse in the ith speed planning period as

Wherein, arr_iPlanning the automatic reload value, Tim, of the cycle for the ith speed_prescalerA clock pre-frequency-division coefficient is adopted, and Tck is the dominant frequency of the processor; thus, the formula is established

Calculating arr according to the formula_iI.e. the desired velocity value v (t)_iConverting into automatic reloading value, the processor sends pulse at fixed time in ith speed planning period according to the automatic reloading value to control speed, and records the number of pulses in real time and the calculated number of pulses k required in ith speed planning period_iAnd comparing to monitor whether the speed planning cycle is completed.

Therefore, the method converts the real-time speed planning (namely the judgment problem of the actual acceleration and deceleration planning time T (the current speed control time) and the speed planning period T) into the pulse number recording problem, carries out motion control on the intelligent glove knitting machine, and only needs to judge the counted pulse number after the pulse count value is accumulated after the timer is interrupted and enters, thereby reducing the burden of the system.

The cosine deceleration algorithm and the cosine acceleration algorithm in the application are realized in the same way, namely, the process of controlling the intelligent glove machine to move by utilizing the cosine deceleration algorithm in the deceleration stage is as follows:

after entering the deceleration stage, substituting each planning period of the deceleration stage into an expected speed calculation formula to calculate the expected speed, wherein the formula is as follows:

wherein the content of the first and second substances,the angle at the current moment of the deceleration phase,

the cosine value corresponding to the angle at the current moment is obtained by looking up a cosine value table.

And (3) in each speed planning period in the deceleration stage, substituting the corresponding angle of the current moment into the formula (4) to obtain an expected speed value in the corresponding speed planning period, and then converting the calculated expected speed finger into the value of the automatic reloading value according to the step 3.2 and the step 3.3 to control the motion of the intelligent glove knitting machine.

The velocity formula of the acceleration stage is differentiated, and the acceleration formula of the acceleration stage is obtained as follows:

differentiating the speed formula in the deceleration stage to obtain the acceleration formula in the deceleration stage as follows:

compared with an S-shaped curve, the acceleration value is more continuous without sudden change, stable change of the speed is realized, phenomena of overshoot, step loss, vibration and the like in the operation process of the motor of the glove machine are effectively reduced, and the operation stability is improved.

The processor of the intelligent glove machine is preferably STM32F407, and the processor is rich in resources and high in processing performance.

The operation effect of the method for controlling the flexible speed of the motor of the intelligent glove knitting machine is further described by the following embodiments.