JP2006037272A - Apparatus for controlling delivery of warp in loom and method for controlling delivery of warp - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for controlling delivery of warp in which a warp delivery rate and tension of warp can stably be controlled without requiring changeover of ON/OFF of a rotation rate feedback control system of a warp feed out motor in steady operation and inching operation in a loom. <P>SOLUTION: The apparatus for controlling delivery of warp in the loom is equipped with a rate ordering part 37 for preparing an order value of a rotation rate of a delivery motor 10, based on an operation mode for delivering warp, adding the prepared order value of the rotation speed to a driving circuit system of the delivery motor 10 and ordering the rotation rate of the delivery motor 10 and a comparator 32 and a deviation counter 33 (a rotation rate feedback control part) for detecting the rotation rate of the delivery motor 10 through a rotary encoder 11 and carrying out feedback control of the rotation rate and a tension-correcting part 39 for detecting the tension of the warp and correcting the order value of the rotation rate of the delivery motor so as to make the detected tension coincide with a target value. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a warp feeding control device and a warp feeding control method for controlling a warp feeding operation in a loom.

  2. Description of the Related Art Conventionally, in a loom, weaving is performed by drawing out a warp from a warp feeding device and winding the woven fabric on a weaving take-up device. Also, in looms, steady operation that operates the loom at high speed, low-speed operation of the delivery motor intermittently little by little when adjusting the start-up of the loom, when repairing yarn breakage, and when changing the weaving structure Inching operation (also referred to as inching operation) is performed.

  In this type of loom, generally, a warp feeding motor and a woven fabric winding motor independent from the main shaft motor of the loom are used as a drive source for the warp feeding device and the woven fabric winding device. The loom is equipped with a rotation amount feedback control system that detects the rotation amount of the warp sending motor with an encoder and feedback-controls the rotation amount, and corrects the command value of this rotation amount in order to control the warp tension. Some have a tension control system. The basic rotational speeds of the warp feeding motor and the woven fabric winding motor are set in association with the driving operation of the machine base driving motor.

  The tension control system generally detects the tension acting on the warp with a tension detector arranged in association with the tension roller on which the warp is stretched, and sends the warp so that the detected tension becomes a predetermined value. When the warp tension is greater than a predetermined value, the warp feeding speed is increased, and when the warp tension is smaller than the predetermined value, the warp feeding speed is decreased. That is, the basic rotational speed of the warp feeding motor is corrected by the tension control system. (For example, see Patent Document 1)

  By the way, when performing the inching operation in the loom, there are cases where the rotation amount feedback control system is turned on and turned off. When performing the inching operation with the rotation amount feedback control system turned ON, while performing the rotation amount feedback control system, if warp tension control is required, based on the detection result of the warp tension, every predetermined cycle, There is a method of correcting the command value by adding the number of pulses for correcting the rotation amount of the feeding motor to the command value of the warp rotation amount.

On the other hand, when the inching operation is performed with the rotation amount feedback control system turned off, the tension control system generates a predetermined pulse to generate the basic speed of warp feeding in addition to the driving system of the feeding motor, and then There is a method of correcting the command value of the warp feeding speed by generating the number of pulses so that the warp tension becomes a predetermined value at predetermined intervals based on the detection result of the warp tension.
JP-A-1-104860

  However, when the inching operation is performed with the rotation amount feedback control system turned ON, since there is feedback control of the rotation amount of the warp sending motor, the number of pulses is set by the tension control system at every predetermined period to send the warp. However, if the pulse application period is disturbed at this time, the transmission of the pulses is temporarily stopped, and there is a possibility that a large fluctuation occurs in the speed command.

  Further, when the inching operation is performed with the rotation amount feedback control system turned off, there is a problem that the operability is impaired because the rotation amount feedback control system needs to be turned on when switching to the steady operation.

  Therefore, the present invention does not require ON / OFF switching of the rotation amount feedback control system of the warp feed motor in steady operation and inching operation in the loom, and can stably control the warp feed speed and the warp tension. An object of the present invention is to provide a warp feed control device and a warp feed control method for a loom that can improve the operability.

  The invention according to claim 1, which has been made to achieve the above object, includes a machine base drive motor that drives the loom as a whole, and a warp beam in which a warp is wound in association with the drive operation of the machine drive motor. A warp sending control device for controlling a warp sending operation in a loom including a sending motor for sending a warp by rotating a weft and a weaving section for weaving a woven fabric by applying a weft to the warp. Based on the operation mode for sending out the warp, a command value for the rotational speed of the delivery motor is generated, and the command value for the generated rotational speed is added to the drive circuit system of the delivery motor to rotate the rotational speed of the delivery motor. Detecting a rotation amount of the delivery motor and detecting a rotation amount feedback control unit for feedback control in order to adjust the rotation amount to a target value, and detecting a tension of the warp To match the issued tension to the target value, characterized in that it and a tension control unit for correcting the amount of rotation of the command value of the delivery motor.

  According to the warp sending control device for a loom according to claim 1, a command value for the rotational speed of the sending motor is generated based on the operation mode for sending the warp, and the command value for the generated rotating speed is sent to the sending motor. In addition to the drive circuit system, a speed command unit that commands the rotation speed of the delivery motor, a rotation amount feedback control unit that detects the rotation amount of the delivery motor, and feedback-controls the rotation amount, and detects the warp tension. In order to adjust the detected tension to the target value, a tension control unit that corrects the command value of the rotation amount of the feed motor is provided. Therefore, in steady operation and inching operation, the rotation amount feedback control system of the warp feed motor It is not necessary to switch on / off, the rotation amount feedback control system remains on, and the warp feed speed and warp tension can be stably controlled and operated. It can be improved.

  In other words, during steady operation, the basic rotation speed of the warp feeding motor is set in association with the drive operation of the machine base drive motor based on the operation mode for sending out the warp while the rotation amount feedback control system remains ON. The rotation amount feedback control unit may feedback control the rotation amount, and the tension control unit may correct the command value for the rotation amount of the delivery motor so that the warp tension matches the target value.

  In the inching operation, the rotation amount feedback control system remains ON, the basic rotation speed of the warp feeding motor is set by the speed command unit, and the rotation amount is feedback-controlled by the rotation amount feedback control unit. When warp tension control is required, the command value for the rotation amount of the delivery motor may be corrected so that the tension control unit matches the warp tension to the target value.

  According to a first aspect of the present invention, the tension control unit generates the pulse corresponding to the rotation amount of the feeding motor in a predetermined cycle. A circuit may be provided so as to correct the rotation amount of the delivery motor by the number of pulses generated by the pulse generation circuit every predetermined period.

  Further, in the warp feeding control device for a loom according to claim 1 or 2, as in the invention according to claim 3, the tension control unit includes the tension detected by the tension detecting unit of the warp. Based on the winding diameter of the warp wound around the warp winding beam, the correction amount of the command value for the rotational speed of the feed motor is calculated. Tension can be controlled.

  The warp sending control device for a loom according to any one of claims 1 to 3, wherein the speed command unit is configured to wind the warp wound around the warp winding beam as in the invention according to claim 4. Since the command value for the rotational speed of the delivery motor is calculated based on the diameter, the warp delivery speed can be accurately controlled according to the change in the winding diameter.

  Next, the invention described in claim 5 is a machine base driving motor for driving the loom as a whole, and a warp beam wound around the warp yarn associated with the driving operation of the machine base driving motor to rotate the warp. Controlling warp sending operation in a weaving machine comprising a sending motor for sending, a weaving section for weaving a woven fabric by applying weft to the warp, and a winding motor for winding the woven fabric A warp feed control method, wherein a command value for the rotational speed of the feed motor is generated based on an operation mode for feeding the warp, and the generated rotation speed command value is used as a drive circuit system for the feed motor. Speed command means for instructing the rotation speed of the delivery motor to detect the rotation amount of the delivery motor, and a rotation amount feedback control means for performing feedback control to adjust the rotation amount to a target value, To match the tension detected by detecting the tension of the warp to the target value, characterized by having a a tension control means for correcting the amount of rotation of the command value of the delivery motor.

  According to the warp feeding control method of the loom according to claim 5, as in the invention according to claim 1, in the steady operation and inching operation, the ON / OFF of the rotation amount feedback control system of the warp sending motor is performed. Thus, the warp feed speed and the warp tension can be stably controlled and the operability can be improved while the rotation amount feedback control system remains ON. In other words, during steady operation, the basic rotation speed of the warp feeding motor is set in association with the drive operation of the machine base drive motor based on the operation mode for sending out the warp while the rotation amount feedback control system remains ON. The rotation amount feedback control unit may feedback control the rotation amount, and the tension control unit may correct the command value for the rotation amount of the delivery motor so that the warp tension matches the target value. In the inching operation, the rotation amount feedback control system remains ON, the basic rotation speed of the warp feeding motor is set by the speed command unit, and the rotation amount is feedback-controlled by the rotation amount feedback control unit. The command value for the rotation amount of the feed motor may be corrected so that the tension of the warp is adjusted to the target value by the tension control unit.

  According to the warp sending control device and the warp sending control method of the loom of the present invention, the rotation amount feedback control is not required in the steady operation and the inching operation without switching the turning amount feedback control system of the warp sending motor. While the system is ON, the warp feeding speed and the warp tension can be stably controlled and the operability can be improved.

Next, an embodiment of the warp feeding control method of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory diagram for explaining the overall configuration of a loom to which a warp feeding control device according to an embodiment of the present invention is applied. FIG. 2 is a block diagram of a warp feeding control device in the loom of the embodiment. FIG. 3 is a flowchart showing a control procedure of the warp feeding operation in the warp feeding control device of the embodiment.

  As shown in FIG. 1, the loom 1 gives a warp yarn feeding portion 2 that feeds the warp yarn V as a raw material, and a weft H to a plurality of warp yarns V fed from the warp yarn feeding portion 2. A weaving section 3 for weaving, a weaving cloth collecting section 4 for winding up and collecting the weaving cloth W woven by the weaving section 3, a machine base drive motor 5 for driving the loom 1 as a whole, and a warp A tension detector 6 for detecting the tension of the warp V before weaving drawn from the yarn supplying section 2, a control device 7 for overall control of the operation of the loom 1, and various operating conditions for inputting to the control device 7 And a setting device 8.

  The warp yarn feeding section 2 has a warp sending beam 9 in which the warp V is wound around the outer peripheral surface, and a warp sending motor (hereinafter referred to as a sending motor) that sends the warp V by rotating the warp sending beam 9 about the central axis. ) 10. A rotary encoder 11 is concentrically attached to the delivery motor 10, and the rotational speed of the delivery motor 10 is detected by the rotary encoder 11. Further, the rotary shaft of the feed motor 10 is connected to the speed reducer 12, and the rotational speed is reduced to transmit the rotational motion to the rotary shaft of the warp feed beam 9.

  Further, the warp V drawn from the warp delivery beam 9 is stretched between the warp yarn feeding unit 2 and the woven fabric collection unit 4 via the tension detector 6, the tension roller 13, and the weaving unit 3 ( Note that the warp V is in the form of a woven fabric W by weaving with weft H on the downstream side of the heel 15a described later).

  Next, the weaving unit 3 includes a pair of vertical ridges 16a and 16b (also referred to as healds) on which a plurality of warps V are alternately divided and stretched, and a forward position of the ridges 16a and 16b (rightward in FIG. 1). ) Provided with a reed 15a and a reed 18 for passing the weft H through an opening 17 formed between the reeds 16a, 16b and the reed 15a. The upper and lower ridges 16a and 16b move up and down in opposite directions to form the opening 17 one by one. When the heel 18 is passed through the opening 17, the weft H led out from the heel 18 passes between the warps V. The woven fabric W is sequentially formed by weaving and wetting H by the scissors 15a so that the weft H is moved forward.

  The weaving operation of the weaving section 3 is performed by transmitting the driving rotation of the machine base drive motor 5 to the opening driving device 16 of the rods 16a and 16b and the rod driving device 15 of the rod 15a through gears and a link structure. It has come to be.

  Next, the woven fabric collection unit 4 is arranged on the downstream side of the clothing winding roller 21, the clothing winding roller 21 that rotates the woven fabric W from the weaving unit 3, the winding motor 22 that drives the clothing winding roller 21, and the clothing winding roller 21. And a woven fabric winding roller 24 provided. Further, the winding motor 22 is connected to the rotating shaft of the clothing winding roller 21 via the speed reducer 23, the rotational speed of the winding motor 22 being connected to the speed reducer 23.

  Further, the woven fabric W led out from the weaving section 3 through the heel 15 a is mounted on the woven fabric winding roller 24 after being wound around the clothing winding roller 21. The woven fabric W is taken up by rotation around the axis of the clothing winding roller 21 driven by the winding motor 22, and then wound around the woven fabric winding roller 24.

  Next, the machine base drive motor 5 operates various movable members in the loom 1 excluding the warp sending beam 9 and the clothes winding roller 21 via a gear and a link structure. , 16b up and down movement, striking movement of the scissors 15a, rotation of the woven fabric take-up roller 24, and so on are driven by the machine drive motor 5. Further, a spindle encoder 25 is concentrically attached to the machine base drive motor 5, and the rotational drive amount of the machine base drive motor 5 is detected by the spindle encoder 25.

  Next, the control device 7 will be described in detail with reference to FIG. FIG. 2 is a block diagram showing an embodiment of the control device 7. The control device 7 includes a CPU, ROM, RAM, and the like (not shown), and the CPU executes processing of each functional unit.

  The control device 7 multiplies a predetermined coefficient previously associated with the number of pulse signals input from the spindle encoder 25 and the correction value input from the winding diameter calculation unit 41 and sends the multiplied value to the calculator 31. The rotation speed of the delivery motor 10 is calculated using the multiplier 30, the multiplication value input from the multiplier 30, the command value input from the speed command unit 37, and the correction value input from the tension correction unit 39. A calculator 31 that compares the calculated value calculated by the calculator 31 with the number of pulse signals detected by the rotary encoder 11, a deviation counter 33 that counts the difference compared by the comparator 32, and a deviation counter The D / A converter 34 for associating the count value counted at 33 with the drive circuit 35 and performing D / A conversion and sending the signal to the drive circuit 35, the drive circuit 35 for driving the feed motor 10, It is equipped with a. Further, a changeover switch 36 is interposed between the rotary encoder 11 and the comparator 32 so that the changeover switch 36 can be switched ON / OFF as necessary. The function of the rotation amount feedback control unit of the present invention is expressed by the rotary encoder 11, the changeover switch 36, the comparator 32, the deviation counter 33, and the like. The function of the drive circuit system of the delivery motor of the present invention is expressed by the multiplier 30, the calculator 31, the comparator 32, the deviation counter 33, the D / A converter 34, the drive circuit 35, and the like.

  Further, the rotation of the feed motor 10 based on the operation mode of the feed motor 10 input from the setting device 8 and the winding diameter calculated by the winding diameter calculation unit 41 (the warp diameter of the warp feed beam 9). A speed command unit 37 that generates a speed command value and sends it to the computing unit 31, an input value of the tension of the warp V inputted from the setting device 8, and the tension detector 6 detects and passes through the A / D converter 40. The detected value of the tension of the warp V inputted in this way is compared, and the difference is sent to the tension correction unit 39, and the winding diameter of the warp V calculated by the winding diameter calculation unit 41 is input from the comparator 38. Based on the difference, a correction value of the tension of the warp V is calculated, and the tension correction unit 39 that sends the calculated value to the calculator 31 and the tension of the warp V detected by the tension detector 6 are A / D converted. A / D converter 40 and A sent to the comparator 38 and the winding diameter calculation unit 41 The winding diameter of the warp V is calculated based on the winding diameter input from the D converter 40 and the winding diameter storage unit 42, and the calculated value is sent to the tension correction unit 39, the multiplier 30, the speed command unit 37, and the like. A RAM 42a provided to the reel diameter storage unit 42 and a reel diameter calculation unit 41 to be sent to the EEPROM 42b, a reel diameter storage unit 42 for storing a reel diameter calculation value input from the reel diameter calculation unit 41, and the like. Yes.

  The tension correction unit 39 detects the tension acting on the warp with a tension detector arranged in association with the tension roller, and the warp sending speed so that the detected tension becomes a predetermined value set by the setting unit 8. By adjusting the tension, the tension acting on the warp is maintained at a predetermined value. The tension correction unit 39 increases the warp sending speed when the actual value of the warp tension is larger than the target value, and slows the warp sending speed when the actual value of the warp tension is smaller than the target value. Act on. The function of the tension control unit of the present invention is expressed by the tension correction unit 39, the tension detector 6, the A / D converter 40, the winding diameter calculation unit 41, the winding diameter storage unit 42, and the like.

  In addition, the winding diameter calculation unit 41 stores in advance a relational expression between the winding diameter of the warp V and the tension of the warp V, and calculates the winding diameter of the warp V based on this relational expression.

  In addition, the winding diameter storage unit 42 includes a read / write free RAM 42a that temporarily stores data in the middle of processing and an EEPROM 42b that is a non-volatile memory. The RAM 42a is activated by the control device 7 when the loom 1 is turned on. When activated, the calculated value of the winding diameter of the warp V calculated by the winding diameter calculation unit 41 is successively stored and updated, and the EEPROM 42b is stored in the EEPROM 42b every time the driving of the feed motor 10 is stopped. Winding diameter of the warp V calculated by the winding diameter calculation unit 41 when a difference of a predetermined value or more occurs between the winding diameter of the warp V and the winding diameter of the warp V calculated by the winding diameter calculation unit 41. Remember and update. This predetermined value is set to a value that does not interfere with controlling the warp feeding operation using the winding diameter of the warp V stored in the EEPROM 42b when the feeding motor 10 is re-driven after being stopped. .

  Next, the processing procedure of the warp feeding operation will be described based on the flowchart of FIG. The processing procedure is performed based on the program provided in the CPU constituting the control device 7.

  First, when the start-up power supply (main power supply) of the loom 1 is turned on, this processing procedure starts.

  Next, in S101 (S represents a step), the operation mode of the loom 1 is determined via the setting device 8. In this embodiment, a stop mode, a steady operation mode, an inching operation mode, and the like are provided as operation modes.

  In S101, in the stop mode, S101 is repeated until the steady operation mode or the inching operation mode is detected. On the other hand, in S101, in the inching operation mode, the process proceeds to S102A, where the basic rotational speed of the delivery motor 10 is calculated from the inching speed at which the warp V is stored in advance by the computing unit 31, and the process proceeds to S103.

  In S101, in the case of the steady operation mode, the process proceeds to S102, where the basic rotation speed of the delivery motor 10 is calculated by the computing unit 31 based on the multiplication value input from the multiplier 30, and the process proceeds to S103. .

  Next, in S 103, the set tension of the warp V input via the setting device 8, the detected tension of the warp V detected via the tension detector 6, and the winding diameter of the warp V calculated by the winding diameter calculation unit 41. From the above, the tension correction amount of the warp V is calculated by the tension correction unit 39, and the process proceeds to S104.

  Next, in S104, the rotational speed of the delivery motor 10 is calculated based on the basic rotational speed of the delivery motor 10 calculated in S102 or S102A and the tension correction amount calculated by the tension correction unit 39, and In S105, the rotation amount of the delivery motor 10 is calculated based on the basic rotation speed of the delivery motor 10 calculated in S102 or S102A and the tension correction amount calculated by the tension correction unit 39.

  Next, in S106, the difference between the rotation amount of the feed motor 10 calculated in S105 and the rotation amount of the feed motor 10 detected via the rotary encoder 11 is compared via the comparator 32, and the deviation counter 33 is set. A command value for the amount of rotation of the delivery motor 10 is calculated via this.

  Next, in S107, the command value for the rotation amount of the feed motor 10 calculated in S106 is D / A converted by the D / A converter 34.

  Next, in S108, the command value for the rotation amount of the delivery motor 10 D / A converted in S107 is added to the drive circuit 35, and the delivery motor 10 rotates.

  Next, the process returns to S101, and in S101, the operation mode of the loom 1 is newly determined via the setting device 8. In S101, when a command signal for the steady operation mode is input, S102 to S109 are repeated. On the other hand, if an inching operation mode command signal is input in S101, S102A to S109 are repeated. If a stop mode signal is input in S101, the present control process ends.

  Below, the operation effect of the warp sending control device and the warp sending control method of the loom of the embodiment will be described.

  According to the warp feeding control method of the loom 1 of the present embodiment, a command value for the rotational speed of the feeding motor 10 is generated based on the operation mode for feeding the warp V, and the generated command value for the rotational speed is sent. In addition to the drive circuit system of the motor 10, a speed command unit 39 that commands the rotation speed of the delivery motor 10, and a comparator 32 that detects the rotation amount of the delivery motor 10 via the rotary encoder 11 and feedback-controls the rotation amount. And a deviation counter 33 and a tension control unit 39 that corrects the command value of the rotation amount of the delivery motor 10 in order to detect the tension of the warp V and adjust the detected tension to the target value. In the inching operation, it is not necessary to switch on / off the rotation amount feedback control system of the warp feeding motor 10, and the rotation amount feedback control system remains on. In, the tension of the warp let speed and warp can improve the operability it is possible stably controlled.

  As mentioned above, although one Example of this invention was described, this invention is not limited to the said Example, It can take a various aspect.

  For example, although the winding motor 22 for winding the woven fabric W is provided in the present embodiment, the woven fabric W is wound by the driving force of the machine drive motor 5 without using the winding motor 22. May be.

It is explanatory drawing for demonstrating the whole structure of the loom to which the warp delivery control apparatus of one Example of this invention was applied. It is a block diagram of a warp feeding control device in the loom of the same embodiment. It is a flowchart showing the control procedure of the warp sending operation | movement in the warp sending control apparatus of the Example.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Weaving machine, 2 ... Warp yarn supplying part, 3 ... Weaving part, 4 ... Woven cloth collection | recovery part, 5 ... Machine drive motor, 6 ... Tension detector, 7 ... Control apparatus, 8 ... Setting device, 9 ... Warp sending Beam 10, delivery motor 11, rotary encoder 12, reduction gear 13, tension roller 15 筬 drive device 15 a 筬 16, aperture drive device 16 a, 16 b 開口 17, opening 18, 18 ２１, 21 ... Clothes winding roller, 22 ... Winding motor, 23 ... Reduction gear, 24 ... Woven cloth winding roller, 25 ... Main shaft encoder, 30 ... Multiplier, 31 ... Calculator, 32 ... Comparator, 33 ... Deviation Counter ... 34 ... D / A converter 35 ... Drive circuit 36 ... Changeover switch 37 ... Speed command part 38 ... Comparator 39 ... Tension correction part 40 ... A / D converter 41 ... Winding diameter calculation Part, 42 ... winding diameter storage part, 42a ... winding diameter storage RAM, 4 b ... winding diameter storage ROM.

Claims (5)

A machine base drive motor that drives the loom as a whole, a feed motor that rotates the warp beam wound around the warp beam in correspondence with the drive operation of the machine drive motor, and delivers the warp to the warp In a loom including a weaving unit for weaving a woven fabric, a warp feeding control device for controlling the warp feeding operation,
Based on the operation mode for sending out the warp, a command value for the rotation speed of the feed motor is generated, and the command value for the generated rotation speed is added to the drive circuit system for the feed motor to thereby set the rotation speed of the feed motor. A speed command section to command,
A rotation amount feedback control unit for detecting a rotation amount of the delivery motor and performing feedback control in order to adjust the rotation amount to a target value;
A tension control unit that corrects a command value for the rotation amount of the delivery motor in order to detect the tension of the warp and adjust the detected tension to a target value;
A warp feeding control device for a loom characterized by comprising: The tension control unit includes a pulse generation circuit associated with the rotation amount of the delivery motor in a predetermined cycle, and the tension control unit has a pulse number generated by the pulse generation circuit for each predetermined cycle. Configured to correct the amount of rotation,
The warp feeding control device for a loom according to claim 1, The tension control unit calculates a correction value for a command value for the rotational speed of the delivery motor based on the tension detected by the warp tension detector and the winding diameter of the warp wound around the warp winding beam. Configured as
The warp feeding control device for a loom according to claim 1 or 2, The speed command unit is configured to calculate a command value for the rotational speed of the feed motor based on the diameter of the warp wound around the warp winding beam.
The warp feeding control device for a loom according to any one of claims 1 to 3, wherein A machine base drive motor that drives the loom as a whole, a feed motor that rotates the warp beam wound around the warp beam in correspondence with the drive operation of the machine drive motor, and delivers the warp to the warp In a loom comprising a weaving section for weaving a woven fabric and a winding motor for winding the woven fabric, a warp sending control method for controlling a warp sending operation,
Based on the operation mode for sending out the warp, a command value for the rotation speed of the feed motor is generated, and the command value for the generated rotation speed is added to the drive circuit system of the feed motor to thereby set the rotation speed of the feed motor. Speed command means for commanding;
A rotation amount feedback control means for detecting a rotation amount of the delivery motor and performing feedback control in order to adjust the rotation amount to a target value;
Tension control means for correcting the command value of the rotation amount of the delivery motor in order to detect the tension of the warp and adjust the detected tension to a target value;
A warp feeding control method for a loom characterized by comprising:

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