Power control cable core straightening construction method, medium and equipment

Abstract

The invention discloses a power control cable core straightening construction method, a medium and equipment. The method comprises the following steps: S1, collecting data; s2, optimizing a path; s3, multi-axis linkage control is carried out; s4, closed-loop feedback is carried out; according to the invention, full-dimensional real-time monitoring of the spatial attitude, strain distribution and vibration frequency of the wire core is realized through the multi-dimensional sensing array; generating a straightening track with optimal stress constraint and energy consumption based on a dynamic programming algorithm; the Jacobian matrix inverse solution is used for driving a multi-axis execution mechanism to complete high-precision self-adaptive loading; process parameters are dynamically corrected in combination with fuzzy PID control, and finally, the straightening precision of the cable core can be improved, the energy consumption is reduced, and the material damage rate is reduced; and a prediction model, fractal defect quantification, eddy current impedance detection, finite element stress analysis and a game scheduling model are further integrated to form a sensing-decision-execution-verification full-closed-loop intelligent straightening system, so that the adaptivity and reliability of the process are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of power equipment manufacturing technology, specifically to a method, medium, and equipment for straightening the core of power control cables. Background Technology

[0002] Power control cables are key components ensuring the safe and stable operation of power systems. The straightness of their conductors directly affects the cable's electrical performance, mechanical strength, and service life. Straightening, as a core process in cable manufacturing or repair, aims to eliminate bending deformation of the conductors caused by processing, transportation, or laying, ensuring that they meet stringent geometric accuracy requirements, such as bending thresholds.

[0003] Current mainstream straightening methods have significant limitations. In the sensing stage, they generally rely on a single type of sensor, such as measuring only local strain, and cannot acquire key multi-dimensional information of the wire core in real time. In the decision-making stage, straightening trajectory planning is mostly based on empirical formulas or static models, lacking a collaborative optimization algorithm that integrates material stress constraints and energy loss, which may damage materials or result in low efficiency during the straightening process. In the execution stage, the actuator has insufficient control precision and limited degrees of freedom, making it difficult to achieve multi-axis linkage pose fine-tuning based on accurate kinematic models, affecting the achievement of high precision. At the same time, closed-loop control strategies, such as traditional PID, have weak adaptive capabilities when facing nonlinear errors, lack intelligent compensation mechanisms, have lag in parameter adjustment, and have poor straightening convergence.

[0004] In the quality assurance stage, existing methods rely heavily on offline and destructive sampling inspections, failing to integrate online and non-destructive comprehensive assessment methods, resulting in incomplete defect identification, delayed quality assessment, and a lack of preventative measures. In the system scheduling stage, multi-process collaboration lacks global optimization and has not established a scheduling model that considers process returns and total resource costs, which can easily lead to equipment idleness, energy waste, or schedule conflicts, thus restricting overall efficiency.

[0005] Ultimately, this results in lower accuracy, increased energy consumption, and a higher material damage rate in existing power control cable core straightening methods, and the adaptability and reliability of the process are difficult to guarantee.

[0006] Therefore, it is essential to design construction methods, media, and equipment for straightening the cores of power control cables. Summary of the Invention

[0007] The purpose of this invention is to provide a method, medium, and equipment for straightening the core of power control cables, in order to solve the problems of low accuracy, increased energy consumption, high material damage rate, and difficulty in ensuring the adaptability and reliability of the process in straightening power control cable cores.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] Firstly, a method for straightening the core of power control cables is provided, including the following steps:

[0010] S1. Real-time acquisition of three-dimensional spatial attitude data, strain distribution and vibration frequency of cable core through multi-dimensional sensor array;

[0011] S2. Input the collected data into the path optimization model based on the dynamic programming algorithm to calculate the optimal straightening trajectory;

[0012] S3. Generate multi-axis linkage control commands for the actuator based on the trajectory, and drive the straightening device to adaptively straighten the cable core;

[0013] S4. The straightening parameters are corrected in real time through a closed-loop feedback system until the core curvature reaches the preset threshold.

[0014] As a further technical solution of the present invention, in step S1, the multidimensional sensing array includes:

[0015] Fiber optic strain sensor for detecting axial strain distribution:

[0016]

[0017] Where ΔL(x) is the axial deformation at position x, and L0 is the original length;

[0018] The machine vision module calculates contour curvature based on edge detection algorithms.

[0019]

[0020] Where θ(s) is the tangent angle corresponding to the arc length s;

[0021] Inertial measurement unit, collecting vibration frequencies:

[0022]

[0023] Among them, T 周期 The period of vibration.

[0024] As a further technical solution of the present invention, in step S2, the cable core is divided into n control nodes (i = 1, 2, ..., n), and the mathematical model of the dynamic programming algorithm is:

[0025]

[0026] Constraints:

[0027]

[0028] Where, σ 应力 (a i) represents the i-th step of the straightening action a i The resulting material stress, σ 应力 ∝k(x); w1, w2 are weighting coefficients, w1+w2=1; η 能耗 (a i ) represents the i-th step of the straightening action a i The energy loss generated, η 能耗 For the energy consumption model of the actuator; T 温度(t) ∝f, T 临界 ε is the highest temperature allowed by the material. 屈服 This represents the yield strain threshold of the material.

[0029] As a further technical solution of the present invention, in step S3, the method for generating multi-axis linkage control commands for the actuator is as follows:

[0030] U = J -1 (X 目标 -X 当前 )

[0031] Where U is the actuator control vector; J is the Jacobian matrix describing the kinematic relationship of the actuator; X 目标 X is the target pose vector; 当前 This is the current pose vector.

[0032] As a further technical solution of the present invention, in step S4, the control model of the closed-loop feedback system is as follows:

[0033]

[0034] Where e(t) = D 当前 (t)-D 目标 : Curvature error; K p K i K d For the PID controller, μ represents the proportional, integral, and derivative coefficients; μ is the fuzzy control weighting factor, 0 < μ < 1; f 模糊规则 Based on error e and error change rate The fuzzy inference output.

[0035] As a further technical solution of the present invention, in step S2, the path optimization model further includes a machine learning prediction model for predicting the straightening loading force, and the training objective function of the machine learning prediction model is:

[0036]

[0037] in, To predict the loading force; θ represents the actual loading force from historical data; θ is the model parameter vector; λ is the L2 regularization coefficient; Nsample This represents the number of machine learning samples.

[0038] As a further technical solution of the present invention, in step S2, the path optimization model further includes a fractal theory analysis model, which is used to quantitatively describe the irregular surface using fractal geometry. The fractal theory analysis model is as follows:

[0039]

[0040] Where, N box (∈) represents the number of cover boxes for surface defects of the wire core at scale ∈; D 分形 Let fractal dimension be used to characterize the complexity of defects.

[0041] As a further technical solution of the present invention, in step S2, based on the generalized form of Hooke's law of the linear elastic constitutive equation, the stress calculation formula for finite element analysis is as follows:

[0042]

[0043] Where, σ ij ε is the stress tensor component, in MPa; E is the elastic modulus of the core material, in GPa; u is Poisson's ratio; ∈ ij For the components of the strain tensor, ∈ kk The trace of the strain tensor ∈; δ ij Let Kronecker function be used.

[0044] As a further technical solution of the present invention, in step S4, an eddy current flaw detector is used to scan surface defects. Based on the electromagnetic induction law derived from Maxwell's equations, the impedance change formula for eddy current detection is:

[0045]

[0046] Where ΔZ is the impedance change of the eddy current probe; w is the excitation frequency; μ0 is the free permeability; N coil d is the number of coil turns; A is the coil area; d is the lift-off distance; δ 提离 This is the correction coefficient for the lift-off effect.

[0047] As a further technical solution of the present invention, in step S2, the path optimization model further includes a time-space game theory scheduling model, which is as follows:

[0048]

[0049] The constraints are:

[0050]

[0051] Among them, R iLet C be the reward function related to the straightening quality of the i-th process; 总 T represents the total cost of resource consumption. i P represents the execution time window for the i-th process; i (X i Let be the resource requirement vector for the i-th process.

[0052] In a second aspect, a computer-readable medium is provided having a computer program stored thereon, which, when executed by a processor, implements the power control cable core straightening construction method of the first aspect.

[0053] Thirdly, an electronic device is provided, including a processor, a memory, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the power control cable core straightening construction method of the first aspect.

[0054] Compared with existing technologies, the advantages of this method, medium, and equipment for straightening the cores of power control cables are:

[0055] A multi-dimensional sensor array enables real-time monitoring of the cable core's spatial attitude, strain distribution, and vibration frequency. A dynamic programming algorithm generates a straightening trajectory with optimal stress constraints and energy consumption. The inverse Jacobian matrix is ​​used to drive a multi-axis actuator to achieve high-precision adaptive loading. Combined with fuzzy PID control to dynamically correct process parameters, the straightening accuracy of the cable core is improved, energy consumption is reduced, and material damage rate is decreased.

[0056] Further integration of prediction models, fractal defect quantification, eddy current impedance detection, finite element stress analysis, and game-theoretic scheduling models forms a fully closed-loop intelligent straightening system encompassing perception, decision-making, execution, and verification, significantly improving process adaptability and reliability. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the method flow of the present invention. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Please see the appendix Figure 1 The present invention provides an embodiment of a method for straightening the core of a power control cable, comprising the following steps:

[0060] S1. Real-time acquisition of three-dimensional spatial attitude data, strain distribution and vibration frequency of cable core through multi-dimensional sensor array;

[0061] The multidimensional sensing array includes:

[0062] Fiber optic strain sensor for detecting axial strain distribution:

[0063]

[0064] Where ΔL(x) is the axial deformation at position x, and L0 is the original length;

[0065] The machine vision module calculates contour curvature based on edge detection algorithms.

[0066]

[0067] Where θ(s) is the tangent angle corresponding to the arc length s;

[0068] Inertial measurement unit, collecting vibration frequencies:

[0069]

[0070] Among them, T 周期 The period of vibration;

[0071] S2. Input the collected data into the path optimization model based on the dynamic programming algorithm to calculate the optimal straightening trajectory;

[0072] Dividing the cable core into n control nodes (i = 1, 2, ..., n), the mathematical model of the dynamic programming algorithm is as follows:

[0073]

[0074] Constraints:

[0075]

[0076] Where, σ 应力 (a i ) represents the i-th step of the straightening action a i The resulting material stress, σ 应力 ∝k(x); w1, w2 are weighting coefficients, w1+w2=1; η 能耗 (a i ) represents the i-th step of the straightening action a i The energy loss generated, η 能耗 For the energy consumption model of the actuator; T 温度(t) ∝f, T 临界 ε is the highest temperature allowed by the material. 屈服 The yield strain threshold of the material;

[0077] The path optimization model also includes a machine learning prediction model to predict the straightening loading force. The training objective function of the machine learning prediction model is:

[0078]

[0079] in, To predict the loading force; θ represents the actual loading force from historical data; θ is the model parameter vector; λ is the L2 regularization coefficient; N sample The number of machine learning samples;

[0080] The path optimization model also includes a fractal theory analysis model, which is used to quantitatively describe irregular surfaces using fractal geometry. Its fractal theory analysis model is as follows:

[0081]

[0082] Where, N box (∈) represents the number of cover boxes for surface defects of the wire core at scale ∈; D 分形 Let fractal dimension be used to characterize the complexity of the defect;

[0083] Based on the generalized form of Hooke's law from the linear elastic constitutive equation, the stress calculation formula for finite element analysis is as follows:

[0084]

[0085] Where, σ ij ε is the stress tensor component, in MPa; E is the elastic modulus of the core material, in GPa; u is Poisson's ratio; ∈ ij For the components of the strain tensor, ∈ kk The trace of the strain tensor ∈; δ ij The Kronecker function;

[0086] The path optimization model also includes a time-space game theory scheduling model, which is as follows:

[0087]

[0088] The constraints are:

[0089]

[0090] Among them, R i Let C be the reward function related to the straightening quality of the i-th process; 总 T represents the total cost of resource consumption. i P represents the execution time window for the i-th process; i (X i () represents the resource requirement vector for the i-th process;

[0091] S3. Generate multi-axis linkage control commands for the actuator based on the trajectory, and drive the straightening device to perform adaptive straightening of the cable core;

[0092] The method for generating multi-axis linkage control commands for actuators is as follows:

[0093] U = J -1 (X 目标 -X 当前 )

[0094] Where U is the actuator control vector; J is the Jacobian matrix describing the kinematic relationship of the actuator; X 目标 X is the target pose vector; 当前 This is the current pose vector;

[0095] S4. The straightening parameters are corrected in real time through a closed-loop feedback system until the core curvature reaches the preset threshold.

[0096] The control model of the closed-loop feedback system is:

[0097]

[0098] Where e(t) = D 当前 (t)-D 目标 : Curvature error; K p K i K d For the PID controller, μ represents the proportional, integral, and derivative coefficients; μ is the fuzzy control weighting factor, 0 < μ < 1; f 模糊规则 Based on error e and error change rate fuzzy inference output;

[0099] When using an eddy current flaw detector to scan surface defects, based on the law of electromagnetic induction derived from Maxwell's equations, the formula for the impedance change in eddy current testing is:

[0100]

[0101] Where ΔZ is the impedance change of the eddy current probe; w is the excitation frequency; μ0 is the free permeability; N coil d is the number of coil turns; A is the coil area; d is the lift-off distance; δ 提离 This is the correction coefficient for the lift-off effect.

[0102] One embodiment of the present invention provides: a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements a method for straightening the core of a power control cable;

[0103] One embodiment of the present invention provides an electronic device, including a processor, a memory, and a computer program stored in the memory. When the computer program is executed by the processor, it implements a method for straightening the core of a power control cable.

[0104] In summary, the power control cable core straightening construction method, medium, and equipment provided by this invention achieve real-time monitoring of the core's spatial attitude, strain distribution, and vibration frequency in all dimensions through a multi-dimensional sensor array; generate a straightening trajectory with optimal stress constraints and energy consumption based on a dynamic programming algorithm; drive a multi-axis actuator to complete high-precision adaptive loading using the inverse solution of the Jacobian matrix; and dynamically correct process parameters using fuzzy PID control, ultimately improving the cable core straightening accuracy, reducing energy consumption, and decreasing material damage rate.

[0105] Further integration of prediction models, fractal defect quantification, eddy current impedance detection, finite element stress analysis, and game-theoretic scheduling models forms a fully closed-loop intelligent straightening system encompassing perception, decision-making, execution, and verification, significantly improving process adaptability and reliability.

[0106] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for straightening the core of a power control cable, characterized in that: Includes the following steps: S1. Real-time acquisition of three-dimensional spatial attitude data, strain distribution and vibration frequency of cable core through multi-dimensional sensor array; S2. Input the collected data into the path optimization model based on the dynamic programming algorithm to calculate the optimal straightening trajectory; S3. Generate multi-axis linkage control commands for the actuator based on the trajectory, and drive the straightening device to adaptively straighten the cable core; S4. The straightening parameters are corrected in real time through a closed-loop feedback system until the core curvature reaches the preset threshold.

2. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S1, the multidimensional sensing array includes: Fiber optic strain sensor for detecting axial strain distribution: Where ΔL(x) is the axial deformation at position x, and L0 is the original length; The machine vision module calculates contour curvature based on edge detection algorithms. Where θ(s) is the tangent angle corresponding to the arc length s; Inertial measurement unit, collecting vibration frequencies: Among them, T 周期 The period of vibration.

3. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S2, the cable core is divided into n control nodes (i = 1, 2, ..., n). The mathematical model of the dynamic programming algorithm is as follows: Constraints: Where, σ 应力 (a i ) represents the i-th step of the straightening action a i The resulting material stress, w1 and w2 are weighting coefficients, w1 + w2 = 1; η 能耗 (a i ) represents the i-th step of the straightening action a i The energy loss generated, η 能耗 For the energy consumption model of the actuator; T 临界 ε is the highest temperature allowed by the material. 屈服 This represents the yield strain threshold of the material.

4. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S3, the method for generating multi-axis linkage control commands for the actuator is as follows: U=J -1 (X 目标 -X 当前 ) Where U is the actuator control vector; J is the Jacobian matrix describing the kinematic relationship of the actuator; X 目标 X is the target pose vector; 当前 This is the current pose vector.

5. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S4, the control model of the closed-loop feedback system is as follows: Where e(t) = D 当前 (t)-D 目标 : Curvature error; K p K i K d For the PID controller, μ represents the proportional, integral, and derivative coefficients; μ is the fuzzy control weighting factor, 0 < μ < 1; f 模糊规则 Based on error e and error change rate The fuzzy inference output.

6. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S2, the path optimization model also includes a machine learning prediction model for predicting the straightening loading force. The training objective function of the machine learning prediction model is: in, To predict the loading force; θ represents the actual loading force from historical data; θ is the model parameter vector; λ is the L2 regularization coefficient; N sample This represents the number of machine learning samples.

7. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S2, the path optimization model also includes a fractal theory analysis model, which is used to quantitatively describe irregular surfaces using fractal geometry. The fractal theory analysis model is as follows: Where, N box (∈) represents the number of cover boxes for surface defects of the wire core at scale ∈; D 分形 Let fractal dimension be used to characterize the complexity of defects.

8. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S2, based on the generalized form of Hooke's law of the linear elastic constitutive equation, the stress calculation formula for finite element analysis is as follows: Where, σ ij ε is the stress tensor component, in MPa; E is the elastic modulus of the core material, in GPa; u is Poisson's ratio; ∈ ij For the components of the strain tensor, ∈ kk The trace of the strain tensor ∈; δ ij Let Kronecker function be used.

9. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S4, an eddy current flaw detector is used to scan surface defects. Based on the electromagnetic induction law derived from Maxwell's equations, the impedance change formula for eddy current detection is: Where ΔZ is the impedance change of the eddy current probe; w is the excitation frequency; μ0 is the free permeability; N coil d is the number of coil turns; A is the coil area; d is the lift-off distance; δ 提离 This is the correction coefficient for the lift-off effect.

10. The method for straightening the core of a power control cable according to claim 1, characterized in that: In step S2, the path optimization model also includes a time-space game theory scheduling model, which is as follows: The constraints are: Among them, R i Let C be the reward function related to the straightening quality of the i-th process; 总 T represents the total cost of resource consumption. i P represents the execution time window for the i-th process; i (X i Let be the resource requirement vector for the i-th process.

11. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the power control cable core straightening construction method as described in any one of claims 1-10.

12. An electronic device comprising a processor, a memory, and a computer program stored in the memory, characterized in that, When the computer program is executed by the processor, it implements the power control cable core straightening construction method as described in any one of claims 1-10.

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