阅读说明：本技术 缝纫机的送布电机控制方法、系统、缝纫机及存储介质 (Cloth feeding motor control method and system for sewing machine, sewing machine and storage medium ) 是由 王立强 韩安太 曾树杰 王群 于 2021-09-30 设计创作，主要内容包括：本发明公开了一种缝纫机的送布电机控制方法、系统、缝纫机及存储介质,缝纫机的送布电机控制方法包括：获取送布电机的最高速度ω-(max)和送布电机的最大加速度限值ε-(max)；根据公式T＝6ω-(max)/ε-(max)计算得到送布电机的运动周期T；将运动周期T划分为五段,前两段为加速段,前两段的加速度曲线相切；后两段为减速段,后两段的加速度曲线相切；加速段和减速段之间为恒速段；根据上述五段的加速度曲线控制送布电机运行。(The invention discloses a method and a system for controlling a cloth feeding motor of a sewing machine, the sewing machine and a storage medium, wherein the method for controlling the cloth feeding motor of the sewing machine comprises the following steps: obtaining the highest speed omega of the cloth feeding motor max And maximum acceleration limit epsilon of cloth feeding motor max (ii) a According to the formula T ═ 6 ω max /ε max Calculating to obtain the movement period T of the cloth feeding motor; dividing the motion period T into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section; and controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections.)

1. A cloth feeding motor control method of a sewing machine is characterized by comprising the following steps:

obtaining the feed electricityMaximum speed omega of the machine_maxAnd a maximum acceleration limit epsilon of the cloth feeding motor_max；

According to the formula T ═ 6 ω_max/ε_maxCalculating to obtain a motion period T of the cloth feeding motor;

dividing the motion period T into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section;

and controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections.

2. The method of claim 1, wherein the maximum acceleration limit of the feed motor is ∈_maxThe obtaining method comprises the following steps:

obtaining the needle pitch d of the sewing machine₀Maximum rotational speed n of the main shaft speed of the sewing machine_{max_d0}A conversion coefficient k of the cloth feeding motor rotating angle theta corresponding to a certain distance d_d2θ，k_d2θ＝θ/d；

According to the formula ∈_max＝k_d2θ×d₀×n² _{max_d0}The maximum acceleration limit value of the cloth feeding motor is epsilon obtained by calculation of 200_max。

3. The cloth feed motor control method of a sewing machine according to claim 2, characterized in that the maximum speed ω of the cloth feed motor_maxThe obtaining method comprises the following steps:

obtaining the lowest limit value of the maximum speed of the cloth feeding motor as omega_{max_L}Given needle pitch theta of the cloth feeding motor_stepThe rotation angle theta of the cloth feeding motor corresponding to the minimum needle pitch of the sewing machine_{step_min}The rotation angle theta of the cloth feeding motor corresponding to the critical stitch length of the sewing machine_{step_th}And the maximum speed limit of the cloth feeding motor is omega_{max_limit}；

When theta is_{step_min}≤θ_step≤θ_{step_th}According to the formula

ω_max＝ω_{max_L}+k_θ2w×(θ_step-θ_{step_min}) Calculating to obtain the highest speed omega of the cloth feeding motor_max；

When theta is_step≥θ_{step_th}At the highest speed omega of the cloth-feeding motor_max＝ω_{max_limit}；

Wherein k is_θ2w＝(ω_{max_limit}-ω_{max_L})/(θ_{step_th}-θ_{step_min})。

4. The cloth feed motor control method of a sewing machine according to claim 3, characterized in that the maximum speed limit of the cloth feed motor is ω_{max_limit}The obtaining method comprises the following steps:

obtaining the highest feeding speed v of the cloth feeding frame of the sewing machine_max；

According to the formula omega_{max_limit}＝k_d2θ×v_maxCalculating to obtain the maximum speed limit value omega of the cloth feeding motor_{max_limit}。

5. The cloth feed motor control method of a sewing machine according to claim 4, characterized in that the minimum limit value of the maximum speed of the cloth feed motor is ω_{max_L}The obtaining method comprises the following steps:

obtaining the minimum speed v of the stable idle feeding of the cloth feeding frame of the sewing machine_min；

According to the formula omega_{max_L}＝k_d2θ×v_minCalculating to obtain the lowest limit value omega of the maximum speed of the cloth feeding motor_{max_L}。

6. The cloth feed motor control method of a sewing machine according to claim 5, characterized in that the constant speed section has a running time T_c＝θ_step/ω_max-T/3。

7. The cloth feeding motor control method of a sewing machine according to claim 6,

the first segment has a duration of T/6,

the curve function of the acceleration of the first segment with the time t is as follows:

the speed of the first segment as a function of time t is:

the curve function of the displacement of the first segment over time t is:

the second segment has a duration of T/6,

the curve function of the acceleration of the second segment along with the time t is as follows:

the curve function of the speed of the second segment with time t is:

the curve function of the displacement of the second segment over time t is:

the acceleration of the third section is 0;

the speed of the third section is omega_max；

The displacement of the third section is omega_max×T_c，T_cIs the duration of the third segment;

the duration of the fourth segment is T/6,

the curve function of the acceleration of the fourth segment along with the time t is as follows:

the curve function of the speed of the fourth segment with time t is:

the curve function of the displacement of the fourth segment with time t is:

the duration of the fifth segment is T/6,

the curve function of the acceleration of the fifth section along with the time t is as follows:

the curve function of the speed of the fifth segment with time t is:

the curve function of the displacement of the fifth segment with time t is:

8. a cloth feeding motor control system of a sewing machine is characterized by comprising:

an acquisition unit: for obtaining the maximum speed omega of the cloth feeding motor_maxAnd a maximum acceleration limit epsilon of the cloth feeding motor_max；

A calculation unit: for use according to the formula T-6 ω_max/ε_maxCalculating to obtain a motion period T of the cloth feeding motor;

a control unit: the motion period T is divided into five sections, the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section;

and is used for controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections.

9. A sewing machine characterized by comprising a memory in which a computer program is stored and a processor which, when calling the computer program in the memory, implements the steps of the cloth feed motor control method of a sewing machine according to any one of claims 1 to 7.

10. A storage medium having stored thereon computer-executable instructions which, when loaded and executed by a processor, carry out the steps of a method of controlling a feed motor of a sewing machine according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of sewing equipment, in particular to a cloth feeding motor control method and system of a sewing machine, the sewing machine and a storage medium.

Background

As is well known, in a sewing machine such as a computer pattern sewing machine, when the sewing machine works, a main shaft is required to move at a constant speed, and stepping motors of an X axis and a Y axis respond quickly and follow the main shaft to complete a feeding motion within a specified time. Along with the increase of the requirement of the rotating speed of the main shaft, the stepping motor is required to be started and stopped quickly and frequently in a very short time, and the phenomena of locked rotor and step loss cannot occur.

Because the cloth feeding frame of the pattern sewing machine is transmitted by the stepping motor through the synchronous belt, the stability, the flexibility and the positioning precision of the feeding motion can be ensured only by requiring reasonable speed and acceleration planning under the condition of the change of the feeding distance, the speed of the main shaft and the load.

The currently common acceleration and deceleration algorithms include a linear acceleration and deceleration algorithm, an exponential acceleration and deceleration algorithm and an S-shaped acceleration and deceleration algorithm. Although the impact caused in the starting and stopping process is reduced to a certain extent by the linear acceleration and deceleration algorithm, the speed mutation exists at the end point of the acceleration stage and the starting point of the deceleration stage, the smoothness of the speed change process of the motor is poor, the motor is out of step or locked, the positioning is not accurate, and even the problems of overshoot and the like which damage the mechanical body are caused. Exponential acceleration and deceleration algorithm the exponential acceleration and deceleration is a method for changing the sudden change of speed during starting or stopping into a smooth curve ascending or descending according to an exponential law, the exponential acceleration and deceleration algorithm solves the problem of poor smoothness during the starting period of the stepping motor, shortens the acceleration and deceleration time and improves the sensitivity, but the sudden change of speed still exists during the starting of the deceleration stage. The S-type acceleration and deceleration algorithm has the advantages of continuous change of acceleration, good stability and high motion precision, however, the speed change process has too many divided stages, more related parameters, various changes according to the length of a path section, large calculation amount of the algorithm and complex and tedious actual implementation.

Disclosure of Invention

The invention aims to provide a cloth feeding motor control method and system of a sewing machine, the sewing machine and a storage medium, which ensure the smoothness of acceleration and speed, have small calculated amount and are easy to realize.

In order to achieve the above object, the present invention provides a cloth feeding motor control method of a sewing machine, comprising:

obtaining the highest speed omega of the cloth feeding motor_maxAnd maximum acceleration limit epsilon of cloth feeding motor_max；

According to the formula T ═ 6 ω_max/ε_maxCalculating to obtain the movement period T of the cloth feeding motor;

dividing the motion period T into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section;

and controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections.

Optionally, the maximum acceleration limit of the feed motor is ε_maxThe obtaining method comprises the following steps:

obtaining the needle pitch d of a sewing machine₀Maximum rotational speed n of main shaft speed of sewing machine_{max_d0}Conversion coefficient k of cloth feeding motor rotation angle theta corresponding to certain distance d_d2θ，k_d2θ＝θ/d；

According to the formula ∈_max＝k_d2θ×d₀×n² _{max_d0}The maximum acceleration limit value of the cloth feeding motor is epsilon obtained by calculation of 200_max。

Optionally, the maximum speed ω of the feed motor_maxThe obtaining method comprises the following steps:

obtaining the lowest limit value of the maximum speed of the cloth feeding motor as omega_{max_L}Given stitch length theta of cloth feeding motor_stepAngle theta of cloth feeding motor corresponding to minimum needle pitch of sewing machine_{step_min}The angle of rotation theta of the feed motor corresponding to the critical stitch length of the sewing machine_{step_th}And the maximum speed limit of the cloth feeding motor is omega_{max_limit}；

When theta is_{step_min}≤θ_step≤θ_{step_th}According to the formula

ω_max＝ω_{max_L}+k_θ2w×(θ_step-θ_{step_min}) Calculating to obtain the highest speed omega of the cloth feeding motor_max；

When theta is_step≥θ_{step_th}At the highest speed omega of the cloth-feeding motor_max＝ω_{max_limit}；

Wherein k is_θ2w＝(ω_{max_limit}-ω_{max_L})/(θ_{step_th}-θ_{step_min})。

Optionally, the maximum speed limit of the feed motor is ω_{max_limit}The obtaining method comprises the following steps:

obtaining the highest feeding speed v of the cloth feeding frame of the sewing machine_max；

According to the formula omega_{max_limit}＝k_d2θ×v_maxCalculating to obtain the maximum speed limit value omega of the cloth feeding motor_{max_limit}。

Optionally, the lowest limit value of the maximum speed of the cloth feeding motor is ω_{max_L}The obtaining method comprises the following steps:

obtaining the minimum speed v of the steady idle feed of the feed frame of a sewing machine_min；

According to the formula omega_{max_L}＝k_d2θ×v_minThe lowest limit value of the maximum speed of the cloth feeding motor is calculated to be omega_{max_L}。

Optionally, the running time T of the constant-speed section_c＝θ_step/ω_max-T/3。

Alternatively,

the duration of the first segment is T/6,

the acceleration of the first segment as a function of time t is:

the speed of the first segment as a function of time t is:

the displacement of the first segment as a function of the time t is:

the second segment has a duration of T/6,

the acceleration over time t curve function for the second segment is:

the second segment has a velocity as a function of time t:

the second segment has a function of the displacement over time t:

the acceleration of the third section is 0;

the speed of the third stage is ω_max；

The displacement of the third section is ω_max×T_c，T_cIs the duration of the third segment;

the duration of the fourth segment is T/6,

the acceleration of the fourth segment as a function of time t is:

the velocity of the fourth segment as a function of time t is:

the displacement of the fourth segment as a function of time t is:

the duration of the fifth segment is T/6,

the acceleration of the fifth segment as a function of time t is:

the velocity of the fifth segment as a function of time t is:

the displacement of the fifth segment as a function of time t is:

the present invention also provides a cloth feeding motor control system of a sewing machine, comprising:

an acquisition unit: for obtaining the maximum speed omega of the feed motor_maxAnd maximum acceleration limit epsilon of cloth feeding motor_max；

A calculation unit: for use according to the formula T-6 ω_max/ε_maxCalculating to obtain the movement period T of the cloth feeding motor;

a control unit: the system is used for dividing the motion period T into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section;

and is used for controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections.

The invention also provides a sewing machine, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor calls the computer program in the memory to realize the steps of the cloth feeding motor control method of the sewing machine.

The invention also provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are loaded by the processor and executed to realize the steps of the cloth feeding motor control method of the sewing machine.

Compared with the background technology, the cloth feeding motor control method of the sewing machine provided by the invention divides the motion period T into five sections, namely, five sections of acceleration and deceleration intervals are adopted, and only five sections are needed while the acceleration and the speed are ensured to be smooth, so that the calculation amount is small, and the realization is easy. Meanwhile, the maximum allowable speed of a cloth feeding motor (namely a stepping motor) can be adjusted according to the cloth feeding stitch length, the performance of the cloth feeding motor can be fully exerted during high-speed sewing, the stepping cloth feeding action is advanced as much as possible, the buffering time is reserved for a synchronous belt, and good sewing stitches can be obtained during high-speed sewing.

Furthermore, the cloth feeding motor control method of the sewing machine introduces the trigonometric function, the acceleration and the jerk curve are continuous due to the characteristic of the sine function, compared with a linear and exponential acceleration and deceleration control algorithm, the impact on the system is reduced, compared with an S-shaped acceleration and deceleration algorithm, the method has the advantages that the acceleration and the speed are smoother before entering the constant speed and before stopping, the front section of starting acceleration and starting deceleration is faster, the average value of the acceleration is larger, only five sections are provided, the calculation amount is small, and the method is easy to realize.

The cloth feeding motor control system of the sewing machine, the sewing machine and the storage medium have the beneficial effects that the cloth feeding motor control system of the sewing machine, the sewing machine and the storage medium are not unfolded.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a flow chart of a cloth feeding motor control method of a sewing machine according to an embodiment of the present invention;

FIG. 2 is a block diagram of a cloth feeding motor control system of a sewing machine according to an embodiment of the present invention;

FIG. 3 is a graph showing acceleration and velocity in five stages according to the cloth feeding motor control method of the sewing machine according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The present application describes a method for controlling a cloth feeding motor of a sewing machine, as shown in the attached figure 1 of the specification, comprising:

s1, acquiring the highest speed omega of the cloth feeding motor_maxAnd maximum acceleration limit epsilon of cloth feeding motor_max；

S2, according to the formula T ═ 6 ω_max/ε_maxCalculating to obtain the movement period T of the cloth feeding motor;

s3, dividing the motion period T into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section;

and S4, controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections.

In the cloth feeding motor control method for the sewing machine described herein, the sewing machine may be a pattern machine or the like, the cloth feeding motor generally refers to a stepping motor for driving a cloth feeding frame of the pattern machine to move, as described in the background art, the cloth feeding frame of the pattern machine is conveyed by the stepping motor through a synchronous belt, and in order to optimize the movement of the cloth feeding motor (i.e., the stepping motor), the stability, flexibility and positioning accuracy of the feeding movement can be ensured only by requiring reasonable speed and acceleration planning under the conditions of the feeding distance, the spindle speed and the load change.

The cloth feeding motor control method of the sewing machine described in the document relates to the command planning (displacement and speed planning) of motor control, is an algorithm that a stepping driver analyzes according to the command (needle pitch and spindle rotating speed) sent by a spindle in order to obtain better dynamic performance, so as to 'translate' the command into an optimal command which can be identified by the stepping driver, is a very critical step in the motor control process, and then is a driving and controlling algorithm of the motor (the patent is not related).

Because the dynamic torque of the cloth feeding motor (namely the stepping motor) is reduced along with the increase of the running rotating speed of the stepping motor, and the cloth feeding motor does not have constant torque output capacity below the rated rotating speed like a servo motor, the reasonable acceleration and deceleration movement track planning can improve the dynamic performance of the stepping motor and improve and promote the stitches of the pattern sewing machine during high-speed sewing.

In the step S1, the maximum speed ω of the cloth-sending motor can be set by the upper computer_maxAnd maximum acceleration limit epsilon of cloth feeding motor_maxSo as to correspond to the maximum speed omega of the feed motor_maxAnd maximum acceleration limit epsilon of cloth feeding motor_maxAnd (6) obtaining.

In the above step S2, 6 ω is defined according to the formula T_max/ε_maxCalculating to obtain the movement period T of the cloth feeding motor; the movement period T refers to the movement time length of the cloth feeding motor which needs to be controlled.

In the step S3, the motion period T is divided into five segments, the first two segments are acceleration segments, and the acceleration curves of the first two segments are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section;

it can be seen that, for the acceleration section of the first two sections and the deceleration section of the second two sections, two tangent sinusoidal acceleration curves are respectively set, which never appears in the existing acceleration and deceleration planning method of the stepping motor.

In the step S4, the operation of the cloth feeding motor is controlled according to the acceleration curve of the five stages.

The cloth feeding motor control method of the sewing machine is arranged, for example, under the needle pitch of 3.0mm, when the speed of the main shaft is lower (such as medium-low speed sewing), acceleration and deceleration planning is directly carried out according to the needle pitch by combining the needle pitch and the maximum rotating speed limit of the cloth feeding motor (namely, a stepping motor), the cloth feeding motor always completes the driving of the cloth feeding frame in the maximum peak acceleration (namely, the peak value of the amplitude of a sine acceleration curve is the same), and as a result, the stepping is completed in a shorter time, and the cloth feeding is completed in advance.

In one embodiment, the maximum acceleration limit of the feed motor is ε_maxThe obtaining method comprises the following steps:

obtaining the needle pitch d of a sewing machine₀Maximum rotational speed n of main shaft speed of sewing machine_{max_d0}Conversion coefficient k of cloth feeding motor rotation angle theta corresponding to certain distance d_d2θ，k_d2θ＝θ/d；

According to the formula ∈_max＝k_d2θ×d₀×n² _{max_d0}The maximum acceleration limit value of the cloth feeding motor is epsilon obtained by calculation of 200_max。

Suppose that: at a typical gauge d₀(e.g., 3.0mm), the maximum rotational speed (maximum sewing speed) n of the main shaft speed of the pattern sewing machine_{max_d0}(e.g., 2800rpm), k_d2θConversion coefficient of angle theta (theta k) for stepping motor corresponding to needle pitch d_d2θX d) then e_maxCalculated as follows:

in one embodiment, the maximum speed ω of the feed motor_maxThe obtaining method comprises the following steps:

obtaining the lowest limit value of the maximum speed of the cloth feeding motor as omega_{max_L}Given stitch length theta of cloth feeding motor_stepCloth feed corresponding to minimum stitch length of sewing machineAngle of rotation theta of motor_{step_min}The angle of rotation theta of the feed motor corresponding to the critical stitch length of the sewing machine_{step_th}And the maximum speed limit of the cloth feeding motor is omega_{max_limit}；

When theta is_{step_min}≤θ_step≤θ_{step_th}According to the formula

ω_max＝ω_{max_L}+k_θ2w×(θ_step-θ_{step_min}) Calculating to obtain the highest speed omega of the cloth feeding motor_max；

When theta is_step≥θ_{step_th}At the highest speed omega of the cloth-feeding motor_max＝ω_{max_limit}；

Wherein k is_θ2w＝(ω_{max_limit}-ω_{max_L})/(θ_{step_th}-θ_{step_min})。

That is, the maximum speed ω of the cloth feeding motor is calculated according to the following equation_maxWherein k is_θ2wIs a coefficient, θ_stepA step angle command, theta, corresponding to the feed distance command_{step_th}Is the critical gauge (generally slightly larger than the standard gauge d₀) Corresponding to the angle of rotation of the feed motor, which corresponds to ω_{max_limit}；θ_{step_min}The angle of rotation of the feed motor corresponding to the minimum pitch, which corresponds to ω_{max_L}。

Wherein k is_θ2wCalculated from the following formula:

in one embodiment, the maximum speed limit of the feed motor is ω_{max_limit}The acquisition mode is as follows:

obtaining the highest feeding speed v of the cloth feeding frame of the sewing machine_max；

According to the formula omega_{max_limit}＝k_d2θ×v_maxCalculating to obtain the maximum speed limit value omega of the cloth feeding motor_{max_limit}。

The lowest limit value of the maximum speed of the cloth feeding motor is omega_{max_L}The acquisition mode is as follows:

obtaining the minimum speed v of the stable idle feeding of the cloth feeding frame of the sewing machine_min；

According to the formula omega_{max_L}＝k_d2θ×v_minCalculating to obtain the lowest limit value omega of the maximum speed of the cloth feeding motor_{max_L}。

Wherein the maximum acceleration limit value epsilon of the cloth feeding motor_maxMaximum speed limit value omega of cloth feeding motor_{max_limit}And the lowest limit value of the maximum speed of the cloth feeding motor is omega_{max_L}The three parts can be obtained by the calculation of the system through the formula, and the given needle pitch theta of the cloth feeding motor_stepThe data is sent to the system by the upper computer.

The running time of the constant-speed section may be T_c＝θ_step/ω_max-T/3。

Assuming that t is the time of entry into each curve segment (the time of the entry is 0), the function of the curves of the sections I to V is as follows, wherein all references are referred to above;

a first stage:

the end of the first segment is then:

and a second stage:

the end time of the second segment is then:

ε₂＝ε₂(t₂)＝0

a third stage:

ε₃(t)＝0

the end of the third segment is then:

ε₃＝ε₃(t₃)＝0

a fourth stage:

the end time of the fourth segment is then:

a fifth stage:

the end time of the fifth segment is then:

ε₅＝ε₅(t₅)＝0

referring to fig. 3 of the specification, the curve a at the top is an acceleration curve, the curve b at the bottom is a speed curve, both the acceleration curve and the speed curve are divided into sections i, ii, iii, iv and v starting from 0, respectively corresponding to the first to fifth sections above, and the acceleration curve and the speed curve of each section conform to the above formula.

Wherein the time interval of 0 to 1 is t₁And a time interval of 1 to 2 is t₂And a time interval of 2 to 3 is t₃And a time interval of 3 to 4 is t₄And a time interval of 4 to 5 is t₅The accelerations of the two sections I and II are two sections of tangent sine curves, and the accelerations of the two sections IV and V are two sections of tangent sine curves. The periods and amplitudes of the four acceleration sinusoidal curves are the same. And T is the period of the acceleration sinusoidal signal. Maximum acceleration limit epsilon of cloth feeding motor_maxIs the amplitude of the acceleration sinusoidal signal. The acceleration, velocity and displacement at the time k (1, 2, 3, 4, 5) are respectively ε_k、ω_kAnd theta_k. The acceleration function, the velocity function and the displacement function of the kth section are respectively epsilon_k(t)、ω_k(t) and θ_k(t)。

By adopting the cloth feeding motor control method of the sewing machine, two sections of tangential sinusoidal acceleration curves, namely four sections of sinusoidal curves, are respectively introduced into the acceleration section (the front two sections) and the deceleration section (the rear two sections), and a constant speed section is inserted between the acceleration section and the deceleration section, so that five sections are formed. The duration, period and amplitude of the four sections of sinusoidal curves are all equal.

The method has the advantages that the acceleration and the speed are smoother before the constant speed is entered and before the constant speed is stopped, the front sections of starting acceleration and starting deceleration are faster, the average value of the acceleration is larger, only five sections are provided, the calculation amount is small, and the method is easy to realize. The stepping motor is adjusted to the highest allowable speed according to the stitch length of the stepping feeding cloth, the performance of the stepping motor can be fully exerted during high-speed sewing, the stepping feeding cloth acts as early as possible, the buffering time is reserved for the synchronous belt, and then good sewing stitches are obtained during high-speed sewing.

The cloth feeding motor control system of the sewing machine provided by the embodiment of the application can be applied to the cloth feeding motor control method of the sewing machine described above, and the working principle and the operation process of the cloth feeding motor control system of the sewing machine can refer to the cloth feeding motor control method of the sewing machine described above, and the structural block diagram of the cloth feeding motor control system of the sewing machine is shown in fig. 2, and the cloth feeding motor control system of the sewing machine comprises:

the acquisition unit 101: for obtaining the maximum speed omega of the feed motor_maxAnd maximum acceleration limit epsilon of cloth feeding motor_max；

The calculation unit 102: for use according to the formula T-6 ω_max/ε_maxCalculating to obtain feed motorA movement period T;

the control unit 103: the system is used for dividing the motion period T into five sections, wherein the first two sections are acceleration sections, and acceleration curves of the first two sections are tangent; the last two segments are deceleration segments, and the acceleration curves of the last two segments are tangent; a constant-speed section is arranged between the acceleration section and the deceleration section;

and is used for controlling the operation of the cloth feeding motor according to the acceleration curves of the five sections.

The application also describes a sewing machine, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor calls the computer program in the memory to realize the steps of the cloth feeding motor control method of the sewing machine. Other parts of the sewing machine can be referred to the prior art and are not unfolded here.

The present application also describes a storage medium having stored therein computer-executable instructions that, when loaded and executed by a processor, implement the steps of the cloth feed motor control method of the sewing machine as described above.

It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

The present invention provides a method and a system for controlling a cloth feeding motor of a sewing machine, a sewing machine and a storage medium. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.