Shift compensation algorithm for servo-clutch based carpet tufting machine

The needle bar transverse mechanisms are widely used in carpet tufting machine. Due to more yarn usage in loop pile forming and the yarn feeding path length change, the needle bar transverse shifting will likely form the stop mark liked gap on the carpet. Focus on this problem, through analysis the change in yarn feeding path and loop pile forming, construct the mathematical model of length change of yarn feeding in path and usage of loop pile forming while needle bar shifting. Base on the mathematical model, together with the time sequence analysis of loop forming and needle bar transverse shift, propose two compensation methods named full-period and half-period compensation. According to mathematical model calculate the additional yarn feeding requirement, dynamic control the yarn delivery mechanism to drive the yarn feed roller to delivery additional length yarn, and produce the loop pile with predefined pile height.