Wire laying machine head positioning control method

Abstract

The present invention discloses a method for controlling the positioning of a wire laying machine head. The method establishes a wire specification time difference mapping table. When the wire rolling production line resets the production specifications and rolls the first wire, the corresponding initial positioning section time difference is selected in the wire specification time difference mapping table according to the specifications as the positioning section time difference parameter, otherwise the positioning section time difference parameter is determined according to the actual time difference when the wire is rolled in the previous sequence; the predicted value of the laying angle is predicted according to the positioning section time difference parameter, and the predicted value is compared with the preset target laying positioning angle value to obtain the angle prediction deviation value; the motor speed correction value is calculated according to the angle prediction deviation value; the set speed of the laying drive motor is corrected by the motor speed correction value, and the speed of the laying drive motor is set by the corrected set speed. The positioning control method of the present invention can also achieve a good positioning control effect for the first wire rolled after the specification is reset, and avoid the occurrence of steel jamming accidents.

Description

Technical Field

[0001] The invention relates to a wire laying machine control method, in particular to a wire laying machine head positioning control method. Background Art

[0002] High-speed wire production line generally consists of heating furnace, wire rolling mill, sizing mill, laying mill, conveyor roller, etc. Wire rolling mill also includes roughing mill, intermediate mill, pre-finishing mill, finishing mill, etc. Laying mill is an important equipment in high-speed wire production line. It is located at the downstream of the whole wire production line. Its function is to bend the finished wire into a ring shape to facilitate the collection of wire into coils.

[0003] See also Figure 1 , taking a high-speed wire rod production line of a steel company as an example. The finishing mill 1 in the figure is the finishing mill in the wire rod rolling mill. The wire rod 8 rolled by the finishing mill 1 in the wire rod rolling mill enters the spinning machine 3 after being reduced in diameter by the sizing mill 2. The wire rod 8 spit out by the spinning machine 3 will be in a stacked ring shape and neatly spread on the conveyor roller 4 behind the spinning machine 3. A first hot metal detector 51 is provided at the entrance of the finishing mill 1, a second hot metal detector 52 is provided at the exit of the finishing mill 1, a third hot metal detector 53 is provided at the entrance of the sizing mill 2, and a fourth hot metal detector 54 is provided at the entrance of the spinning machine 3. The function of the hot metal detector is to detect the position of the head of the wire rod 8.

[0004] The spinning machine 3 is provided with a spinning tube and a spinning disk, and the positional relationship between the two is fixed. One end of the spinning tube is fixedly set at a position deviating from the center of the spinning disk and facing the conveying roller 4. This end is called the spinning disk or the spinning opening of the spinning machine 3; the other end is facing the tail end of the reducing and sizing machine 2 and is coaxial with the wire 8 coming out of the reducing and sizing machine 2. This end is called the spinning disk or the wire inlet of the spinning machine 3. When the finished wire 8 enters the spinning machine 3, it is introduced into the spinning tube through the wire inlet of the spinning machine 3. At the same time, the spinning disk rotates according to the pre-set standard spinning speed, and the spinning opening of the spinning disk rotates with the spinning disk. The wire 8 spit out from the spinning opening will be in a stacked ring shape and neatly spread on the conveying roller 4.

[0005] However, in the conveying roller 4, there is a certain gap between the rollers. If the spinning mouth of the spinning machine 3 is in an inappropriate position at the moment of starting to spin, the head of the wire 8 spewed out of the spinning mouth can easily get stuck in the gap between the rollers, which will cause a steel jam accident, thereby leading to an abnormal interruption of the production line.

[0006] In order to prevent the occurrence of the steel jamming accident, the main controller controls the rotation angle of the spinning disk when the spinning machine 3 starts to spin. Specifically, it is to make the spinning hole of the spinning disk rotate to the vicinity of the set position when the head of the wire 8 comes out of the spinning hole of the spinning disk. This control process is called the spinning machine head positioning control. The spinning machine head positioning control is usually implemented when the wire 8 enters the positioning control section.

[0007] The positioning control section refers to a section of the wire 8 travel path upstream of the laying machine 3. Usually, the distance between two designated hot metal detectors is used as the positioning control section, wherein the hot metal detector at the starting end of the positioning control section is called the positioning start hot metal detector, and the hot metal detector at the ending end of the positioning control section is called the positioning end hot metal detector. Figure 1 In the production line shown, the positioning start hot metal detector of the positioning control section is one of the first hot metal detector 51, the second hot metal detector 52 or the third hot metal detector 53, and which hot metal detector is used as the positioning start hot metal detector can be determined according to the speed of the wire 8. The positioning end hot metal detector is the fourth hot metal detector 54.

[0008] At present, there are two main methods for positioning the head of the laying machine. One is to change the length of the flying shear head in front of the wire mill, and the other is to change the speed of the laying plate. For example, the document "Positioning Control System of Laying Machine of High-speed Wire Mill" (Metallurgical Automation, Issue 2, 1999) mentioned that a domestic high-speed wire mill based on the ABB MP260 / 1 control system adopted two methods, one is to change the shear length of the flying shear in front of the finishing mill, and the other is to change the speed of the laying plate in the laying machine to achieve the positioning of the head of the laying machine.

[0009] However, in high-speed wire production lines at home and abroad, the effect of the positioning control of the head of the laying machine is not very good for the newly rolled wire after resetting the specifications. In addition, when rolling small-sized wires, the rolling speed of the wire mill is very fast (above 105m / s), but the laying disk of the laying machine is heavy, and its moment of inertia when rotating at high speed is also large, and the speed of the laying disk cannot be changed quickly, thereby increasing the difficulty of positioning control of the head of the laying machine. Therefore, when rolling small-sized wires, the effect of positioning control of the head of the laying machine is relatively poor.

[0010] A Chinese patent (CN102989781A) discloses an automatic control technology for positioning the head of a high-speed wire mill, which discloses combining the delayed shearing and rough adjustment positioning of the front shear of the finishing mill with the speed increase positioning of the wire laying machine, thereby achieving a good application effect in the production of high-speed wire products of Φ10mm and above. However, in this patented technical solution, when rolling small-sized wires, the rotation speed of the wire laying disk cannot be changed quickly, the positioning control effect of the head of the wire laying machine is relatively poor, and the delayed shearing and rough adjustment positioning of the front shear of the wire mill will also have a certain impact on the yield of the wire products. Summary of the invention

[0011] The object of the present invention is to provide a wire laying machine head positioning control method, which can also achieve a good laying machine head positioning control effect for the first wire rolled after the wire specification is reset, thereby avoiding the occurrence of steel jamming accidents.

[0012] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0013] A method for controlling the positioning of a wire laying machine head comprises the following steps:

[0014] Step 1: Establish a wire specification time difference mapping table, in which the mapping relationship between wire specifications and initial positioning segment time differences is recorded;

[0015] The positioning section time difference is the time required for the wire head to pass through the positioning control section;

[0016] The initial positioning section time difference is an estimated value of the positioning section time difference when the wire rolling mill rolls the first wire of the corresponding wire specification;

[0017] Step 2, determining the time difference parameters of the positioning segment, including the following steps:

[0018] Step 2.1, when the wire rod rolling production line resets the wire rod specification, when the wire rod rolling mill rolls the first wire rod after the wire rod specification is reset, according to the wire rod specification, the corresponding initial positioning segment time difference is selected in the wire rod specification time difference mapping table as the positioning segment time difference parameter;

[0019] Step 2.2, when the wire rod rolling mill rolls the second or subsequent wire rod after the wire rod specification is reset, the positioning section time difference parameter is determined according to the actual positioning section time difference when the previous wire rod is rolled;

[0020] Step 3, when the wire rod is rolled in the wire rod rolling mill, after the wire rod head enters the positioning control section, the cyclic positioning control process is continuously performed until the wire rod head leaves the positioning control section;

[0021] The cyclic positioning control process includes:

[0022] Step 3.1, predicting the angle to which the spinning disk rotates when the wire head exits the spinning outlet according to the time difference parameter of the positioning section, and the angle is the predicted value of the spinning angle;

[0023] Step 3.2, comparing the predicted value of the spinning angle with a preset target spinning angle value, and obtaining an angle deviation value between the predicted value of the spinning angle and the target spinning angle value, wherein the angle deviation value is an angle prediction deviation value;

[0024] Step 3.3, calculating the motor speed correction value according to the angle prediction deviation value;

[0025] Step 3.4, using the motor speed correction value to correct the set speed of the spinning drive motor to obtain a corrected set speed, and using the corrected set speed to set the speed of the spinning drive motor;

[0026] Step 4, when the wire head leaves the positioning control section, the cyclic positioning control process is stopped and the spinning drive motor speed is locked until the wire head leaves the spinning machine from the spinning outlet, and the spinning drive motor resumes the standard setting speed;

[0027] Step 5, after the entire wire has exited the spinning machine from the spinning mouth, return to step 2 to perform head positioning control for the subsequent wire.

[0028] Furthermore, the step 3 also includes the following steps:

[0029] Step 3.5, calculating the positioning control torque compensation value according to the deviation between the corrected set speed and the actual speed of the spinning drive motor;

[0030] Step 3.6, using the positioning control torque compensation value to compensate the set torque of the spinning drive motor to obtain the compensated set torque, and then using the compensated set torque to set the torque of the spinning drive motor.

[0031] Furthermore, the step 5 also includes:

[0032] Before performing head positioning control of the subsequent wire, when the head of the preceding wire leaves the positioning control section, the spinning disk angle of the wire head when it exits the spinning port is calculated, and the spinning disk angle is the actual spinning angle. Then, the actual spinning angle is compared with the target spinning positioning angle value to obtain an angle deviation between the actual spinning angle and the target spinning positioning angle value. The angle deviation value is used as the system angle deviation value, and a correction value of the target spinning positioning angle value is calculated based on the system angle deviation value. The target spinning positioning angle value is corrected using the correction value. In the rolling process of the subsequent wire, head positioning control is implemented based on the corrected target spinning positioning angle value.

[0033] Furthermore, the step 2.2 also includes: using the average of the actual values ​​of the positioning section time difference during the last four previous wire rolling operations as the positioning section time difference parameter.

[0034] In the positioning control method of the present invention, a corresponding initial positioning segment time difference is set for each wire specification in the wire specification time difference mapping table. For the first wire rolled after the wire specification is reset on the wire rolling production line, the initial positioning segment time difference corresponding to the wire specification is used as the positioning segment time difference parameter, and the spinning disk angle when the wire exits the spinning port is predicted based on the positioning segment time difference parameter, and then the speed of the spinning drive motor is adjusted based on the predicted spinning disk angle, so that the spinning disk angle when the wire exits the spinning port can be close to the target spinning positioning angle value. In addition, the positioning control torque compensation value is calculated based on the deviation between the corrected set speed and the actual speed of the spinning drive motor, and the positioning control torque compensation value is used to compensate the set torque of the spinning drive motor, so that the spinning drive motor can quickly reach the corrected set speed.

[0035] Compared with the prior art, the positioning control method of the present invention has the following beneficial effects: for the first wire rolled after the wire specifications are reset, the positioning control of the wire laying machine head can also achieve better results, thereby avoiding the occurrence of steel jamming accidents; in addition, the set torque of the wire laying drive motor is compensated, and the wire laying drive motor can quickly reach the set speed, thereby making the positioning control of the wire laying machine head more precise, especially when rolling small-sized wires, a better positioning control effect of the wire laying machine head can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the equipment layout of the high-speed wire production line;

[0037] Figure 2 It is a flow chart of the head positioning control method of the wire laying machine of the present invention;

[0038] Figure 3 It is a flow chart of the cyclic positioning control process in the present invention;

[0039] Figure 4 It is a wire specification time difference mapping table established in the positioning control method of the present invention.

[0040] In the figure: 1-finishing mill, 2-sizing mill, 3-laying machine, 4-conveying roller, 51-first hot metal detector, 52-second hot metal detector, 53-third hot metal detector, 54-fourth hot metal detector, 8-wire. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0042] This embodiment provides a method for positioning and controlling the head of a wire laying machine. The positioning and controlling method is used for a wire laying machine on a high-speed wire production line of a steel company. The high-speed wire production line is as follows: Figure 1 shown.

[0043] exist Figure 1 In the high-speed wire production line shown, in the spinning machine 3, the spinning drive motor is an AC motor with variable frequency speed regulation, and the speed and torque of the spinning drive motor are controlled by a frequency conversion controller. The main controller can set the speed and torque of the spinning drive motor through the frequency conversion controller, and can also obtain the speed and angular position of the spinning drive motor and the spinning disk through the frequency conversion controller.

[0044] The spinning disk angle described herein refers to the angle of the spinning disk's rotation angle position relative to the reference rotation angle position. The reference rotation angle position is pre-set. In this embodiment, the reference rotation angle position is the rotation position of the spinning disk when the spinning port is directly above the spinning disk. That is, when the spinning port is directly above the spinning disk, the spinning disk angle is 0 degrees, and when the spinning port is directly below the spinning disk, the spinning disk angle is 180 degrees.

[0045] See also Figure 2 The positioning control method of this embodiment includes the following steps 1 to 5.

[0046] Step 1: Establish a wire specification time difference mapping table in the main controller, wherein the wire specification time difference mapping table records the mapping relationship between the wire specification and the initial positioning section time difference.

[0047] The positioning section time difference is the time required for the wire head to pass through the positioning control section, and the initial positioning section time difference is an estimated value of the positioning section time difference when the wire rolling mill rolls the first wire of the corresponding wire specification.

[0048] The wire specification time difference mapping table is as follows: Figure 4 As shown, in the wire specification time difference mapping table, the initial positioning segment time difference data corresponding to the wire specification is data obtained based on experience. Specifically, a data recording module is provided in the main controller, and the data recording module can record various operating data of the wire rolling production line, including the positioning segment time difference data. When formulating the wire specification time difference mapping table, the positioning segment time difference data in the data recording module is classified according to different wire specifications, and then the classified positioning segment time difference data is coordinated, and finally the empirical data of the initial positioning segment time difference corresponding to each wire specification is obtained.

[0049] It should be noted that, in this embodiment, on the wire rolling production line, the sizing mill 2 adjusts the frame speed ratio through the reduction box clutch, and a corresponding clutch specification number is configured for each wire specification. Therefore, the clutch specification number set for the sizing mill 2 is actually a one-to-one correspondence with the wire specification.

[0050] In the wire specification time difference mapping table of this embodiment, the recorded clutch procedure number is the clutch procedure number corresponding to the wire specification. After determining the clutch procedure number set by the sizing machine 2, the corresponding wire specification can be determined through the wire specification time difference mapping table, and then the corresponding initial positioning segment time difference can be determined through the wire specification.

[0051] The positioning control section refers to a section of the wire travel path at the upstream of the spinning machine, and its significance lies in that when the wire head is in the positioning control section, the spinning machine head is positioned and controlled.

[0052] The positioning control section is the wire travel path between the positioning start hot metal detector and the positioning end hot metal detector. Figure 1 As shown, in this embodiment, the positioning start hot metal detector of the positioning control section adopts one of the first hot metal detector 51, the second hot metal detector 52 or the third hot metal detector 53, and the positioning end hot metal detector adopts the fourth hot metal detector 54. Which hot metal detector is used as the positioning start hot metal detector depends on the moving speed of the wire 8. Generally speaking, the smaller the specification of the wire 8, the faster its moving speed, the longer the required positioning control section, and the positioning start hot metal detector is selected from the hot metal detector farther from the fourth hot metal detector 54. Conversely, the shorter the required positioning control section, the positioning start hot metal detector is selected from the hot metal detector closer to the fourth hot metal detector 54.

[0053] See also Figure 1 and Figure 4 In this embodiment, when the wire specification is 5~11mm, the first hot metal detector 51 is used for positioning the hot metal detector; when the wire specification is 11.5~18mm, the second hot metal detector 52 is used for positioning the hot metal detector; when the wire specification is 19~28mm, the third hot metal detector 53 is used for positioning the hot metal detector.

[0054] In other embodiments according to the present invention, the positioning start hot metal detector and the positioning end hot metal detector may be determined according to actual conditions.

[0055] Step 2, determining the time difference parameters of the positioning segment, including the following steps 2.1 to 2.2:

[0056] Step 2.1, when the wire rod rolling production line resets the production wire rod specifications, when the wire rod rolling mill rolls the first wire rod after the wire rod specifications are reset, according to the wire rod specifications, the corresponding initial positioning segment time difference is selected in the wire rod specification time difference mapping table as the positioning segment time difference parameter.

[0057] Specifically, in the actual production process, when the wire rolling production line needs to reset the rolled wire specifications, the rolling mill operator resets the clutch procedure number of the sizing mill 2 on the control terminal. As mentioned above, the clutch procedure number of the sizing mill 2 corresponds to the wire specifications one by one, so setting the clutch procedure number is equivalent to setting the wire specifications. Then, the main controller determines the corresponding wire specifications in the wire specification time difference mapping table according to the clutch procedure number, and determines the corresponding initial positioning segment time difference, and then uses the initial positioning segment time difference as the positioning segment time difference parameter.

[0058] Step 2.2, when the wire rod mill rolls the second or subsequent wire rod after the wire rod specification is reset, the positioning segment time difference parameter is determined according to the actual positioning segment time difference when the previous wire rod is rolled. Specifically, the average value of the actual values ​​of the positioning segment time difference when the previous wire rod is rolled for the last several times is used as the positioning segment time difference parameter. In this embodiment, the average value of the actual values ​​of the positioning segment time difference when the previous wire rod is rolled for the last four times is used as the positioning segment time difference parameter.

[0059] Step 3, when the wire rolling mill is rolling the wire, after the wire head enters the positioning control section, that is, the positioning starts and the hot metal detector detects the wire head, the cyclic positioning control process is continuously performed until the wire head leaves the positioning control section, that is, the positioning ends and the hot metal detector detects the wire head.

[0060] See also Figure 3 , the cyclic positioning control process includes steps 3.1 to 3.6:

[0061] Step 3.1, predict the angle to which the spinning disk rotates when the wire head exits the spinning outlet according to the time difference parameter of the positioning section, and this angle is the predicted value of the spinning angle.

[0062] Specifically, when the hot metal detector detects the wire head at the beginning of positioning, the angular position of the spinning disk is recorded, and then the time difference parameter of the positioning section is multiplied by the rotation speed of the spinning disk to obtain the angle that the wire head rotates during the time when the spinning disk passes through the positioning control section. The distance from the hot metal detector at the end of positioning to the spinning port is a fixed value. Therefore, the angle to which the spinning disk rotates when the wire head exits the spinning port can be predicted based on the distance from the hot metal detector at the end of positioning to the spinning port, the wire speed, and the rotation angle of the spinning disk. This angle is the predicted value of the spinning angle.

[0063] Step 3.2, comparing the predicted silk-spinning angle value with a preset target silk-spinning positioning angle value, and obtaining an angle deviation value between the predicted silk-spinning angle value and the target silk-spinning positioning angle value, the angle deviation value being the angle prediction deviation value.

[0064] The target spinning angle is: the target setting value of the spinning disc angle when the wire head exits the spinning hole. The target spinning angle can be preset before rolling the wire, usually together with resetting the wire specification.

[0065] The significance of the target spinning position angle value is that when the spinning disk rotates to this angle, the possibility of the wire head spouted from the spinning port getting stuck in the gap of the conveyor roller is extremely low, and the wire can be spread normally on the conveyor roller, thereby avoiding steel jamming accidents.

[0066] Step 3.3, calculate the motor speed correction value based on the angle prediction deviation value.

[0067] In this embodiment, the process of calculating the motor speed correction value is implemented by a PI regulator. The PI regulator is a linear controller that forms a control deviation based on a given value and an actual output value, and forms a control quantity by linearly combining the proportion and integral of the deviation to control the controlled object.

[0068] Step 3.4, using the motor speed correction value to correct the set speed of the spinning drive motor to obtain the corrected set speed, that is, adding the set speed of the spinning drive motor to the motor speed correction value to obtain the corrected set speed, and then using the corrected set speed to set the speed of the spinning drive motor, that is, setting the corrected set speed to the motor speed inverter.

[0069] Step 3.5, the communication controller calculates the positioning control torque compensation value according to the deviation between the corrected set speed and the actual speed of the spinning drive motor.

[0070] In this embodiment, the process of calculating the positioning control torque compensation value is also implemented by the PI regulator.

[0071] Step 3.6, using the positioning control torque compensation value to compensate the set torque of the spinning drive motor to obtain the compensated set torque, that is, adding the set torque of the spinning drive motor to the positioning control torque compensation value to obtain the compensated set torque, and then using the compensated set torque to set the torque of the spinning drive motor, that is, setting the compensated set torque to the motor speed inverter.

[0072] Step 4, when the wire head leaves the positioning control section, that is, when the positioning is completed and the hot metal detector detects the wire head, the cyclic positioning control process is stopped, and the main controller locks the speed of the spinning drive motor until the wire head leaves the spinning machine from the spinning mouth, and then the main controller controls the spinning drive motor to restore the standard set speed.

[0073] The standard setting speed of the spinning drive motor corresponds to the standard spinning speed of the spinning disk. The spinning disk must rotate according to the standard spinning speed, and the wire spouted from the spinning mouth will be spread on the conveyor roller according to the standard winding radius.

[0074] Step 5, after the entire wire has exited the spinning machine from the spinning mouth, return to step 2 to perform head positioning control for the subsequent wire.

[0075] Optimally, before the head positioning control of the subsequent wire is performed, when the head of the preceding wire leaves the positioning control section, that is, when the hot metal detector detects the head of the wire at the end of positioning, the angle of the spinning disk when the head of the wire leaves the spinning port is calculated according to the distance from the hot metal detector at the end of positioning to the spinning port (the distance is a fixed value), the wire speed, and the spinning disk rotation angle. The spinning disk angle is the actual spinning angle, and then the actual spinning angle is compared with the target spinning positioning angle value to obtain the angle deviation value between the actual spinning angle and the target spinning positioning angle value, and the angle deviation value is used as the system angle deviation value in the head positioning control of the subsequent wire. Specifically, the correction value of the target spinning positioning angle value is calculated according to the system angle deviation value by the PI regulator, and the target spinning positioning angle value is corrected by the correction value. In the rolling process of the subsequent wire, the head positioning control is implemented according to the corrected target spinning positioning angle value, so that the subsequent head positioning control is more accurate.

[0076] In the positioning control method of this embodiment, a corresponding initial positioning segment time difference is set for each wire specification in the wire specification time difference mapping table. For the first wire rolled after the wire rolling production line resets the wire specifications, the initial positioning segment time difference corresponding to the wire specification is used as the positioning segment time difference parameter, and the spinning disk angle when the wire exits the spinning port is predicted based on the positioning segment time difference parameter, and then the speed of the spinning drive motor is adjusted based on the predicted spinning disk angle, so that the spinning disk angle when the wire exits the spinning port can be close to the target spinning positioning angle value, so that the positioning control of the spinning machine head can achieve a better effect for the first wire rolled after the wire specifications are reset, thereby avoiding the occurrence of steel jamming accidents.

[0077] In addition, in the positioning control method of the present embodiment, a positioning control torque compensation value is calculated based on the deviation between the corrected set speed and the actual speed of the spinning drive motor, and the set torque of the spinning drive motor is compensated with the positioning control torque compensation value, so that the spinning drive motor can quickly reach the corrected set speed, thereby making the positioning control of the spinning head more precise, especially when rolling small-sized wire, a better positioning control effect of the spinning head can be achieved.

[0078] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wire laying machine head positioning control method, characterized in that: The steps include: Step 1: Establish a wire specification time difference mapping table, in which the mapping relationship between wire specifications and initial positioning segment time differences is recorded; The positioning section time difference is the time required for the wire head to pass through the positioning control section; The initial positioning section time difference is an estimated value of the positioning section time difference when the wire rolling mill rolls the first wire of the corresponding wire specification; Step 2, determining the time difference parameters of the positioning segment, including the following steps: Step 2.1, when the wire rod rolling production line resets the wire rod specification, when the wire rod rolling mill rolls the first wire rod after the wire rod specification is reset, according to the wire rod specification, the corresponding initial positioning segment time difference is selected in the wire rod specification time difference mapping table as the positioning segment time difference parameter; Step 2.2, when the wire rod rolling mill rolls the second or subsequent wire rod after the wire rod specification is reset, the positioning section time difference parameter is determined according to the actual positioning section time difference when the previous wire rod is rolled; Step 3, when the wire rod is rolled in the wire rod rolling mill, after the wire rod head enters the positioning control section, the cyclic positioning control process is continuously performed until the wire rod head leaves the positioning control section; The cyclic positioning control process includes: Step 3.1, predicting the angle to which the spinning disk rotates when the wire head exits the spinning outlet according to the time difference parameter of the positioning section, and the angle is the predicted value of the spinning angle; Step 3.2, comparing the predicted value of the spinning angle with a preset target spinning angle value, and obtaining an angle deviation value between the predicted value of the spinning angle and the target spinning angle value, wherein the angle deviation value is an angle prediction deviation value; Step 3.3, calculating the motor speed correction value according to the angle prediction deviation value; Step 3.4, using the motor speed correction value to correct the set speed of the spinning drive motor to obtain a corrected set speed, and using the corrected set speed to set the speed of the spinning drive motor; Step 4, when the wire head leaves the positioning control section, the cyclic positioning control process is stopped and the spinning drive motor speed is locked until the wire head leaves the spinning machine from the spinning outlet, and the spinning drive motor resumes the standard setting speed; Step 5, after the entire wire has exited the spinning machine from the spinning mouth, return to step 2 to perform head positioning control for the subsequent wire.

2. The method for controlling the positioning of the wire laying machine head according to claim 1, characterized in that: The step 3 also includes the following steps: Step 3.5, calculating the positioning control torque compensation value according to the deviation between the corrected set speed and the actual speed of the spinning drive motor; Step 3.6, using the positioning control torque compensation value to compensate the set torque of the spinning drive motor to obtain the compensated set torque, and then using the compensated set torque to set the torque of the spinning drive motor.

3. The wire laying machine head positioning control method according to claim 1, characterized in that: The step 5 also includes: Before performing head positioning control of the subsequent wire, when the head of the preceding wire leaves the positioning control section, the spinning disk angle of the wire head when it exits the spinning port is calculated, and the spinning disk angle is the actual spinning angle. Then, the actual spinning angle is compared with the target spinning positioning angle value to obtain an angle deviation between the actual spinning angle and the target spinning positioning angle value. The angle deviation value is used as the system angle deviation value, and a correction value of the target spinning positioning angle value is calculated based on the system angle deviation value. The target spinning positioning angle value is corrected using the correction value. In the rolling process of the subsequent wire, head positioning control is implemented based on the corrected target spinning positioning angle value.

4. The wire laying machine head positioning control method according to claim 1, characterized in that: The step 2.2 also includes: using the average of the actual values ​​of the positioning section time difference during the last four wire rolling operations as the positioning section time difference parameter.

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