Abstract: In order to meet the requirements of the strict motion relationship between the weft insertion mechanism and the opening mechanism of the three-dimensional tubular loom, a set of digital control adaptive weft insertion system was designed. The system drives mechanism of weft insertion motion of the shuttle, with the aid of a speed reducing mechanism based on servo motor and a synchronous and gear column driving mechanism. Encoder is used to get real-time angle, and the micro controller STM32F407 is the main control chip of the system. The adaptive control algorithm, with IATE accuracy standard and particle swarm optimization algorithm, can realize the parameter self-turning function. The system has been proved to meet the requirements of the synchronous control of the weft insertion mechanism and the opening mechanism of the three-dimensional tubular loom, and it can also satisfy the requirements of the three-dimensional tubular fabric weaving.

Key words: Particle swarm optimization algorithm, tubular loom, weft insertion, adaptive PID

摘要： 为满足立体管状织机中引纬机构和开口机构的严格运动配合关系要求，设计了一套数字化控制的自适应引纬系统。系统基于伺服电机通过减速机构，同步带轮和齿轮柱等机构驱动引纬梭子运动，利用编码器实时获得位置信号，通过微控制器STM32F407进行控制。运用自适应控制算法，以时间乘绝对误差积分准则为精度标准，引入粒子群优化算法迭代寻优，实现了系统控制参数的自整定。研制的系统经长期运行证明可保证立体管状织机引纬机构和开口机构的同步控制要求，能很好满足立体管状织造要求。

关键词: 粒子群优化算法, 管状织机, 引纬, 自适应PID