Double-winding-drum wire drawing machine master-slave shaft cross coupling control method and wire drawing machine

Abstract

The invention is suitable for the technical field of double-winding-drum wire drawing machines, and particularly relates to a double-winding-drum wire drawing machine master-slave shaft cross coupling control method and a wire drawing machine. According to the rotating speed synchronization error, the tension peak value of the wire tension and the surface roughness, obtaining a first speed correction of the main shaft and a second speed correction of the slave shaft under the condition of determining that the main shaft position is advanced; when it is determined that the main shaft is in the stable stage, a first speed correction and a second speed correction are obtained according to the linear speed synchronization error and the rolling diameter ratio; and obtaining a first speed correction and a second speed correction according to the rotation speed synchronization error, the tension valley value of the wire tension and the wire drawing time under the condition that the main shaft is determined to be in the deceleration stage. Therefore, the method provided by the invention can solve the problem of differential risk caused by position deviation of the master shaft and the slave shaft in different wire drawing stages.

Description

Technical Field

[0001] This application belongs to the technical field of dual-drum wire drawing machines, and particularly relates to a master-slave axis cross-coupling control method and a wire drawing machine for dual-drum wire drawing machines. Background Technology

[0002] The double-drum wire drawing machine is developed from the pulley-type wire drawing machine. It achieves twist-free drawing of metal wire through the coordinated work of the upper and lower drums. An intermediate guide roller is set between the upper and lower drums, which causes the steel wire to bend 180° during the winding process. This retains the advantages of wire accumulation and cooling in the pulley-type wire drawing machine, while completely eliminating the axial torsion problem of the steel wire caused by the traditional pulley structure. It is particularly suitable for the drawing production of medium and small-sized steel wires.

[0003] Existing twin-drum wire drawing machines experience significant tension fluctuations during the acceleration phase due to the combined effects of inertial and tensile forces. While the tension remains relatively stable during the steady-state phase, it remains sensitive to speed synchronization accuracy. During deceleration, the reverse inertial force can easily cause wire slack. Current technologies often employ "universal" control logic, neglecting the varying tolerances of wire to master-slave axis position deviations at different stages. During operation, the different frictional forces of the drums can lead to varying degrees of thermal deformation, further exacerbating the asynchrony between the master and slave axes. This asynchrony can easily cause tension fluctuations, rendering tension control ineffective. Therefore, existing twin-drum wire drawing machines pose a risk of differential wire condition at different drawing stages due to master-slave axis position deviations. Summary of the Invention

[0004] This application provides a master-slave axis cross-coupling control method and a wire drawing machine for a dual-drum wire drawing machine, which can solve the problem of differential risks caused by positional deviations of the master and slave axes at different wire drawing stages.

[0005] In a first aspect, embodiments of this application provide a master-slave axis cross-coupling control method for a dual-drum wire drawing machine, applied to a dual-drum wire drawing machine; the method includes: The real-time diameter, real-time position, wire characteristic parameters, master-slave shaft rotation speed, and master-slave shaft axial speed of each drum in the dual-drum wire drawing machine are obtained; wherein, the dual-drum wire drawing machine includes a lower drum located on the master shaft and an upper drum located on the slave shaft, and the wire characteristic parameters include wire tension, surface roughness, and drawing time; wherein, the master-slave shaft rotation speed includes a first real-time rotation speed of the master shaft and a second real-time rotation speed of the slave shaft, and the master-slave shaft axial speed includes a first real-time linear speed of the wire located on the lower drum and a second real-time linear speed of the wire located on the upper drum; Based on the master-slave shaft rotational speed and the master-slave shaft linear velocity, the rotational speed synchronization error, the linear velocity synchronization error, and the first acceleration are obtained; When the spindle is determined to be in the acceleration phase based on the first acceleration, a first speed correction amount for the spindle and a second speed correction amount for the slave shaft are obtained based on the rotational speed synchronization error, the peak tension of the wire tension, and the surface roughness, when the spindle position is determined to be ahead based on each of the real-time roll diameters and each of the real-time positions. When the spindle is determined to be in a stable phase based on the first acceleration, the first speed correction amount and the second speed correction amount are obtained based on the linear velocity synchronization error and the roll diameter ratio; wherein, the roll diameter ratio is the ratio of the real-time roll diameters of the master and slave spindles; When the spindle is determined to be in the deceleration phase based on the first acceleration, the first speed correction amount and the second speed correction amount are obtained based on the rotational speed synchronization error, the tension valley value of the wire tension, and the wire drawing time. The operating speed is adjusted according to the wire characteristic parameters, the first speed correction amount, and the second speed correction amount; wherein, the operating speed includes the rotational speed of each drum of the twin-drum wire drawing machine and / or the linear speed of the wire in the twin-drum wire drawing machine.

[0006] The technical solutions described in this application embodiment have at least the following technical effects: The master-slave shaft cross-coupling control method for a dual-drum wire drawing machine provided in this application acquires the real-time diameter, real-time position, wire characteristic parameters, master-slave shaft rotation speed, and master-slave shaft axial speed of each drum in the dual-drum wire drawing machine; obtains the rotation speed synchronization error, linear speed synchronization error, and first acceleration based on the master-slave shaft rotation speed and master-slave shaft axial speed; when the master shaft is determined to be in the acceleration phase based on the first acceleration, a first speed correction amount for the master shaft and a second speed correction amount for the slave shaft are obtained based on the rotation speed synchronization error, the peak tension of the wire, and the surface roughness, when the master shaft position is determined to be ahead based on each real-time drum diameter and each real-time position; when the master shaft is determined to be in the stable phase based on the first acceleration, a first speed correction amount and a second speed correction amount are obtained based on the linear speed synchronization error and the drum diameter ratio; when the master shaft is determined to be in the deceleration phase based on the first acceleration, the first speed correction amount and the second speed correction amount are obtained based on the rotation speed synchronization error, the tension valley of the wire, and the drawing time; and adjusts the operating speed based on the wire characteristic parameters, the first speed correction amount, and the second speed correction amount. Therefore, the dual-spindle wire drawing machine master-slave axis cross-coupling control method provided in this application can quickly eliminate the risk of excessive material stretching by coordinating the control of the master and slave axis speeds when the master axis position is ahead. By obtaining the roll diameter and position of the master and slave axis rolls in real time, the method can achieve dynamic synchronization of the master and slave axis positions and speeds through a speed correction strategy for different scenarios. This can solve the differential risk caused by the position deviation of the master and slave axes at different wire drawing stages. It is beneficial to improve the tension control accuracy of the dual-spindle wire drawing machine under the condition of continuous roll diameter change. It is also beneficial to solve the problems of increased wire breakage rate, product size tolerance exceeding the standard, and low production efficiency caused by the inability of traditional methods to control dual-spindle wire drawing machines in real time due to the inability to compensate for roll diameter differences and position deviations.

[0007] In one possible implementation of the first aspect, adjusting the operating speed based on the wire characteristic parameters, the first speed correction amount, and the second speed correction amount includes: The control priority of the master and slave axes is determined based on the first speed correction amount and the second speed correction amount; The correction adjustment time is obtained based on the wire characteristic parameters, the rotational speed synchronization error, and / or the linear speed synchronization error. The operating speed is adjusted according to the control priority and the correction adjustment time.

[0008] In one possible implementation of the first aspect, the step of adjusting the time based on the correction amount obtained according to the wire characteristic parameters, the rotational speed synchronization error, and / or the linear speed synchronization error includes: The correction coefficient is determined based on the wire tension, the rotational speed synchronization error, and / or the linear speed synchronization error. The basic adjustment time is determined based on the current wire drawing stage; wherein, the wire drawing stage includes an acceleration stage, a stabilization stage, and a deceleration stage; The correction adjustment time is obtained based on the correction coefficient and the basic adjustment time.

[0009] In one possible implementation of the first aspect, the method further includes: When the slave shaft position is determined to be ahead based on the real-time roll diameter and the real-time position, a third speed correction amount for the master shaft and a fourth speed correction amount for the slave shaft are determined based on the drawing stage, the master and slave shaft rotation speeds and the master and slave shaft axis speeds, and the operating speed is adjusted based on the wire characteristic parameters, the third speed correction amount and the fourth speed correction amount.

[0010] In one possible implementation of the first aspect, determining the third speed correction amount for the master shaft and the fourth speed correction amount for the slave shaft based on the wire drawing stage, the master-slave shaft rotational speed, and the master-slave shaft axis speed includes: When it is determined that the spindle is in the acceleration phase based on the first acceleration, the third speed correction amount and the fourth speed correction amount are obtained based on the first real-time rotational speed and the second real-time rotational speed. When the spindle is determined to be in the stable phase based on the first acceleration, the third speed correction and the fourth speed correction are obtained based on the first real-time linear velocity and the second real-time linear velocity.

[0011] In one possible implementation of the first aspect, the step of obtaining the third speed correction and the fourth speed correction based on the first real-time rotational speed and the second real-time rotational speed, when the spindle is determined to be in the acceleration phase based on the first acceleration, includes: When the spindle is determined to be in the acceleration phase based on the first acceleration, the slave spindle speed correction amount is obtained based on the first real-time speed, the second real-time speed and the preset master-slave spindle speed ratio, and the slave spindle speed correction amount is determined as the fourth speed correction amount. The spindle speed correction amount is obtained based on the third speed correction amount and the master-slave spindle speed ratio, and the spindle speed correction amount is determined as the third speed correction amount.

[0012] In one possible implementation of the first aspect, the step of obtaining the third speed correction and the fourth speed correction based on the first real-time linear velocity and the second real-time linear velocity, when the spindle is determined to be in the stable phase based on the first acceleration, includes: When the spindle is determined to be in the stable phase based on the first acceleration, the spindle velocity correction amount is obtained based on the first real-time linear velocity and the second real-time linear velocity. The master-slave spindle speed ratio is updated based on each of the real-time roll diameters, and the slave spindle speed correction amount is obtained based on the updated master-slave spindle speed ratio and the slave spindle speed correction amount. The fourth speed correction amount is determined from the axis speed correction amount and the axis rotation speed correction amount; The main axis speed correction is obtained from the axis speed correction and is determined as the third speed correction.

[0013] In one possible implementation of the first aspect, after obtaining the real-time diameter, real-time position, wire characteristic parameters, master-slave shaft rotation speed, and master-slave shaft speed of each spool in the dual-spool wire drawing machine, the method further includes: The phase difference is obtained based on each of the real-time positions; The phase difference threshold is determined based on the real-time roll diameters described above; If the absolute value of the phase difference is greater than the phase difference threshold, then it is determined that the spindle position of the wire drawing machine is ahead or the slave position is ahead. If the absolute value of the phase difference is less than or equal to the phase difference threshold, then the master and slave shaft positions of the wire drawing machine are synchronized.

[0014] In one possible implementation of the first aspect, the method further includes: The corresponding load torque is obtained based on the real-time roll diameter; The torque is allocated to each drum in the twin-drum wire drawing machine according to the load torque and the preset rated torque.

[0015] Secondly, embodiments of this application provide a master-slave shaft cross-coupling control device for a dual-spindle wire drawing machine, comprising: The acquisition module is used to acquire the real-time diameter, real-time position, wire characteristic parameters, master-slave shaft rotation speed, and master-slave shaft axial speed of each drum in the dual-drum wire drawing machine; wherein, the dual-drum wire drawing machine includes a lower drum located on the master shaft and an upper drum located on the slave shaft, and the wire characteristic parameters include wire tension, surface roughness, and drawing time; wherein, the master-slave shaft rotation speed includes a first real-time rotation speed of the master shaft and a second real-time rotation speed of the slave shaft, and the master-slave shaft axial speed includes a first real-time linear speed of the wire located on the lower drum and a second real-time linear speed of the wire located on the upper drum; The master-slave spindle speed module is used to obtain the rotational speed synchronization error, the linear velocity synchronization error, and the first acceleration based on the master-slave spindle rotational speed and the master-slave axis linear velocity. An acceleration phase module is used to determine, based on the first acceleration, that the spindle is in an acceleration phase, and based on the rotational speed synchronization error, the peak tension of the wire tension, and the surface roughness, to obtain a first speed correction amount for the spindle and a second speed correction amount for the slave axis when the spindle position is determined to be ahead based on each of the real-time roll diameters and each of the real-time positions. A stabilization phase module is used to obtain a first speed correction amount and a second speed correction amount based on the linear speed synchronization error and the roll diameter ratio when the spindle is determined to be in a stable phase according to the first acceleration; wherein, the roll diameter ratio is the ratio of the real-time roll diameters of the master and slave spindles; The deceleration phase module is used to obtain the first speed correction amount and the second speed correction amount based on the rotational speed synchronization error, the tension valley value of the wire tension, and the wire drawing time when it is determined that the spindle is in the deceleration phase according to the first acceleration. The adjustment module is used to adjust the operating speed according to the wire characteristic parameters, the first speed correction amount, and the second speed correction amount; wherein, the operating speed includes the rotational speed of each drum of the twin-drum wire drawing machine and / or the linear speed of the wire in the twin-drum wire drawing machine.

[0016] Thirdly, embodiments of this application provide a dual-drum wire drawing machine, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method as described in any one of the first aspects above.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the first aspects above.

[0018] Fifthly, embodiments of this application provide a computer program product that, when run on a dual-drum wire drawing machine, causes the dual-drum wire drawing machine to perform the method described in any one of the first aspects above.

[0019] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic flowchart of a master-slave axis cross-coupling control method for a dual-drum wire drawing machine provided in an embodiment of this application; Figure 2 This is a schematic diagram of the implementation process of steps S600 and S620 in the master-slave shaft cross-coupling control method for a dual-drum wire drawing machine provided in an embodiment of this application; Figure 3 This is a schematic diagram of the implementation process of steps S700, S710 and S720 in the master-slave shaft cross-coupling control method of a dual-drum wire drawing machine provided in an embodiment of this application; Figure 4 This is a schematic diagram of the implementation process of step S100 in the master-slave shaft cross-coupling control method for a dual-drum wire drawing machine provided in an embodiment of this application; Figure 5 This is an example diagram of the master-slave axis phase difference in the master-slave axis cross-coupling control method for a dual-drum wire drawing machine provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a wire drawing machine controlled by a control device of a dual-drum wire drawing machine according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the master-slave shaft cross-coupling control device for the dual-drum wire drawing machine provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the double-drum wire drawing machine provided in the embodiments of this application. Detailed Implementation

[0022] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0023] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0024] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0025] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0026] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0028] In related technologies, during the acceleration phase of a dual-drum wire drawing machine, the wire is subjected to a superposition of inertial force and tensile force, resulting in severe tension fluctuations. During the stabilization phase, the tension is relatively stable but sensitive to speed synchronization accuracy. During the deceleration phase, the inertial force acts in the opposite direction, easily causing wire slack. Existing technologies mostly employ "generalized" control logic, neglecting the differences in the tolerance of wire to master-slave axis position deviations at different stages. During operation, the different frictional forces of the drums may lead to different thermal deformations, further exacerbating the asynchrony between the master and slave axes. Furthermore, this asynchrony easily causes tension fluctuations, leading to tension control failure. Therefore, existing dual-drum wire drawing machines pose a risk of differential wire condition at different drawing stages due to master-slave axis position deviations.

[0029] To address the aforementioned problems, this application provides a master-slave axis cross-coupling control method and a wire drawing machine for a dual-drum wire drawing machine. In this method, the real-time diameter, real-time position, wire characteristic parameters, master-slave axis rotation speed, and master-slave axis linear velocity of each drum in the dual-drum wire drawing machine are acquired. Based on the master-slave axis rotation speed and master-slave axis linear velocity, a rotational speed synchronization error, a linear velocity synchronization error, and a first acceleration are obtained. When the master shaft is determined to be in an acceleration phase based on the first acceleration, a first speed correction amount for the master shaft and a second speed correction amount for the slave shaft are obtained based on the rotational speed synchronization error, the peak tension of the wire, and the surface roughness, when the master shaft position is determined to be ahead based on each real-time drum diameter and each real-time position. When the master shaft is determined to be in a stable phase based on the first acceleration, a first speed correction amount and a second speed correction amount are obtained based on the linear velocity synchronization error and the drum diameter ratio. When the master shaft is determined to be in a deceleration phase based on the first acceleration, a first speed correction amount and a second speed correction amount are obtained based on the rotational speed synchronization error, the tension valley of the wire, and the drawing time. The operating speed is adjusted based on the wire characteristic parameters, the first speed correction amount, and the second speed correction amount. Therefore, the dual-spindle wire drawing machine master-slave axis cross-coupling control method provided in this application can quickly eliminate the risk of excessive material stretching by coordinating the control of the master and slave axis speeds when the master axis position is ahead. By obtaining the roll diameter and position of the master and slave axis rolls in real time, the method can achieve dynamic synchronization of the master and slave axis positions and speeds through a speed correction strategy for different scenarios. This can solve the differential risk caused by the position deviation of the master and slave axes at different wire drawing stages. It is beneficial to improve the tension control accuracy of the dual-spindle wire drawing machine under the condition of continuous roll diameter change. It is also beneficial to solve the problems of increased wire breakage rate, product size tolerance exceeding the standard, and low production efficiency caused by the inability of traditional methods to control dual-spindle wire drawing machines in real time due to the inability to compensate for roll diameter differences and position deviations.

[0030] The master-slave axis cross-coupling control method for dual-drum wire drawing machines provided in this application embodiment can be applied to dual-drum wire drawing machines. In this case, the dual-drum wire drawing machine is the execution subject of the master-slave axis cross-coupling control method for dual-drum wire drawing machines provided in this application embodiment. This application embodiment does not impose any restrictions on the specific type of dual-drum wire drawing machine.

[0031] For example, a double-drum wire drawing machine includes a control device and a wire drawing machine, which are communicatively connected. The wire drawing machine, for example... Figure 6As shown, the control device can be a programmable logic controller (PLC), a distributed control system (DCS), an industrial personal computer (IPC), a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), a desktop computer, a laptop computer, a handheld computing device, etc., but is not limited to these.

[0032] To better understand the master-slave axis cross-coupling control method for a dual-drum wire drawing machine provided in this application embodiment, the specific implementation process of the master-slave axis cross-coupling control method for a dual-drum wire drawing machine provided in this application embodiment will be described by way of example below.

[0033] Figure 1 This paper presents a schematic flowchart of a master-slave axis cross-coupling control method for a dual-drum wire drawing machine provided in an embodiment of this application. The master-slave axis cross-coupling control method for a dual-drum wire drawing machine includes: S100: Acquire the real-time diameter, real-time position, wire characteristic parameters, master-slave shaft rotation speed, and master-slave shaft axial speed of each drum in the dual-drum wire drawing machine. The dual-drum wire drawing machine includes a lower drum located on the master shaft and an upper drum located on the slave shaft. The wire characteristic parameters include wire tension, surface roughness, and drawing time. The master-slave shaft rotation speed includes a first real-time rotation speed of the master shaft and a second real-time rotation speed of the slave shaft. The master-slave shaft axial speed includes a first real-time linear speed of the wire located on the lower drum and a second real-time linear speed of the wire located on the upper drum.

[0034] For example, laser displacement sensors (such as the Keyence LK-G series) can be installed on the lower and upper drum sides to calculate the real-time drum diameter (lower drum D1, upper drum D2) through reflected signals; an encoder (such as the Heidenhain ERN 1387) is used to measure the angular displacement of the drum, and the wire position (lower drum L1, upper drum L2) is calculated in combination with the drum diameter; rotational speed and linear speed: the master and slave shaft encoders output pulse signals, and the PLC (such as Siemens S7-1200) calculates the rotational speed (n1, n2) and linear speed (v1=πD1n1 / 60, v2=πD2n2 / 60); wire characteristic parameters: tension (T) is measured by a tension sensor (such as the Futek LTH300), surface roughness (Ra) is detected by a laser rangefinder, and the drawing time (t) is recorded by a PLC timing module.

[0035] S200, based on the master and slave shaft speeds and the master and slave shaft axial speeds, obtains the speed synchronization error, linear velocity synchronization error, and first acceleration.

[0036] For example, the speed synchronization error, linear velocity synchronization error, and first acceleration can be calculated based on the master and slave shaft speeds and the master and slave shaft axial speeds. For example, the speed synchronization error is Δn = n1 - n2; the linear velocity synchronization error is Δv = v1 - v2; and the first acceleration a1 is obtained by differentiating the speed signal by the PLC (or by using an accelerometer).

[0037] S300, when the spindle is determined to be in the acceleration phase based on the first acceleration, obtains the first speed correction amount for the spindle and the second speed correction amount for the slave shaft based on the rotational speed synchronization error, the peak tension of the wire tension, and the surface roughness, when the spindle position is determined to be ahead based on each real-time roll diameter and each real-time position.

[0038] For example, when the spindle is determined to be in the acceleration phase based on the first acceleration, and the spindle position is determined to be ahead based on each real-time roll diameter and each real-time position, a first speed correction amount for the spindle and a second speed correction amount for the slave spindle can be obtained based on the rotational speed synchronization error, the peak tension of the wire tension, and the surface roughness. For example, if L1>L2 and Δv>0, then the spindle position is determined to be ahead, and the first speed correction amount (spindle): Δv1 = K1 Δn+K2 (T_max-T)+K3 Ra; Second speed correction (from the shaft): Δv2=-Δv1×(D2 / D1), where Δn is the speed synchronization error, T is the tension, T_max is the tension peak value, Ra is the surface roughness, and K1, K2, and K3 are adjustment coefficients.

[0039] S400, after determining that the spindle is in a stable phase based on the first acceleration, obtains a first speed correction and a second speed correction based on the linear speed synchronization error and the roll diameter ratio. The roll diameter ratio is the ratio of the real-time roll diameters of the master and slave spindles.

[0040] For example, if the spindle is determined to be in a stable phase based on the first acceleration, the first speed correction and the second speed correction can be calculated based on the linear velocity synchronization error and the roll diameter ratio. For example, if the roll diameter ratio is k = D1 / D2, then the first speed correction Δv1 = K4. Δv, the second speed correction Δv2=-Δv1 / k, where Δv is the linear velocity synchronization error and K4 is the proportional coefficient.

[0041] S500, when the spindle is determined to be in the deceleration phase based on the first acceleration, obtains the first speed correction amount and the second speed correction amount based on the speed synchronization error, the tension valley of the wire tension and the wire drawing time.

[0042] For example, when the spindle is determined to be in a deceleration phase based on the first acceleration, the first speed correction and the second speed correction can be calculated based on the speed synchronization error, the tension valley of the wire tension, and the drawing time. For instance, the tension valley (T_min) can be extracted from historical drawing data, and the first speed correction Δv1 = K5 Δn+ K6 (T_min-T)+K7 t, the second speed correction Δv2=-Δv1×(D2 / D1), where Δn is the speed synchronization error, T_min is the tension valley value, t is the drawing time, K5, K6, K7 are adjustment coefficients, D1 is the real-time diameter of the lower (main shaft) drum, and D2 is the real-time diameter of the upper (slave shaft) drum.

[0043] S600 adjusts the operating speed based on wire characteristic parameters, a first speed correction, and a second speed correction. The operating speed includes the rotational speed of each drum in the twin-drum wire drawing machine and / or the linear speed of the wire in the twin-drum wire drawing machine.

[0044] For example, the operating speed can be adjusted based on wire characteristic parameters, a first speed correction, and a second speed correction. For instance, adjusting the rotational speed of each drum in a twin-drum wire drawing machine: the adjusted rotational speed of the lower drum n1_new = n1 + (Δv1 × 60 / πD1), and the adjusted rotational speed of the upper drum n2_new = n2 + (Δv2 × 60 / πD2), or directly sending an adjustment command for the linear speed to the frequency converter (such as a Danfoss VLT) based on the first speed correction (Δv1) and the second speed correction (Δv2).

[0045] In one possible implementation, please refer to Figure 2 The S600 adjusts the operating speed based on wire characteristic parameters, a first speed correction, and a second speed correction, including: S610 determines the control priority of the master and slave axes based on the first speed correction amount and the second speed correction amount.

[0046] For example, the control priority of the master and slave axes can be determined by comparing the first speed correction amount and the second speed correction amount. If |Δv1|>|Δv2| and Δv1 is in the same direction as the acceleration of the master axis (e.g., Δv1>0 during acceleration), then the master axis has a higher priority than the slave axis; otherwise, the slave axis has a higher priority. If the first and second speed correction amounts have opposite signs (e.g., Δv1>0 and Δv2<0), then the priority is determined by the larger absolute value of the first and second speed correction amounts. A dynamic weighting coefficient can be introduced: W1=|Δv1| / (|Δv1|+|Δv2|), W2=1-W1, and control resources are allocated to the master and slave axes according to their weights.

[0047] S620 adjusts the correction amount and time based on wire characteristic parameters, rotational speed synchronization error, and / or linear speed synchronization error.

[0048] For example, the correction adjustment time can be calculated based on wire characteristic parameters, rotational speed synchronization error, and / or linear speed synchronization error. For instance, the basic adjustment time is: t0 = K8 (Δn / n0+Δv / v0), where n0 and v0 are the rated values ​​of rotational speed and linear velocity, respectively, and K8 is a proportional coefficient (e.g., 0.2); Tension compensation: If T>T_avg (average tension), extend the adjustment time t1=t0. (1+K9 (T-T_avg) / T_avg), and conversely shorten it; and perform surface roughness compensation, for example, for every 0.1μm increase in Ra, the adjustment time increases by 5%, resulting in t2; the correction adjustment time t_adj=t0+t1+t2 is obtained by combining the results.

[0049] S630 adjusts the operating speed based on control priority and correction amount.

[0050] For example, if the spindle has a high priority, the spindle's operating speed (linear speed or rotational speed) can be adjusted by Δv1, while the adjustment range of the slave axis's operating speed (linear speed or rotational speed) can be limited to Δv2_limit = Δv2. (1-e^(-T_adj / τ)), where τ is a time constant (e.g., 0.5s); if the slave axis has a higher priority, the slave axis's running speed (linear velocity or rotational speed) is adjusted by Δv2, and the spindle speed is adjusted in the opposite direction: n1_new=n1-K 10 Δv2, where K 10 The coupling coefficient is 0.1. Furthermore, a first-order inertial filter can be used to smoothly adjust the running speed.

[0051] Existing technologies use fixed adjustment times, which cannot cope with parameter changes during acceleration / deceleration / stabilization phases. During synchronous correction of the master and slave axes, mismatched adjustment amplitudes can easily lead to tension loss of control. By combining dynamic priority with parameter compensation adjustment time through steps S610 to S630, control conflict issues can be resolved; optimization of dynamic priority and adjustment time helps reduce synchronization errors; and establishing independent compensation mechanisms for tension, roughness, and synchronization errors improves control robustness.

[0052] Optionally, please refer to Figure 2 S620, based on wire characteristic parameters, rotational speed synchronization error, and / or linear speed synchronization error, obtains the correction adjustment time, including: S621, determine the correction coefficient based on wire tension, rotational speed synchronization error and / or linear speed synchronization error.

[0053] For example, a correction factor can be calculated by weighting the wire tension, rotational speed synchronization error, and / or linear speed synchronization error. For instance, the correction factor K = K T (ΔT / T ref )+K n (Δn / n ref )+K v (Δv / v ref ), where T ref n ref v ref These represent the rated tension, rotational speed, and linear velocity, respectively. ΔT is the change in wire tension, Δn is the rotational speed synchronization error, and Δv is the linear velocity synchronization error. K T K n K v This is the weighting coefficient. When ΔT > 10%T ref At that time, K T Dynamically increased to 0.8 to prioritize suppressing tension fluctuations; synchronized error threshold, for example, if Δn or Δv exceeds 5% of the rated value, triggers amplification of the correction factor (e.g., K). n or K v Multiply by 1.5).

[0054] S622 determines the basic adjustment time based on the current wire drawing stage. The wire drawing stage includes an acceleration stage, a stabilization stage, and a deceleration stage.

[0055] For example, the base adjustment time can be set according to the current wire drawing stage. For instance, in the acceleration stage, the base adjustment time T... base =T0 (1+α ), where T0 is the steady-state settling time (e.g., 0.2 s) and α is the acceleration coefficient (e.g., 0.01). For the rate of change of rotational speed; steady-state phase: T base =T0; Deceleration phase: T base =T0 (1−β | ∣), where β is the deceleration coefficient (e.g., 0.008).

[0056] S623, the correction amount adjustment time is obtained based on the correction factor and the basic adjustment time.

[0057] For example, the adjustment time for the correction amount can be calculated based on the correction factor and the basic adjustment time. For instance, the adjustment time for the correction amount is T. adj The correction factor K and the basic adjustment time Tbase Nonlinear combination: T adj =T base (1+γ K 2 ), where γ is a nonlinear coefficient (e.g., 0.5).

[0058] Existing technologies use fixed adjustment times, which are insufficient to handle the combined effects of acceleration, deceleration, and sudden load changes. Through steps S621 to S623, this application integrates tension, speed, and linear velocity errors into a correction coefficient using dynamic weights, which helps solve parameter coupling problems. The nonlinear adjustment time model introduces a squared term of the correction coefficient, effectively suppressing system oscillations under high error conditions. The phased + dynamic compensation mechanism combines the adjustment time for the drawing stage and sudden load changes, improving adaptability to dynamic operating conditions.

[0059] In one possible implementation, please refer to Figure 3 The methods also include: S700, when determining the lead position of the slave shaft based on each real-time roll diameter and each real-time position, determines the third speed correction amount for the master shaft and the fourth speed correction amount for the slave shaft based on the drawing stage, the master and slave shaft rotation speeds and the master and slave shaft axis speeds, and adjusts the running speed based on the wire characteristic parameters, the third speed correction amount and the fourth speed correction amount.

[0060] For example, the roll diameters (D) of the spindle and slave shaft can be obtained in real time via an encoder or sensor. 主 D 从 ) and position signal (P 主 P 从 Based on the principle of linear velocity synchronization, the theoretical position of the slave shaft is calculated: P 从,理论 =P 主 D 主 / D 从 Compare the actual position with the theoretical position. If P 从 >P 从,理论 +δ (δ is the allowable error, such as ±1mm), then the shaft position is determined to be ahead. The wire drawing process is divided into three stages: acceleration, stabilization, and deceleration. The current stage is identified by the PLC's internal timer or sensor signal. Coefficients are assigned to the acceleration, stabilization, and deceleration stages. Acceleration stage: Basic coefficient K 基础 =0.8 (priority response speed adjustment); Stable phase: K 基础 =0.5 (balancing stability and responsiveness); deceleration phase: K 基础 =0.3 (suppressing inertial shock). Rotational speed error calculation: Δn=n 主,实际 -n 主 Initial third velocity correction ΔV 主 =K基础 K n Δn, where K n This is the rotational speed weighting coefficient (e.g., 0.2). Linear velocity error calculation: Δv = v 从,实际 -v 主,设定 D 从 / D 主 Initial fourth velocity correction: ΔV 从 =K 基础 K v Δv, where K v This is the linear velocity weighting coefficient (e.g., 0.3). The overall correction amount ΔV 总 =ΔV 主 +ΔV 从 The characteristic parameters of the wire may also include the elastic modulus E and the cross-sectional area A, with an adjustment correction amount of ΔV. 调整 =ΔV 总 (1+α σ / E), where σ is the current tension and α is the compensation coefficient (e.g., 0.1). Third speed correction V 新,主 =V 主 +ΔV 调整,主 Fourth speed correction V 新,从 =V 从 +ΔV 调整,从 .

[0061] Through the above step S700, the errors of roll diameter, position, rotation speed, and linear speed are combined into a correction amount through a weighted model, which helps to solve the parameter coupling problem; combined with the dynamic characteristics of the wire drawing process, the allocation of correction coefficients in the acceleration / stabilization / deceleration stages is optimized, which helps to improve robustness.

[0062] In one possible implementation, please refer to Figure 3 In S700, the third speed correction for the main shaft and the fourth speed correction for the slave shaft are determined based on the wire drawing stage, the main and slave shaft speeds, and the main and slave shaft axis speeds, including: S710, when the spindle is determined to be in the acceleration phase based on the first acceleration, obtains the third speed correction amount and the fourth speed correction amount based on the first real-time rotational speed and the second real-time rotational speed.

[0063] For example, if the spindle is determined to be in the acceleration phase based on the first acceleration, a third speed correction and a fourth speed correction can be calculated based on the first and second real-time rotational speeds. For instance, the spindle acceleration sensor or an internal timer of the PLC can be used to determine whether the spindle is in the acceleration phase. If the acceleration a...主 If the value is greater than 0 and continues to exceed the preset threshold, it is determined to be in the acceleration phase. Calculate the speed error: Δn = n 主,实际 -n 主,设定 , where n 主,实际 For real-time rotational speed, n 主,设定 The preset rotational speed. Third speed correction ΔV 主 =K a Δn, fourth velocity correction ΔV 从 =K a (D) 主 / D 从 ) Δn, where K a To accelerate the stage weighting coefficient (e.g., 0.3), D 主 D 从 The master and slave axis diameters.

[0064] S720, after determining that the spindle is in a stable phase based on the first acceleration, obtains the third and fourth speed corrections based on the first and second real-time linear velocities.

[0065] For example, if the spindle is determined to be in a stable phase based on the first acceleration, the third and fourth velocity corrections can be calculated based on the first and second real-time linear velocities. For instance, when the spindle acceleration a... 主 If the value is approximately 0 and remains so for more than a set time (e.g., 2 seconds), it is considered to be in a stable phase. The linear velocity error is then calculated as: Δv = v 主,实际 -v 从,实际 , where v 主,实际 v 从,实际 Real-time linear velocity of the master and slave axes. Third velocity correction ΔV. 主 =K s Δv, fourth velocity correction ΔV 从 =−K s Δv, where K s This is the weighting coefficient for the stable phase (e.g., 0.5).

[0066] Through steps S710 to S720, the acceleration phase prioritizes responding to rotational speed errors, and the stabilization phase prioritizes responding to linear velocity errors, which facilitates parameter decoupling. Real-time coil diameter compensation and dynamic adjustment of weighting coefficients help suppress the impact of sudden parameter changes on the system. Introducing a wire elasticity compensation term helps optimize the adjustment delay problem of rigid wires.

[0067] Optionally, please refer to Figure 3S710, when the spindle is determined to be in the acceleration phase based on the first acceleration, obtains a third speed correction and a fourth speed correction based on the first real-time rotational speed and the second real-time rotational speed, including: S711, when the spindle is determined to be in the acceleration phase based on the first acceleration, the slave spindle speed correction amount is obtained based on the first real-time speed, the second real-time speed and the preset master-slave spindle speed ratio, and the slave spindle speed correction amount is determined as the fourth speed correction amount.

[0068] For example, whether the spindle is in the acceleration phase can be determined by a spindle acceleration sensor or an internal timer of the PLC. If the acceleration a 主 If the value is >0 and continues to exceed the preset threshold, it is determined to be in the acceleration phase. Rotational speed error calculation: Δn 从 =n 从,实际 −(n 主,实际 R 预设 ), where n 从,实际 For the real-time rotational speed of the slave shaft, n 主,实际 Main spindle real-time speed, R 预设 Set the master-slave axis preset speed ratio (e.g., 1:1.2). Fourth speed correction ΔV 从 =K a1 Δn from, where K a1 The axis correction factor (e.g., 0.4) is used for the acceleration phase.

[0069] S712, the spindle speed correction amount is obtained based on the third speed correction amount and the master-slave spindle speed ratio, and the spindle speed correction amount is determined as the third speed correction amount.

[0070] For example, the spindle speed correction can be calculated based on the third speed correction and the master-slave spindle speed ratio, for example, ΔV. 主 =ΔV 从 / R 预设 , where ΔV 从 R is the slave axis correction amount calculated for S711. 预设 Master-slave shaft speed ratio. ΔV 主 Superimpose the current spindle speed command.

[0071] Through steps S711 to S712, the slave shaft is corrected to suppress lead, and the master shaft is corrected in the opposite direction to maintain the speed ratio, achieving bidirectional closed-loop control. The influence of roll diameter changes on the transmission ratio is automatically compensated by real-time speed ratio calculation (rather than fixed parameters). High-frequency, small-step corrections (e.g., ±2 rpm each time) avoid overshoot caused by large-step corrections. Adjusting the master and slave shaft speeds during the acceleration phase facilitates rapid synchronization of the master and slave shaft speeds.

[0072] Optionally, please refer to Figure 3S720, after determining that the spindle is in a stable phase based on the first acceleration, obtains a third and a fourth speed correction amount based on the first and second real-time linear velocities, including: S721, when the spindle is determined to be in a stable phase based on the first acceleration, the spindle speed correction amount is obtained based on the first real-time linear velocity and the second real-time linear velocity.

[0073] For example, whether the spindle is in a stable phase can be determined using a spindle acceleration sensor or an internal timer of the PLC. If the acceleration a 主 If the value is approximately 0 and consistently exceeds a preset threshold, it is considered to be in a stable phase. Calculate the linear velocity error: Δv 从 =v 从,实际 −(v 主,实际 D 从 / D 主 ), where v 从,实际 For the real-time linear velocity of the slave axis, v 主,实际 Main spindle real-time linear velocity, D 从 and D 主 These are the real-time roll diameters of the slave and master axes, respectively. Slave axis speed correction ΔV 从,线 =K v1 Δv 从 , where K v1 For the steady-state phase, a correction factor is applied to the axis velocity (e.g., 0.6).

[0074] S722 updates the master-slave spindle speed ratio based on each real-time roll diameter, and obtains the slave spindle speed correction amount based on the updated master-slave spindle speed ratio and the slave spindle speed correction amount.

[0075] For example, the real-time roll diameter D can be fed back via a laser rangefinder or encoder. 主 (t) and D 从 (t), and calculate the dynamic speed ratio: R 动态 (t)=D 主 (t) / D 从 (t), from the shaft speed correction ΔV 从,转 =ΔV 从,线 / (2π) D 从 / 60)+K r2 ⋅(R 预设 -R 动态 (t)) n 主,实际 , where K r2 n is the speed ratio correction factor (e.g., 0.3). 主,实际 The real-time speed of the main spindle.

[0076] S723 determines the fourth speed correction amount from the shaft axis speed correction amount and the shaft axis rotation speed correction amount.

[0077] For example, the correction amount ΔV from the axis velocity can be... 从,线 and speed correction ΔV 从,转 The weighted fusion yields the fourth velocity correction ΔV 从,总 =α ΔV 从,线 +(1−α) ΔV 从,转 , where α is the weighting coefficient (e.g., 0.4).

[0078] S724, the main axis speed correction is obtained from the axis speed correction, and the main axis speed correction is determined as the third speed correction.

[0079] For example, the main axis speed correction can be obtained from the axis speed correction, such as the main axis correction ΔV. 主,线 =R 动态 (t)ΔV 从,线 The third speed correction ΔV 主,线 =sat(ΔV 主,线 ,ΔV 主,max ), where ΔV 主,max The maximum permissible correction amount for the spindle (e.g., ±0.5 m / s).

[0080] Through steps S721 to S724 above, the spindle adjustment amount is derived from the slave axis correction amount, which helps to solve the problem of dynamic coupling between the master and slave axes. Real-time feedback of the winding diameter via a laser rangefinder and dynamic updates to the speed ratio help adapt to changes in winding diameter and load. Using micro-incremental correction helps avoid oscillations caused by large step corrections, improving control smoothness. Adjusting the speed of the master and slave axes during the stabilization phase helps maintain constant wire tension.

[0081] In one possible implementation, please refer to Figure 4 S100, after obtaining the real-time diameter, real-time position, wire characteristic parameters, master and slave shaft speeds, and master and slave shaft axial speeds of each drum in the dual-drum wire drawing machine, the method further includes: S101, the phase difference is obtained based on each real-time position.

[0082] For example, the spindle position θ can be acquired in real time using a master-slave axis encoder (such as an incremental encoder with a resolution of 2000 pulses / revolution). 主 (t) and from the axis position θ 从 (t), the unit is radians (rad). Phase difference Δθ(t) = θ 主 (t)−θ 从(t), where Δθ(t) is the phase difference, ranging from [−π, π]. If it exceeds the range, normalization is performed using modulo operation Δθ(t) = mod(Δθ(t) + π, 2π) − π. A first-order low-pass filter (cutoff frequency f) can be used. c Eliminating high-frequency noise (e.g., 10Hz): Δθ 滤波 (t)=α Δθ(t)+(1−α) Δθ 滤波 (t−1), where α=2πf c / f s f s The sampling frequency (e.g., 500Hz).

[0083] S102, determine the phase difference threshold based on each real-time roll diameter.

[0084] For example, the phase difference threshold is related to the roll diameter D. 主 D 从 Proportional to the elastic modulus E and tension T of the wire: Phase difference threshold = K θ [(D) 主 -D 从 ) / D 主 ] T / E, where K θ The threshold is an empirical coefficient (e.g., 1.2), E is a typical value for the wire (e.g., 200 GPa), and T is obtained in real time through a tension sensor. The threshold can be dynamically updated once to adapt to changes in coil diameter and tension: Phase difference threshold(t) = sat(phase difference threshold(t), Δθ) max ), where Δθ max This is the maximum permissible phase difference (e.g., ±0.5 rad).

[0085] S103, if the absolute value of the phase difference is greater than the phase difference threshold, then determine whether the main shaft position of the wire drawing machine is ahead or the slave shaft position is ahead.

[0086] For example, if the absolute value of the phase difference is greater than a phase difference threshold, then the position of the main shaft or the slave shaft of the wire drawing machine can be determined to be ahead based on the phase difference. For example, |Δθ 滤波 (t)∣>Δθ 阈值 (t), Δθ 滤波 If (t)>0, then the principal axis is determined to be ahead; Δθ 滤波 If (t) < 0, then the axis is determined to be ahead (the lead amount Δθ). 超前 =Δθ 滤波 (t)−sign(Δθ 滤波 (t)) Δθ 阈值 (t)).

[0087] S104, if the absolute value of the phase difference is less than or equal to the phase difference threshold, then the master and slave shaft positions of the wire drawing machine are synchronized.

[0088] For example, it could be if the absolute value of the phase difference is less than or equal to a phase difference threshold, such as... Figure 5 As shown, this determines the synchronization of the master and slave shaft positions of the wire drawing machine. For example, |Δθ 滤波 (t)∣≤Δθ 阈值 (t).

[0089] Through steps S101 to S104 above, the phase difference threshold is dynamically adjusted based on the roll diameter and tension, solving the problem of poor adaptability of traditional fixed thresholds. Synchronous detection and accurate direction recognition are achieved through a high-precision encoder and real-time calculation, improving control response speed.

[0090] In one possible implementation, please refer to Figure 4 The methods also include: S001, the corresponding load torque is obtained according to each real-time roll diameter.

[0091] For example, the current radius of the roll can be measured by a sensor (such as a laser rangefinder or encoder), or estimated by the cumulative length of the wire and the number of layers, to obtain the real-time roll diameter. For instance, if the initial roll diameter is D0 = 0.5m and the wire thickness is Δd = 0.001m, the roll diameter after winding n layers is: D n =D0+2nΔd, the drum generates a load by winding metal wire, and its load torque is determined by the product of the wire tension (T) and the drum radius (r=D / 2), the load torque τ load =T r.

[0092] S002, distributes torque to each drum in the twin-drum wire drawing machine according to the load torque and the preset rated torque.

[0093] For example, a proportional allocation algorithm can be used, based on the load torque (τ) of each drum. load,i ) and total load torque (∑τ) load,i The ratio of τ to the preset rated torque is allocated. rated ), for example, τ 分配,i =τ rated τ load,i / load,j .

[0094] By employing steps S001 to S002 above, torque is distributed as needed, avoiding single-drum overload and extending equipment life. Reducing ineffective power output helps lower energy consumption. Dynamic adjustment prevents drum slippage or wire breakage, improving system reliability.

[0095] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] Corresponding to the master-slave axis cross-coupling control method of the dual-drum wire drawing machine described in the above embodiments, this application also provides a master-slave axis cross-coupling control device for the dual-drum wire drawing machine. Each module of this device can realize each step of the master-slave axis cross-coupling control method for the dual-drum wire drawing machine. Figure 7 The diagram shows a structural block diagram of the master-slave shaft cross-coupling control device for a dual-drum wire drawing machine provided in an embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0097] Reference Figure 7 The device includes: The acquisition module is used to acquire the real-time diameter, real-time position, wire characteristic parameters, master-slave shaft rotation speed, and master-slave shaft axial speed of each drum in the dual-drum wire drawing machine; wherein, the dual-drum wire drawing machine includes a lower drum located on the master shaft and an upper drum located on the slave shaft, and the wire characteristic parameters include wire tension, surface roughness, and drawing time; wherein, the master-slave shaft rotation speed includes a first real-time rotation speed of the master shaft and a second real-time rotation speed of the slave shaft, and the master-slave shaft axial speed includes a first real-time linear speed of the wire located on the lower drum and a second real-time linear speed of the wire located on the upper drum; The master-slave spindle speed module is used to obtain the rotational speed synchronization error, the linear velocity synchronization error, and the first acceleration based on the master-slave spindle rotational speed and the master-slave axis linear velocity. An acceleration phase module is used to determine, based on the first acceleration, that the spindle is in an acceleration phase, and based on the rotational speed synchronization error, the peak tension of the wire tension, and the surface roughness, to obtain a first speed correction amount for the spindle and a second speed correction amount for the slave axis when the spindle position is determined to be ahead based on each of the real-time roll diameters and each of the real-time positions. A stabilization phase module is used to obtain a first speed correction amount and a second speed correction amount based on the linear speed synchronization error and the roll diameter ratio when the spindle is determined to be in a stable phase according to the first acceleration; wherein, the roll diameter ratio is the ratio of the real-time roll diameters of the master and slave spindles; The deceleration phase module is used to obtain the first speed correction amount and the second speed correction amount based on the rotational speed synchronization error, the tension valley value of the wire tension, and the wire drawing time when it is determined that the spindle is in the deceleration phase according to the first acceleration. The adjustment module is used to adjust the operating speed according to the wire characteristic parameters, the first speed correction amount, and the second speed correction amount; wherein, the operating speed includes the rotational speed of each drum of the twin-drum wire drawing machine and / or the linear speed of the wire in the twin-drum wire drawing machine.

[0098] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0100] This application also provides a dual-spindle wire drawing machine. Figure 8 This is a schematic diagram of the structure of a dual-spindle wire drawing machine provided in one embodiment of this application. Figure 8 As shown, the dual-spindle wire drawing machine 8 of this embodiment includes: at least one processor 80 ( Figure 8 Only one is shown in the image), at least one memory 81 ( Figure 8 (Only one is shown in the image) and a computer program 82 stored in the at least one memory 81 and executable on the at least one processor 80. When the processor 80 executes the computer program 82, it causes the dual-drum wire drawing machine 8 to perform the steps in any of the above embodiments of the dual-drum wire drawing machine master-slave axis cross-coupling control method, or causes the dual-drum wire drawing machine 8 to perform the functions of each module / unit in the above embodiments of the device.

[0101] For example, the computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 82 in the twin-drum wire drawing machine 8.

[0102] The dual-drum wire drawing machine 8 includes a control device and a wire drawing machine. The control device can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The dual-drum wire drawing machine may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will understand that... Figure 8 This is merely an example of a dual-drum wire drawing machine 8 and does not constitute a limitation on the dual-drum wire drawing machine 8. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0103] The processor 80 can be a Central Processing Unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0104] In some embodiments, the memory 81 can be an internal storage unit of the dual-drum wire drawing machine 8, such as a hard drive or memory of the dual-drum wire drawing machine 8. In other embodiments, the memory 81 can also be an external storage device of the dual-drum wire drawing machine 8, such as a plug-in hard drive, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the dual-drum wire drawing machine 8. Furthermore, the memory 81 can include both internal storage units and external storage devices of the dual-drum wire drawing machine 8. The memory 81 is used to store operating systems, applications, bootloaders, data, and other programs, such as the program code of computer programs. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0105] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0106] This application provides a computer program product that, when run on a twin-drum wire drawing machine, enables the twin-drum wire drawing machine to perform the steps in any of the above-described method embodiments.

[0107] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a dual-drum wire drawing machine, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0109] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0110] In the embodiments provided in this application, it should be understood that the disclosed dual-drum wire drawing machine and method can be implemented in other ways. For example, the dual-drum wire drawing machine embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0111] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A master-slave shaft cross-coupling control method of a double-capstan wire drawing machine, characterized by, The method is applied to a double-drum wire drawing machine, and comprises the following steps: obtaining real-time drum diameters and real-time positions of each drum in the double-drum wire drawing machine, wire characteristic parameters, main-shaft and slave-shaft rotating speeds, and main-shaft and slave-shaft linear speeds, wherein the double-drum wire drawing machine comprises a lower drum located on a main shaft and an upper drum located on a slave shaft, the wire characteristic parameters comprise wire tension, surface roughness and wire drawing duration, the main-shaft and slave-shaft rotating speeds comprise a first real-time rotating speed of the main shaft and a second real-time rotating speed of the slave shaft, and the main-shaft and slave-shaft linear speeds comprise a first real-time linear speed of the wire located on the lower drum and a second real-time linear speed of the wire located on the upper drum; obtaining rotating speed synchronization errors, linear speed synchronization errors and a first acceleration according to the main-shaft and slave-shaft rotating speeds and the main-shaft and slave-shaft linear speeds; in a case where it is determined according to the first acceleration that the main shaft is in an acceleration stage, obtaining a first speed correction amount for the main shaft and a second speed correction amount for the slave shaft according to the rotating speed synchronization errors, a tension peak value of the wire tension and the surface roughness in a case where it is determined according to the real-time drum diameters and the real-time positions that the main shaft position is ahead; in a case where it is determined according to the first acceleration that the main shaft is in a stable stage, obtaining the first speed correction amount and the second speed correction amount according to the linear speed synchronization errors and a drum diameter ratio, wherein the drum diameter ratio is a ratio of the real-time drum diameters of the main shaft and the slave shaft; in a case where it is determined according to the first acceleration that the main shaft is in a deceleration stage, obtaining the first speed correction amount and the second speed correction amount according to the rotating speed synchronization errors, a tension valley value of the wire tension and the wire drawing duration; adjusting operating speeds according to the wire characteristic parameters, the first speed correction amount and the second speed correction amount, wherein the operating speeds comprise rotating speeds of each drum of the double-drum wire drawing machine and / or linear speeds of the wire in the double-drum wire drawing machine.

2. The master-slave shaft cross-coupling control method of a twin-capstan wire drawing machine according to claim 1, characterized by, The adjusting of the operating speeds according to the wire characteristic parameters, the first speed correction amount and the second speed correction amount comprises: determining control priorities of the main shaft and the slave shaft according to the first speed correction amount and the second speed correction amount; obtaining correction amount adjustment times according to the wire characteristic parameters, the rotating speed synchronization errors and / or the linear speed synchronization errors; adjusting the operating speeds according to the control priorities and the correction amount adjustment times.

3. The master-slave shaft cross-coupling control method of a twin-capstan wire drawing machine according to claim 2, characterized by, The obtaining of the correction amount adjustment times according to the wire characteristic parameters, the rotating speed synchronization errors and / or the linear speed synchronization errors comprises: determining correction coefficients according to the wire tension, the rotating speed synchronization errors and / or the linear speed synchronization errors; determining basic adjustment times according to wire drawing stages, wherein the wire drawing stages comprise an acceleration stage, a stable stage and a deceleration stage; obtaining the correction amount adjustment times according to the correction coefficients and the basic adjustment times.

4. The master-slave shaft cross-coupling control method of a twin-capstan wire drawing machine according to claim 3, characterized by, The method further comprises: In a case where the master axis position is ahead according to the real-time roll diameters and the real-time positions, a third speed correction amount of the master axis and a fourth speed correction amount of the slave axis are determined according to the drawing stage, the master-slave axis rotation speed and the master-slave axis linear speed, and the running speed is adjusted according to the wire characteristic parameters, the third speed correction amount and the fourth speed correction amount.

5. The master-slave shaft cross-coupling control method of a twin-capstan wire drawing machine according to claim 4, characterized by, The third speed correction amount of the master axis and the fourth speed correction amount of the slave axis are determined according to the drawing stage, the master-slave axis rotation speed and the master-slave axis linear speed, and the method comprises: In a case where the master axis is in the acceleration stage according to the first acceleration, the third speed correction amount and the fourth speed correction amount are obtained according to the first real-time rotation speed and the second real-time rotation speed; In a case where the master axis is in the stable stage according to the first acceleration, the third speed correction amount and the fourth speed correction amount are obtained according to the first real-time linear speed and the second real-time linear speed.

6. The master-slave shaft cross-coupling control method of a twin-capstan wire drawing machine according to claim 5, characterized by, The third speed correction amount of the master axis and the fourth speed correction amount of the slave axis are determined according to the drawing stage, the master-slave axis rotation speed and the master-slave axis linear speed, and the method comprises: In a case where the master axis is in the acceleration stage according to the first acceleration, a slave axis rotation speed correction amount is obtained according to the first real-time rotation speed, the second real-time rotation speed and a preset master-slave axis rotation speed ratio, and the slave axis rotation speed correction amount is determined as the fourth speed correction amount; A master axis rotation speed correction amount is obtained according to the third speed correction amount and the master-slave axis rotation speed ratio, and the master axis rotation speed correction amount is determined as the third speed correction amount.

7. The master-slave shaft cross-coupling control method of a twin-capstan wire drawing machine according to claim 6, characterized by, The third speed correction amount of the master axis and the fourth speed correction amount of the slave axis are determined according to the drawing stage, the master-slave axis rotation speed and the master-slave axis linear speed, and the method comprises: In a case where the master axis is in the stable stage according to the first acceleration, a slave axis linear speed correction amount is obtained according to the first real-time linear speed and the second real-time linear speed; The master-slave axis rotation speed ratio is updated based on the real-time roll diameters, and a slave axis rotation speed correction amount is obtained according to the updated master-slave axis rotation speed ratio and the slave axis linear speed correction amount; The slave axis linear speed correction amount and the slave axis rotation speed correction amount are determined as the fourth speed correction amount; A master axis linear speed correction amount is obtained according to the slave axis linear speed correction amount, and the master axis linear speed correction amount is determined as the third speed correction amount.

8. The cross-coupled master-slave shaft control method of a twin-capstan wire drawing machine according to claim 1, characterized in that, The method further comprises: A phase difference is obtained according to the real-time positions; A phase difference threshold value is determined according to the real-time roll diameters; If the absolute value of the phase difference is greater than the phase difference threshold value, it is determined that the master axis position of the wire drawing machine is ahead or the slave axis position is ahead; If the absolute value of the phase difference is less than or equal to the phase difference threshold value, it is determined that the master-slave axis positions of the wire drawing machine are synchronous.

9. The cross-coupled master-slave shaft control method of a twin-capstan wire drawing machine according to claim 1, wherein, The method further comprises: A corresponding load torque is obtained according to the real-time roll diameters; According to each load torque and preset rated torque, each reel of the double-reel wire drawing machine is allocated a torque.

10. A twin-capstan wire drawing machine comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor, when executing the computer program, implements the method according to any one of claims 1 to 9.

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