中文摘要：

为了提高经编针织物的质量和增加可生产的花型品种，对德国卡尔迈耶双针床经编机原已老化的单速电子送经系统进行升级改造，开发了多速电子送经系统．在研究多速电子送经原理的基础上，给出系统架构、硬件电路和基于模糊免疫一单神经元PID（FI—SNAPID）算法的软件实现方法．系统上位机采用嵌入式工控机／触摸屏，搭载MCGS组态软件，方便、直观地实现了产品设计、工艺参数的设置以及生产管理等功能．为了节约改造资金，提高性价比，在升级改造过程中保留了原系统6个经轴直流电机，重新为其开发伺服驱动器作为下位机．下位机主要基于高性能8位微处理器、智能功率模块（IPM）和FI—SNAPID算法设计实现．经实际测试运行表明，系统性能稳定，送经精度高，人机界面友好．

英文摘要：

Multi-speed electronic let-off system, as the upgrading of the aging single-speed system, was developed for Karl Mayer double needle bar warp knitting machine in order to improve the quality of warpknitted fabric and increase product variety. The implementation methods of system architecture, hardware circuit and fuzzy immune-single neuron PID（FI-SNAPID） algorithm were proposed based on the detailed research of multi-speed electronic let-off. The host computer which can realize such functions as product design, process parameter settings, production management, ete is consisted of an embedded computer/touch screen installing the MCGS configuration software. In the process of upgrading, a large number of reconstruction funds were resolved because of utilizing 6 warp beam DC motors of original system. The DC servo drivers developed for 6 warp beam DC motors are as the lower computer. The lower computers which consist of high- performance 8 bit microcontroller and intelligent power module （IPM） perform the FI-SNAPID algorithm. Practical testing operation shows that the system has good stability, high precision and friendly interface.