Deceleration time determination method and device, electronic equipment and program product

Abstract

The invention provides a deceleration time determination method and device, electronic equipment and a program product. The method for adjusting the deceleration time comprises the following steps: determining a processing period; brake energy generated in the current processing period is determined; and determining the speed reduction time of the motor based on the braking energy generated in the current processing period and the current rated power of the braking resistor.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and in particular to a method, apparatus, electronic device and program product for determining deceleration time. Background Technology

[0002] During deceleration or braking, the motor converts the kinetic energy of the load into electrical energy, which is then fed back to the inverter's DC bus as regenerative energy. If this regenerative energy is not consumed or fed back to the grid in a timely and effective manner, the DC bus voltage will continuously rise. Once the voltage exceeds the safety threshold set by the drive or system, the inverter will trigger overvoltage fault protection, leading to an emergency shutdown of the equipment. This can even damage the drive, motor, and other electrical components, severely impacting production continuity, equipment reliability, and potentially causing material losses. For example, in various industrial applications such as coil processing, centrifugal separation, and the start-up and shutdown of large fans, a drive system malfunctioning due to an overvoltage fault can directly lead to production interruptions and material scrapping.

[0003] In solutions that utilize braking resistors to dissipate regenerative energy, the following two traditional strategies are mainly employed in existing technologies to effectively address the overvoltage problem caused by regenerative energy:

[0004] 1. Set a longer fixed deceleration time. This reduces the instantaneous power of regenerative energy feedback by extending the deceleration process. While this strategy can avoid overvoltage to some extent, it often comes at the cost of reduced production efficiency, extending the entire production cycle. Its limitations are particularly pronounced in industrial applications requiring frequent start-stop cycles, rapid response, or strict production pace.

[0005] 2. Configure a high-power braking resistor or braking unit. Increasing the rated capacity of the braking resistor or using a more powerful braking unit ensures sufficient consumption of regenerative energy. While this effectively avoids overvoltage faults, it significantly increases the initial investment cost of the equipment, occupies valuable installation space, and requires additional cooling measures due to the large amount of heat generated. Summary of the Invention

[0006] In view of this, this application provides a method for adaptively adjusting deceleration time, which can dynamically adjust the deceleration time based on the regenerative energy generated during deceleration without increasing any hardware costs. This maximizes production efficiency and optimizes energy management while ensuring the safe and stable operation of the drive system (avoiding overvoltage).

[0007] In a first aspect, this application provides a method for adjusting deceleration time, comprising the following steps:

[0008] Determine the processing cycle;

[0009] Determine the braking energy ΔE generated in the current processing cycle. current ;

[0010] Braking energy ΔE generated in the current processing cycle current The motor deceleration time is determined by the current rated power of the braking resistor.

[0011] Optionally, the braking energy ΔE generated in the current processing cycle current The total braking energy E in the current processing cycle b,k Total braking energy E of the previous cycle b,k-1 The difference, where the total braking energy of the processing cycle is the total braking energy accumulated from the start of the deceleration process to the corresponding processing cycle.

[0012] Optionally, the total braking energy for each processing cycle is obtained based on a first method, which includes the following steps:

[0013] Get the current total moment of inertia J sum_current ;

[0014] Get the starting speed n of the motor during the current deceleration process. initial And the current speed n of the motor during the current deceleration process. current ;

[0015] Based on the current total moment of inertia J sum_current The starting speed n of the motor during the current deceleration process initial And the current speed n of the motor during the current deceleration process. current The total braking energy E of the current processing cycle is obtained. current .

[0016] Optionally, obtain the current total moment of inertia J. sum_current The steps are further implemented as follows:

[0017] Obtain the moment of inertia J of the motor mot ;

[0018] Get the current moment of inertia J of the load load_current ;

[0019] According to the motor's moment of inertia J mot and the current rotational inertia J of the load load_current The current total moment of inertia J is obtained. sum_current .

[0020] Optionally, the method is used in scenarios where the continuous change in the diameter of the load causes a dynamic change in the load's inertia, to obtain the current rotational inertia J of the load. load_current The steps are further implemented as follows:

[0021] Get the current outer diameter R of the loadcurrent ;

[0022] Based on the current outer diameter R of the load current The current moment of inertia J of the load is obtained. load_current .

[0023] Optionally, based on the braking energy ΔE generated in the current processing cycle current The step of determining the motor deceleration time based on the current rated power of the braking resistor is further implemented as follows:

[0024] Braking energy ΔE generated in the current processing cycle current And the length of the processing cycle, to obtain the braking power of the current processing cycle;

[0025] The current rated power threshold of the braking resistor is determined based on the current rated power of the braking resistor, wherein the current rated power threshold of the braking resistor is less than the current rated power of the braking resistor.

[0026] The braking power of the current processing cycle is compared with the current rated power threshold of the braking resistor; when the braking power of the current processing cycle is greater than or equal to the current rated power threshold of the braking resistor, the deceleration time is increased according to the braking power of the current processing cycle; otherwise, the current deceleration time remains unchanged.

[0027] Optionally, determining the current rated power threshold of the braking resistor based on its current rated power, wherein the step of determining the current rated power threshold of the braking resistor to be less than its current rated power is further implemented as follows:

[0028] The current rated power threshold of the braking resistor is determined based on the current rated power of the braking resistor, wherein the current rated power threshold of the braking resistor is equal to the product of the current rated power of the braking resistor and a preset coefficient k, and the preset coefficient k is less than 1.

[0029] Secondly, this application provides a deceleration time adjustment device, comprising:

[0030] The first determining unit is used to determine the processing cycle.

[0031] The second determining unit is used to determine the braking energy ΔE generated in the current processing cycle. current ;

[0032] Time adjustment unit: It is used to adjust the braking energy ΔE generated based on the current processing cycle. current The motor deceleration time is determined by the current rated power of the braking resistor.

[0033] Thirdly, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0034] The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the deceleration time adjustment method described in any of the first aspects.

[0035] Fourthly, this application provides a computer program product including computer instructions that instruct a computing device to perform the deceleration time adjustment method described in any of the first aspects.

[0036] As can be seen from the above technical solutions, the adaptive deceleration time adjustment scheme provided by this application dynamically adjusts the deceleration time by real-time monitoring of the regenerative energy generated during the deceleration process, thereby maximizing production efficiency and optimizing energy management while ensuring the safe and stable operation of the drive system (avoiding overvoltage). Attached Figure Description

[0037] Figure 1 A flowchart illustrating a method for adjusting deceleration time, which is an exemplary embodiment of this application.

[0038] Figure 2 A flowchart of a first method as an exemplary embodiment of this application.

[0039] Figure 3 This is a power handling capacity curve of a braking resistor under different power durations.

[0040] List of reference numerals in the attached diagram:

[0041] P DB The power level that the braking resistor can withstand continuously and stably for a long time.

[0042] P 20 The periodic short-time overload capacity of the braking resistor.

[0043] P3: The rated power curve that the braking resistor can withstand in application scenarios where regenerative energy is gradually reduced. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0045] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and features can be combined with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit the invention.

[0046] During deceleration or braking, the motor converts the kinetic energy of the load into electrical energy, which is then fed back to the inverter's DC bus as regenerative energy. If this regenerative energy is not consumed or fed back to the grid in a timely and effective manner, the DC bus voltage will continuously rise. Once the voltage exceeds the safety threshold set by the drive or system, the inverter will trigger overvoltage fault protection, leading to an emergency shutdown of the equipment. This can even damage the drive, motor, and other electrical components, severely impacting production continuity, equipment reliability, and potentially causing material losses. For example, in various industrial applications such as coil processing, centrifugal separation, and the start-up and shutdown of large fans, a drive system malfunctioning due to an overvoltage fault can directly lead to production interruptions and material scrapping.

[0047] In solutions that utilize braking resistors to dissipate regenerative energy, the following two traditional strategies are mainly employed in existing technologies to effectively address the overvoltage problem caused by regenerative energy:

[0048] 1. Set a longer fixed deceleration time. This reduces the instantaneous power of regenerative energy feedback by extending the deceleration process. While this strategy can avoid overvoltage to some extent, it often comes at the cost of reduced production efficiency, extending the entire production cycle. Its limitations are particularly pronounced in industrial applications requiring frequent start-stop cycles, rapid response, or strict production pace.

[0049] 2. Configure a high-power braking resistor or braking unit. This ensures sufficient consumption of regenerative energy by increasing the rated capacity of the braking resistor or using a more powerful braking unit. While this effectively prevents overvoltage failures, it significantly increases equipment cost, occupies valuable installation space, and requires additional cooling measures due to the large amount of heat generated.

[0050] In view of this, this application provides a scheme for adaptively adjusting deceleration time based on braking energy, which can dynamically adjust the deceleration time according to the regenerative energy generated during deceleration without increasing any hardware costs. This maximizes production efficiency and optimizes energy management while ensuring the safe and stable operation of the drive system (avoiding overvoltage).

[0051] The specific implementation of each embodiment of this application will be described in detail below with reference to the accompanying drawings.

[0052] Example 1

[0053] Example 1 provides a method for adjusting deceleration time, such as... Figure 1 As shown, it includes the following steps:

[0054] S101: Determine the processing cycle.

[0055] The processing cycle is the smallest unit of time for the system to calculate braking energy and adjust deceleration time, typically in the millisecond range. It can be understood that the processing cycle is executed continuously.

[0056] S103: Determine the braking energy ΔE generated in the current processing cycle. current .

[0057] The braking energy generated in the current processing cycle is precisely quantified as the energy released during deceleration and fed back to the DC bus within the current processing cycle. It is a direct reflection of the system's real-time braking load.

[0058] In some implementations, the braking energy ΔE generated in the current processing cycle current The total braking energy E in the current processing cycle b,k Total braking energy E of the previous cycle b,k-1 The difference, where the total braking energy of the processing cycle is the total braking energy accumulated from the start of the deceleration process to the corresponding processing cycle.

[0059] S105: Braking energy ΔE generated based on the current processing cycle current The motor deceleration time is determined by the current rated power of the braking resistor.

[0060] The current rated power of the braking resistor is used to characterize the maximum power that the braking resistor can safely dissipate under current operating conditions (e.g., taking into account factors such as temperature and operating time), and it is directly related to the upper limit of regenerative energy that the system can safely withstand.

[0061] This application utilizes the braking energy ΔE generated during the current processing cycle. currentThe deceleration time of the motor is dynamically adjusted based on the current rated power of the braking resistor. When the braking energy generated in the current processing cycle reaches or exceeds the system's maximum safe tolerance capacity as represented by the current rated power of the braking resistor, the deceleration time is proactively increased to avoid overvoltage faults caused by excessive DC bus voltage. This extends the kinetic energy release process to reduce the energy power fed back per unit time, thereby ensuring equipment and personnel safety. Conversely, when the braking energy generated in the current processing cycle is lower than the system's maximum safe tolerance capacity, the current deceleration time remains unchanged to avoid unnecessary extension of the deceleration process and maximize production efficiency and process cycle time. This real-time dynamic adjustment mechanism, while ensuring the safe and stable operation of the drive system (avoiding overvoltage), achieves intelligent management of the deceleration process and maximizes production efficiency, avoiding efficiency losses caused by overly conservative fixed deceleration time settings or faults caused by overly aggressive ones.

[0062] Existing technologies typically avoid overvoltage risks by monitoring DC bus voltage spikes. This is essentially a passive response mechanism, triggering intervention only when the DC bus voltage reaches a dangerous threshold. This can lead to the system already being on the verge of overvoltage, causing instantaneous shocks and cumulative damage to hardware. This application employs a proactive prevention strategy. By continuously monitoring the braking energy generated in each processing cycle and combining this with the system's maximum safe tolerance capacity represented by the current rated power of the braking resistor, predictive and smooth deceleration time adjustments are made before overvoltage risks materialize. This energy management-based mechanism fundamentally avoids voltage spikes, significantly improving system safety and component lifespan. Furthermore, through more refined energy management, this method maximizes production efficiency while ensuring safety, avoiding unnecessary deceleration time extensions or overly conservative settings, thus achieving an optimal balance between safety and efficiency.

[0063] By periodically executing the method described in this application, real-time monitoring of the deceleration process is achieved, and the deceleration time is dynamically adjusted based on this real-time data, thereby significantly improving the safety (effectively avoiding overpressure failures), stability (ensuring a smooth deceleration process), and overall efficiency of equipment operation (optimizing deceleration time as needed to maintain production cycle time).

[0064] In some implementations, the total braking energy for each processing cycle is obtained based on a first method, such as... Figure 2 As shown, the first method S200 includes the following steps:

[0065] S201: Obtain the current total moment of inertia J sum_current .

[0066] Total moment of inertia is a physical quantity that measures the ability of a rotating system to resist changes in its rotational state. It is equal to the sum of the moments of inertia of all components that participate in rotation and contribute to the system's kinetic energy. In a motor-driven system, the total moment of inertia is equal to the sum of the motor's own moment of inertia and the moment of inertia of the driven load. However, the total moment of inertia is not constant but varies with operating conditions. This variation can be understood to primarily stem from the dynamic characteristics of the load's moment of inertia, such as switching between different types of loads, changing tooling fixtures, and dynamic changes in load inertia during production (e.g., dynamic changes in the load diameter during winding and unwinding). Furthermore, the motor's own moment of inertia may also change under abnormal conditions such as extreme wear, severe physical damage, or the addition of accessories.

[0067] In applications where the load inertia does not change continuously, since the load inertia connected to the drive system remains relatively fixed or its changes are negligible during equipment operation, the drive's rotational inertia identification function can be used to accurately obtain the current total rotational inertia J. sum_current .

[0068] In applications where the load inertia changes continuously, such as the dynamic change in the winding diameter in a winding machine, the load's rotational inertia changes dynamically with the production process. Using a fixed inertia value would lead to inaccurate braking energy calculations, affecting the effectiveness of deceleration time adjustments and potentially causing overvoltage or system inefficiency. To address this issue, this embodiment obtains the total rotational inertia in real time to ensure control accuracy. In such applications where the load inertia changes continuously, step S101 further includes:

[0069] S2011: Obtain the motor's moment of inertia J mot .

[0070] The moment of inertia of a motor refers to the inertia of its rotating parts. It can be obtained by consulting the motor's technical manual or by using the driver's automatic identification function under no-load conditions. mot .

[0071] S2013: Obtain the current rotational inertia J of the load. load_current .

[0072] The current moment of inertia of the load refers to the moment of inertia of the mechanical load driven by the motor at the current moment. It can be calculated in real time by measuring the physical parameters related to the load inertia and combining them with the known load characteristics.

[0073] S2015: Based on the motor's moment of inertia J mot and the current rotational inertia J of the load load_current The current total moment of inertia J is obtained. sum_current The current total moment of inertia J sum_current =Jmot +J load_current .

[0074] Through real-time calculation, the system can obtain the precise total moment of inertia at the current moment, thus providing accurate input for subsequent braking energy calculation and deceleration time adjustment, ensuring efficient and safe operation even under conditions of dynamic changes in load inertia.

[0075] S203: Obtain the starting speed n of the motor during the current deceleration process. initial And the current speed n of the motor during the current deceleration process. current .

[0076] The starting speed n of the motor during the current deceleration process initial It refers to the motor speed at the instant the system receives the deceleration command or enters the deceleration phase, and is the benchmark for calculating the amount of kinetic energy released.

[0077] S205: Based on the current total moment of inertia J sum_current The starting speed n of the motor during the current deceleration process initial And the current speed n of the motor during the current deceleration process. current The total braking energy E of the current processing cycle is obtained. current .

[0078] As mentioned above, the total braking energy of the current processing cycle is the total braking energy accumulated from the start of the deceleration process to the current moment.

[0079] Specifically, the total braking energy E of the current processing cycle can be obtained based on Formula 1-1. current .

[0080]

[0081] In formula 1-1, E current Used to characterize the total braking energy of the current processing cycle; J sum_current Used to characterize the current total moment of inertia, n initial The starting speed of the motor used to characterize the current deceleration process, n current The current speed of the motor is used to characterize the current deceleration process, where the unit of speed is revolutions per minute (rpm).

[0082] In some implementations, step S105 is further implemented as follows:

[0083] S1051: Braking energy ΔE generated based on the current processing cycle current And the length of the processing cycle, to obtain the braking power of the current processing cycle, that is, the braking power of the current processing cycle is equal to the braking energy ΔE generated in the current processing cycle. current Divide by the length of the processing cycle.

[0084] S1053: Determine the current rated power threshold of the braking resistor based on the current rated power of the braking resistor, wherein the current rated power threshold of the braking resistor is less than the current rated power of the braking resistor.

[0085] In some embodiments, step S1053 is further implemented as: determining the current rated power threshold of the braking resistor based on the current rated power of the braking resistor, wherein the current rated power threshold of the braking resistor is equal to the product of the current rated power of the braking resistor and a preset coefficient k, and the preset coefficient k is less than 1.

[0086] In this embodiment, by multiplying by a coefficient k less than 1, a threshold lower than the current rated power can be obtained.

[0087] In some implementations, the coefficient k is between 0.6 and 0.85, thus balancing system response speed and potential overvoltage risk. Under the premise of ensuring equipment safety (avoiding overvoltage through timely response), production efficiency is optimized to the maximum extent and unnecessary deceleration time is avoided.

[0088] S1055: Compare the braking power of the current processing cycle with the current rated power threshold of the braking resistor; when the braking power of the current processing cycle is greater than or equal to the current rated power threshold of the braking resistor, increase the deceleration time according to the braking power of the current processing cycle; otherwise, keep the current deceleration time unchanged.

[0089] To ensure safe system operation and provide sufficient response time, this implementation determines the current rated power threshold of the braking resistor based on its current rated power. This threshold serves as a warning line, providing a necessary safety margin. Subsequently, the system compares the braking power of the current processing cycle, calculated in real time, with this threshold: when the braking power of the current processing cycle is greater than or equal to this threshold, it indicates that the regenerative energy generated by the system has reached the warning level, posing an overvoltage risk. In this case, the system will increase the deceleration time based on the braking power of the current processing cycle, reducing the power fed back per unit time by extending the energy release time, thereby effectively controlling the DC bus voltage and avoiding overvoltage faults. Conversely, if the braking power of the current processing cycle is less than this threshold, it indicates that the current regenerative energy is within a safe range, and no adjustment to the deceleration time is required, thus helping to maintain production efficiency and avoiding unnecessary extension of deceleration time.

[0090] In some implementations, the step of increasing the deceleration time based on the braking power of the current processing cycle is further implemented as follows:

[0091] The current power deviation is obtained based on the braking power of the current processing cycle and the current rated power threshold of the braking resistor;

[0092] Based on the current power deviation, the increase in deceleration time is obtained, and the recalculated deceleration time is equal to the sum of the original deceleration time and the increase in deceleration time.

[0093] In this embodiment, the current power deviation is obtained by calculating the difference between the braking power of the current processing cycle and the current rated power threshold of the braking resistor. This deviation reflects the degree to which the current regenerative energy exceeds the safety threshold. Based on the current power deviation, the required increase in deceleration time is calculated using a preset control gain or functional relationship. Then, the calculated increase in deceleration time is added to the original deceleration time to obtain a new deceleration time. This new deceleration time is adopted by the driver and applied to subsequent deceleration processes. This gradual adjustment ensures the smoothness and stability of the control, effectively avoiding abrupt deceleration changes.

[0094] In some implementations, step S104 is included before step S105:

[0095] S1041: Obtain the start time of the braking resistor during the current deceleration process;

[0096] S1043: Determine the current operating duration of the braking resistor, wherein the current operating duration is the difference between the current moment and the moment when the braking resistor begins to operate during the current deceleration process;

[0097] S1045: Determine the current rated power of the braking resistor based on its current operating time and power handling capacity curve.

[0098] Figure 3 An illustrative example is shown: the power handling capacity curves of the same braking resistor under different power durations, reflecting the maximum permissible power of the braking resistor in different operating modes. Specifically:

[0099] P DB This indicates the power level that the braking resistor can withstand continuously and stably for a long period of time.

[0100] P 20 This indicates that within a 90-second cycle, the braking resistor can be energized at a higher rated power for 20 seconds, which is a periodic short-term overload capability.

[0101] P3 specifically refers to the rated power curve that the braking resistor can withstand in application scenarios where regenerative energy gradually decreases. This curve is characterized by a high initial power, but the power gradually decreases over time to accommodate the natural decay of regenerative power during motor deceleration.

[0102] In this embodiment, the power handling capacity curve of the braking resistor that best suits the current operating conditions is determined based on the specific characteristics and time distribution of regenerative energy in practical applications. For example, for the winding assembly of a slitting machine, since the braking power continuously decreases as the speed decreases during deceleration, the P3 curve is used as the power handling capacity curve of the braking resistor. Subsequently, based on the current operating time of the braking resistor, the rated power of the braking resistor at the current moment is accurately determined from the selected P3 curve.

[0103] In some implementations, the processing cycle is between 8ms and 12ms.

[0104] If the processing cycle is too long, the system's response to changes in operating conditions will be delayed, potentially leading to insufficient adjustment of the deceleration time. This could result in excessively high DC bus voltage, triggering an overvoltage fault and impacting equipment reliability and production continuity. Conversely, if the processing cycle is too short, while theoretically increasing the response speed, it may exceed the system's processing capacity or the minimum response time of the physical process. This could cause the control system to detect energy over-limits again and issue new adjustment commands before the physical system has fully responded to the previous adjustment command, resulting in unnecessary and frequent increases in deceleration time, or even over-adjustment. This not only increases the burden on the control system but may also cause oscillations or instability, ultimately reducing control stability. To address this issue, this implementation sets the processing cycle between 8ms and 12ms, thus balancing timely response to changes in operating conditions with avoiding system instability caused by excessively frequent adjustments.

[0105] In application scenarios where the load inertia changes dynamically due to the continuous change in load diameter, step S1013 is further implemented as follows:

[0106] S1013A: Get the current outer diameter of the load.

[0107] Changes in the diameter of the load affect its moment of inertia. In some implementations, the current diameter of the load can be measured in real time using a non-contact sensor.

[0108] S1013B: Based on the current outer diameter of the load, the current moment of inertia J of the load is obtained according to formula 1-2. load_current .

[0109]

[0110] In formula 1-2, R current The outer radius of the load is used to characterize the load; this value changes in real time and directly affects the load inertia. ρ characterizes the load density, W characterizes the load width, and R... inner The inner radius of the load is used to characterize these three values, which are constant during deceleration and can be preset by the user or the host computer.

[0111] In this embodiment, based on the inertia characteristics of the load, the rotational inertia, which is difficult to detect directly, is calculated in real time using a detectable physical quantity, thereby achieving real-time and accurate acquisition of the dynamically changing rotational inertia of the load.

[0112] Example 2

[0113] To illustrate the application of this invention in scenarios with dynamic changes in load inertia more specifically, this embodiment will use a film slitting machine as an example.

[0114] The main function of a film slitting machine is to cut a large roll (unwinding section) into two or more smaller rolls (winding section). In this equipment, each winding drum is controlled by an independent driver and motor, and all drivers are connected to a host computer. During operation, the film length on each winding drum gradually increases, leading to a continuous increase in its roll diameter and thus a dynamic change in the load's moment of inertia. More challenging is the fact that the width of the wound film may vary, meaning that the moments of inertia of each winding load do not change synchronously but are different. Therefore, during deceleration, the external braking resistor of each driver will consume different amounts of regenerative energy. When the winding diameter reaches a large extent and the stopping time is short, the braking resistor may not be able to effectively consume all the regenerative energy, causing the DC bus voltage of the driver to continuously rise, leading to driver overvoltage failure, motor malfunction, and ultimately potentially material scrap and equipment damage.

[0115] Using the method of this application, the overpressure and related problems caused by the dynamic and varying inertia of multiple winding loads in a film slitting machine can be effectively solved.

[0116] In this embodiment, the method for adjusting the deceleration time is specifically implemented as follows:

[0117] S501: Select the winding unit with the largest roll width among all winding units as the target equipment;

[0118] S503: Determine the deceleration time of the target device based on the various embodiments in Example 1. For details, please refer to the descriptions in the aforementioned embodiments of the deceleration time adjustment method, which will not be repeated here.

[0119] S505: The deceleration time of the target device is determined as the deceleration time of each winding unit.

[0120] In this embodiment, by determining the deceleration time of the winding unit with the largest roll width as the deceleration time of each winding unit, the complexity of independently calculating and adjusting the deceleration time for each winding unit is avoided, greatly simplifying the control strategy.

[0121] Example 3

[0122] Example 3 provides a deceleration time adjustment device, which includes a first determining unit, a second determining unit, and a time adjustment unit. The first determining unit is used to determine the processing cycle; the second determining unit is used to determine the braking energy ΔE generated in the current processing cycle. current The time adjustment unit is used to adjust the braking energy ΔE generated in the current processing cycle. current The motor deceleration time is determined by the current rated power of the braking resistor.

[0123] In some embodiments, the second determining unit includes a first acquisition module, a second acquisition module, and a calculation module. The first acquisition module is used to acquire the current total moment of inertia J. sum_current The second acquisition module is used to acquire the starting speed n of the motor during the current deceleration process. initial And the current speed n of the motor during the current deceleration process. current The calculation module is used to calculate the current total moment of inertia J. sum_current The starting speed n of the motor during the current deceleration process initial And the current speed n of the motor during the current deceleration process. current The total braking energy E of the current processing cycle is obtained. current .

[0124] In some implementations, the first acquisition module is configured to perform the following steps:

[0125] S2011: Obtain the motor's moment of inertia J mot ;

[0126] S2013: Obtain the current rotational inertia J of the load. load_current ;

[0127] S2015: Based on the motor's moment of inertia J mot and the current rotational inertia J of the load load_current The current total moment of inertia J is obtained. sum_current The current total moment of inertia J sum_current =J mot +J load_current .

[0128] In some implementations, the time adjustment unit includes a power module, a threshold module, and an adjustment module. The power module is used to adjust the braking energy ΔE generated in the current processing cycle. current And the length of the processing cycle, to obtain the braking power of the current processing cycle, that is, the braking power of the current processing cycle is equal to the braking energy ΔE generated in the current processing cycle. currentDivide by the length of the processing cycle. The threshold module is used to determine the current rated power threshold of the braking resistor based on its current rated power, wherein the current rated power threshold is less than the current rated power of the braking resistor. The adjustment module is used to compare the braking power of the current processing cycle with the current rated power threshold of the braking resistor; when the braking power of the current processing cycle is greater than or equal to the current rated power threshold of the braking resistor, the deceleration time is increased according to the braking power of the current processing cycle; otherwise, the current deceleration time remains unchanged.

[0129] In some embodiments, the deceleration time adjustment device further includes a current rated power determination unit for the braking resistor, which includes a start-of-operation time module, an operating duration module, and a current rated power module. The start-of-operation time module acquires the start-of-operation time of the braking resistor during the current deceleration process; the operating duration module determines the current operating duration of the braking resistor, which is the difference between the current time and the start-of-operation time of the braking resistor during the current deceleration process; the current rated power module determines the current rated power of the braking resistor based on the current operating duration of the braking resistor and the power handling capacity curve of the braking resistor.

[0130] It should be noted that the information interaction and execution process between the modules in the aforementioned deceleration time adjustment device are based on the same concept as the aforementioned electronic cam curve determination method embodiments. For details, please refer to the description in the aforementioned electronic cam curve determination method embodiments, and will not be repeated here.

[0131] Example 4

[0132] Example 4 provides an electronic device. The specific embodiments of this application do not limit the specific implementation of the electronic device. The electronic device provided in this application includes: a processor, a communications interface, memory, and a bus. Wherein:

[0133] The processor, communication interface, and memory communicate with each other via a bus.

[0134] A communication interface is used to communicate with other electronic devices or servers.

[0135] The processor is used to execute programs, specifically the relevant steps in the above-described method embodiment for determining deceleration time.

[0136] Specifically, the program may include program code, which includes computer operation instructions.

[0137] The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0138] Memory is used to store programs. Memory may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive.

[0139] Specifically, the program can be used to cause the processor to execute the deceleration time determination method in any of the foregoing embodiments.

[0140] The specific implementation of each step in the program can be found in the corresponding steps and units described in the above-described method embodiment for determining deceleration time, and will not be repeated here. Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0141] Example 5

[0142] Example 5 also provides a computer program product, including computer instructions that instruct a computing device to perform any corresponding operation in the above-described method embodiments.

[0143] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0144] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0145] It should be noted that not all steps and modules in the above processes and system structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0146] In this patent application, nouns and pronouns relating to people are not limited to specific genders.

[0147] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.

[0148] The present invention has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present invention can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present invention.

Claims

1. A method for adjusting deceleration time, characterized in that, Includes the following steps: Determine the processing cycle; Determine the braking energy ΔE generated in the current processing cycle. current ; Braking energy ΔE generated in the current processing cycle current The motor deceleration time is determined by the current rated power of the braking resistor.

2. The method for determining deceleration time as described in claim 1, characterized in that, The braking energy ΔE generated in the current processing cycle current The total braking energy E in the current processing cycle b,k Total braking energy E of the previous cycle b,k-1 The difference, where the total braking energy of the processing cycle is the total braking energy accumulated from the start of the deceleration process to the corresponding processing cycle.

3. The method for determining deceleration time as described in claim 2, characterized in that, The total braking energy for each processing cycle is obtained based on a first method, which includes the following steps: Get the current total moment of inertia J sum_current ; Obtain the starting speed n of the motor during the current deceleration process. initial And the current speed n of the motor during the current deceleration process. current ; Based on the current total moment of inertia J sum_current The starting speed n of the motor during the current deceleration process initial And the current speed n of the motor during the current deceleration process. current The total braking energy E of the current processing cycle is obtained. current .

4. The method for adjusting deceleration time as described in claim 3, characterized in that, Get the current total moment of inertia J sum_current The steps are further implemented as follows: Obtain the moment of inertia J of the motor mot ; Get the current moment of inertia J of the load load_current ; According to the motor's moment of inertia J mot and the current rotational inertia J of the load load_current The current total moment of inertia J is obtained. sum_current .

5. The method for adjusting deceleration time as described in claim 4, characterized in that, The method is used in scenarios where the continuous change in the diameter of the load causes a dynamic change in the load's inertia, to obtain the current rotational inertia J of the load. load_current The steps are further implemented as follows: Get the current outer diameter R of the load current ; Based on the current outer diameter R of the load current The current moment of inertia J of the load is obtained. load_current .

6. The method for adjusting the deceleration time as described in any one of claims 1-5, characterized in that, Braking energy ΔE generated in the current processing cycle current The step of determining the motor deceleration time based on the current rated power of the braking resistor is further implemented as follows: Braking energy ΔE generated in the current processing cycle current And the length of the processing cycle, to obtain the braking power of the current processing cycle; The current rated power threshold of the braking resistor is determined based on the current rated power of the braking resistor, wherein the current rated power threshold of the braking resistor is less than the current rated power of the braking resistor. The braking power of the current processing cycle is compared with the current rated power threshold of the braking resistor; when the braking power of the current processing cycle is greater than or equal to the current rated power threshold of the braking resistor, the deceleration time is increased according to the braking power of the current processing cycle. Otherwise, keep the current deceleration time unchanged.

7. The method for adjusting deceleration time as described in claim 6, characterized in that, Determining the current rated power threshold of the braking resistor based on its current rated power, wherein the step of determining the current rated power threshold of the braking resistor being less than its current rated power is further implemented as follows: The current rated power threshold of the braking resistor is determined based on the current rated power of the braking resistor, wherein the current rated power threshold of the braking resistor is equal to the product of the current rated power of the braking resistor and a preset coefficient k, and the preset coefficient k is less than 1.

8. A deceleration time adjustment device, characterized in that, include: The first determining unit is used to determine the processing cycle. The second determining unit is used to determine the braking energy ΔE generated in the current processing cycle. current ; Time adjustment unit: It is used to adjust the braking energy ΔE generated based on the current processing cycle. current The motor deceleration time is determined by the current rated power of the braking resistor.

9. An electronic device, comprising: The processor, the communication interface, the memory, and the communication bus are provided, and the processor, the communication interface, and the memory communicate with each other through the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the deceleration time adjustment method as described in any one of claims 1 to 7.

10. A computer program product comprising computer instructions that instruct a computing device to perform the deceleration time adjustment method of any one of 1 to 7.

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