A method, device, controller and storage medium for decelerating a wire coiling mandrel

Abstract

The embodiments of the present invention provide a deceleration method, device, controller, and storage medium for a wire coiling mandrel, relating to the field of wire coiling technology. The method comprises: determining the real-time position of the mandrel during wire coiling; determining the high-speed and low-speed switching position of the mandrel and the target position of the mandrel rotation; when the target position is greater than the real-time position, calculating the difference between the target position and the high-speed and low-speed switching position; when the difference is less than or equal to the real-time position, determining the first deceleration speed of the mandrel in real time based on a decreasing power function; decelerating the mandrel based on the first deceleration speed; when the target position is less than or equal to the real-time position, calculating the sum of the target position and the high-speed and low-speed switching position; when the sum is greater than or equal to the real-time position, determining the second deceleration speed of the mandrel in real time based on a decreasing power function; and decelerating the mandrel based on the second deceleration speed. This improves the positioning accuracy of the mandrel, thereby avoiding production accidents.

Description

Technical Field

[0001] The present invention relates to the field of wire collection technology, and in particular to a deceleration method, device, controller and storage medium for a wire collection and winding mandrel. Background Art

[0002] In the existing technology, when the wire coil falls between the collection drum and the conical head from the air-cooled roller, it is caught by the support fork, and the height of the wire coil is sensed by the signal sensor and sent to the PLC. After the wire coil is completely collected and the core rod rotates to 0 degrees or 180 degrees, the PLC sends a signal, first driving the inner core rod to rise and support the cone, and then the pneumatic device drives the support fork to open, and the wire coil falls onto the vertical core rod. Then the support fork is closed, supporting the conical head, and the inner core rod is lowered. Then the rotating core rod is rotated by the motor. The rotation speed changes according to the rotation position. When it starts to rotate, the rotation speed is a constant high speed. When it is close to the stop position, the rotation speed is a constant low speed until the positioning is completed.

[0003] When the core rod reaches the low-speed rotation section, the program outputs a low-speed rotation speed until it reaches the designated position, at which point the encoder sends a stop signal to stop the rotation motor. The generally allowed tolerance range for the core rod stop is -0.5 to 0.5 degrees to ensure accurate insertion of the core rod into the bottom of the cone. This places high demands on the low-speed rotation: too fast a speed could cause the core rod to exceed the stop range; too slow a speed could prevent the core rod from reaching the target position. Both situations could cause the core rod to tilt when it touches the cone, potentially leading to equipment failure.

[0004] In order to avoid equipment accidents, operators need to constantly adjust the speed of the rotating mandrel according to the size of the steel coils being produced, and the rotation speed needs to be adjusted manually in real time, which is inefficient. Summary of the Invention

[0005] The object of the present invention is to provide a method, device, controller and storage medium for decelerating a wire winding mandrel, which can improve the positioning accuracy of the mandrel and improve production efficiency.

[0006] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] In a first aspect, an embodiment of the present invention provides a method for decelerating a wire winding mandrel, which is applied to a controller in a wire winding system, wherein the wire winding system further includes a mandrel, and the controller is in communication with the mandrel. The method includes:

[0008] During the process of coiling the wire, determine the real-time position of the mandrel;

[0009] Determine the high and low speed switching position of the mandrel and the target position of the mandrel rotation;

[0010] When the target position is greater than the real-time position, calculating the difference between the target position and the high-speed and low-speed switching position;

[0011] When the difference is less than or equal to the real-time position, determining in real time a first deceleration speed of the mandrel based on a decreasing power function, wherein the decreasing power function is composed of the target position, the real-time position, the high-speed and low-speed switching positions, and the decreasing speed ratio value;

[0012] decelerating the mandrel based on the first deceleration speed;

[0013] When the target position is less than or equal to the real-time position, calculating the sum of the target position and the high-speed and low-speed switching position;

[0014] When the sum is greater than or equal to the real-time position, determining a second deceleration speed of the mandrel in real time based on a decreasing power function;

[0015] The mandrel is decelerated based on the second deceleration speed.

[0016] In an optional embodiment, the method further comprises:

[0017] Acquiring a real-time position of the mandrel after deceleration according to the first deceleration speed;

[0018] Calculating a first absolute value of a difference between the target position and the real-time position of the mandrel after deceleration at the first deceleration speed;

[0019] comparing the first absolute value with a preset threshold;

[0020] When the first absolute value is smaller than the preset threshold and the first absolute value is not 0, the mandrel is controlled to stop rotating.

[0021] In an optional embodiment, the method further comprises:

[0022] When the difference is greater than the real-time position, determining a first preset rotation speed of the mandrel and a rotation direction of the mandrel;

[0023] The core rod is controlled to rotate at the first preset rotation speed according to the rotation direction.

[0024] In an optional embodiment, the method further comprises:

[0025] Acquiring a real-time position of the mandrel after deceleration according to the second deceleration speed;

[0026] calculating a second absolute value of a difference between the target position and the real-time position of the mandrel after deceleration at the second deceleration speed;

[0027] comparing the second absolute value with a preset threshold;

[0028] When the second absolute value is smaller than the preset threshold and the second absolute value is not 0, the mandrel is controlled to stop rotating.

[0029] In an optional embodiment, the method further comprises:

[0030] When the sum is less than the real-time position, determining a second preset rotation speed of the mandrel and a rotation direction of the mandrel;

[0031] The mandrel is controlled to rotate at the second preset rotation speed according to the rotation direction.

[0032] In an optional embodiment, the decreasing power function is constructed by the following formula:

[0033] Among them, target is the target position, current is the real-time position, k_speed is the decreasing speed ratio value, and reduce is the high-speed and low-speed switching position.

[0034] In an optional embodiment, the method further comprises:

[0035] comparing the second predetermined rotational speed with the maximum rotational speed of the mandrel;

[0036] The step of controlling the mandrel to rotate at the second preset rotational speed according to the rotational direction includes:

[0037] When the second preset rotation speed is greater than the maximum rotation speed, controlling the mandrel to rotate at the maximum rotation speed in the rotation direction;

[0038] When the second preset rotational speed is less than the opposite value of the maximum rotational speed, the mandrel is controlled to rotate at the opposite value of the maximum rotational speed according to the rotation direction.

[0039] In a second aspect, an embodiment of the present invention provides a deceleration device for a wire coiling mandrel, the device comprising: a first determination module for determining a real-time position of a rotating mandrel during a wire coiling process;

[0040] The second determining module is used to determine the high-speed and low-speed switching position of the mandrel and the target position of the mandrel rotation;

[0041] a first calculation module, configured to calculate a difference between the target position and the high-speed and low-speed switching position when the target position is greater than the real-time position;

[0042] a third determining module, configured to determine, in real time, a first deceleration speed of the mandrel based on a decreasing power function when the difference is less than or equal to the real-time position, wherein the decreasing power function is composed of the target position, the real-time position, the high-speed and low-speed switching positions, and a decreasing speed ratio value;

[0043] a first deceleration module, configured to decelerate the mandrel based on the first deceleration speed;

[0044] a second calculation module, configured to calculate the sum of the target position and the high-speed and low-speed switching position when the target position is less than or equal to the real-time position;

[0045] a fourth determining module, configured to determine, in real time, a second deceleration speed of the mandrel based on a decreasing power function when the sum is greater than or equal to the real-time position;

[0046] The second deceleration module is configured to decelerate the mandrel based on the second deceleration speed.

[0047] In a third aspect, an embodiment of the present invention provides a controller including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for decelerating the wire winding mandrel when executing the computer program.

[0048] In a fourth aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for decelerating the wire winding mandrel.

[0049] The present invention has the following beneficial effects:

[0050] The present invention calculates the difference between the target position and the high-low speed switching position based on the real-time position, target position and high-low speed switching position of the mandrel rotation when it is determined that the target position of the mandrel is greater than the real-time position. When the difference is less than or equal to the real-time position, it indicates that the mandrel needs to be decelerated and positioned. At this time, the mandrel is controlled to slow down according to a decreasing power function. When the target position is less than or equal to the real-time position and the sum of the target position and the high-low speed switching position is greater than the real-time position, it indicates that the mandrel needs to be decelerated and positioned. At this time, the mandrel is controlled to slow down according to a decreasing power function, which can improve the positioning accuracy of the mandrel and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 A block diagram of a controller provided in an embodiment of the present invention;

[0053] Figure 2 One of the flow diagrams of a method for decelerating a wire winding mandrel provided by an embodiment of the present invention;

[0054] Figure 3 A second flow chart of a method for decelerating a wire winding mandrel provided by an embodiment of the present invention;

[0055] Figure 4 A third flow chart of a method for decelerating a wire winding mandrel provided by an embodiment of the present invention;

[0056] Figure 5 This is a structural block diagram of a deceleration device for a wire winding mandrel provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0060] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0061] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0063] This embodiment provides a controller that can decelerate a wire winding mandrel.

[0064] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the controller 100 provided in an embodiment of the present invention. The controller 100 may also include Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0065] The controller 100 includes a wire coiling mandrel deceleration device 110 , a memory 120 , and a processor 130 .

[0066] The components of the memory 120 and the processor 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines. The deceleration device 110 of the wire winding mandrel includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the controller 100. The processor 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the deceleration device 110 of the wire winding mandrel.

[0067] The memory 120 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the processor 130 executes the program after receiving an execution instruction.

[0068] Please refer to Figure 2 , Figure 2 For application Figure 1 The flowchart of a method for decelerating a wire winding mandrel of the controller 100 is provided, and the method including each step is described in detail below.

[0069] Step 201: During the process of coiling the wire, determine the real-time position of the mandrel.

[0070] Step 202: Determine the high-speed and low-speed switching position of the mandrel and the target position of the mandrel rotation.

[0071] Step 203: When the target position is greater than the real-time position, the difference between the target position and the high-speed / low-speed switching position is calculated.

[0072] Step 204: When the difference is less than or equal to the real-time position, determine the first deceleration speed of the mandrel in real time based on a decreasing power function.

[0073] The decreasing power function is composed of the target position, the real-time position, the high-speed and low-speed switching positions, and the decreasing speed ratio value.

[0074] Step 205: decelerating the mandrel based on the first deceleration speed.

[0075] Step 206: When the target position is less than or equal to the real-time position, the sum of the target position and the high-speed and low-speed switching position is calculated.

[0076] Step 207: When the sum is greater than or equal to the real-time position, a second deceleration speed of the mandrel is determined in real time based on a decreasing power function.

[0077] Step 208: decelerating the mandrel based on the second deceleration speed.

[0078] During the process of coiling the wire, the sensor provided on the mandrel determines the real-time position of the mandrel during the rotation process.

[0079] During the process of wire coiling, when the mandrel rotates forward from 0° to 180°, the target position of the mandrel rotation is 180°, and when the mandrel rotates reversely from 180° to 0°, the target position of the mandrel rotation is 0°.

[0080] By comparing the target position with the real-time position, it can be determined whether the mandrel is rotating in the forward or reverse direction.

[0081] When the target position is greater than the real-time position, it indicates that the rotation direction of the mandrel is 0°-180° forward rotation. When the target position is less than or equal to the real-time position, it indicates that the rotation direction of the mandrel is 180°-0° reverse rotation.

[0082] When the target position is greater than the real-time position, the difference between the target position and the high-speed and low-speed switching position is calculated. When the difference is less than or equal to the real-time position, it indicates that the mandrel begins to enter the deceleration area. Based on the decreasing power function, the first deceleration speed of the mandrel is determined in real time. As the mandrel rotates, the real-time position will continue to change. Based on the decreasing power function, the first deceleration speed of the mandrel changes at the same time. The first deceleration speed decreases based on the increase of the real-time position, so that the speed of the mandrel in the deceleration area gradually decreases, thereby achieving precise positioning of the mandrel.

[0083] When the target position is less than or equal to the real-time position, the sum of the target position and the high-speed and low-speed switching positions is calculated. When the sum is greater than or equal to the real-time position, it indicates that the mandrel begins to enter the deceleration area. Based on the decreasing power function, the second deceleration speed of the mandrel is determined in real time. As the mandrel rotates, the real-time position will continue to change. At this time, based on the decreasing power function, the second deceleration speed of the mandrel also changes. The second deceleration speed decreases based on the increase of the real-time position, so that the speed of the mandrel in the deceleration zone is gradually reduced, which is convenient for the precise positioning of the mandrel.

[0084] The present invention calculates the difference between the target position and the high-low speed switching position based on the real-time position, target position and high-low speed switching position of the mandrel rotation when it is determined that the target position of the mandrel is greater than the real-time position. When the difference is less than or equal to the real-time position, it indicates that the mandrel needs to be decelerated and positioned. At this time, the mandrel is controlled to slow down according to a decreasing power function. When the target position is less than or equal to the real-time position and the sum of the target position and the high-low speed switching position is greater than the real-time position, it indicates that the mandrel needs to be decelerated and positioned. At this time, the mandrel is controlled to slow down according to a decreasing power function, which can improve the positioning accuracy of the mandrel and improve production efficiency.

[0085] It should be noted that the decreasing power function is constructed by the following formula:

[0086] Among them, target is the target position, current is the real-time position, k_speed is the decreasing speed ratio value, and reduce is the high-speed and low-speed switching position.

[0087] The staff can adjust the deceleration speed ratio value according to actual production conditions. The deceleration speed ratio value is proportional to the high-low speed switching position. As the deceleration speed ratio value increases, the high-low speed switching position increases, indicating that the deceleration area of ​​the mandrel rotation is advanced, that is, it enters the deceleration range at a position earlier than the target position, thus entering low-speed operation earlier. When the deceleration speed ratio value decreases, the high-low speed switching position decreases and the deceleration range is pushed back, that is, it enters the deceleration area at a position later than the target position.

[0088] There are many ways to control the mandrel to stop rotating. In one implementation, Figure 3 As shown, the following steps may be included:

[0089] Step 301: Acquire the real-time position of the mandrel after deceleration according to the first deceleration speed.

[0090] Step 302: Calculate a first absolute value of a difference between a target position and a real-time position of the mandrel after deceleration at a first deceleration speed.

[0091] Step 303: Compare the first absolute value with a preset threshold.

[0092] Step 304: When the first absolute value is smaller than a preset threshold and the first absolute value is not 0, the mandrel is controlled to stop rotating.

[0093] It should be noted that those skilled in the art may set the preset threshold according to actual conditions, wherein the preset threshold may be set to 0.05, 0.06, 0.07, etc., and the embodiment of the present invention does not impose any specific limitation on this.

[0094] Exemplarily, when the preset threshold is 0.05, the real-time position of the core rod after deceleration according to the first deceleration speed is 179.7°, the target position is 180°, and the first absolute value of the difference between 180° and 179.97° is calculated to obtain 0.03. The first absolute value 0.03 is compared with the preset threshold. The first absolute value is less than the preset threshold, and the core rod is controlled to stop rotating.

[0095] When the target position of the mandrel is less than or equal to the real-time position of the mandrel, that is, when the mandrel rotates in the opposite direction of 180°-0°, after the mandrel rotates to the deceleration area, the method of controlling the mandrel to stop rotating is as follows:

[0096] Obtain the real-time position of the mandrel after deceleration according to the second deceleration speed; calculate a second absolute value of the difference between the target position and the real-time position of the mandrel after deceleration according to the second deceleration speed; compare the second absolute value with a preset threshold; and control the mandrel to stop rotating when the second absolute value is less than the preset threshold and the second absolute value is not 0.

[0097] The real-time position obtained in the above manner is the real-time position of the mandrel after deceleration at the second deceleration speed. In addition, the control method for stopping the mandrel rotation is the same as the method for the mandrel to rotate forward at 0°-180°, which will not be repeated here.

[0098] There are many ways to control the speed of the mandrel based on the difference. In one implementation, Figure 4 As shown, the following steps may be included:

[0099] Step 401: When the difference is greater than the real-time position, determine a first preset rotation speed of the mandrel and a rotation direction of the mandrel.

[0100] Step 402: Control the mandrel to rotate at a first preset rotation speed in a rotation direction.

[0101] It should be noted that the first preset rotation speed can be set by the staff.

[0102] The first preset rotation speed is compared with the maximum rotation speed of the mandrel, and when the first preset rotation speed is greater than the maximum rotation speed, the mandrel is controlled to rotate at the maximum rotation speed according to the rotation direction.

[0103] It should be noted that the maximum rotation speed may be the upper limit of the mandrel rotation speed. When the first preset rotation speed is greater than the maximum rotation speed, in order to ensure production safety, the mandrel rotates based on the maximum rotation speed when it does not enter the deceleration area.

[0104] Please refer to Figure 5 The embodiment of the present invention also provides an application Figure 1 The controller 100 includes a deceleration device 110 for the wire rod winding mandrel, and the deceleration device 110 for the wire rod winding mandrel includes:

[0105] The first determining module 111 is used to determine the real-time position of the mandrel during the process of coiling the wire;

[0106] The second determining module 112 is used to determine the high-speed and low-speed switching position of the mandrel and the target position of the mandrel rotation;

[0107] A first calculation module 113 is configured to calculate a difference between the target position and the high-speed and low-speed switching position when the target position is greater than the real-time position;

[0108] a third determining module 114, configured to determine, in real time, a first deceleration speed of the mandrel based on a decreasing power function when the difference is less than or equal to the real-time position, wherein the decreasing power function is composed of the target position, the real-time position, the high-speed and low-speed switching position, and a decreasing speed ratio value;

[0109] A first deceleration module 115, configured to decelerate the mandrel based on the first deceleration speed;

[0110] A second calculation module 116 is configured to calculate the sum of the target position and the high-speed and low-speed switching position when the target position is less than or equal to the real-time position;

[0111] A fourth determining module 117 is configured to determine, in real time, a second deceleration speed of the mandrel based on a decreasing power function when the sum is greater than or equal to the real-time position;

[0112] The second deceleration module 118 is configured to decelerate the mandrel based on the second deceleration speed.

[0113] It should be noted that the basic principle and technical effects of the deceleration device for the wire winding mandrel provided in this embodiment are the same as those of the above-mentioned deceleration method embodiment for the wire winding mandrel. For the sake of brief description, for parts not mentioned in this embodiment, please refer to the corresponding content in the above-mentioned method embodiment.

[0114] The present invention further provides a controller 100, which includes a processor 130 and a memory 120. The memory 120 stores computer-executable instructions, which, when executed by the processor 130, implement the method for decelerating the wire coiling mandrel.

[0115] An embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program. When the computer program is executed by the processor 130, the deceleration method of the wire coiling mandrel is implemented.

[0116] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or part of a code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0117] In addition, the functional modules in each embodiment of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0118] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0119] The above descriptions are merely various embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for decelerating a wire coiling mandrel, applied to a controller in a wire coiling system, wherein the wire coiling system further comprises a mandrel, the controller being in communication with the mandrel, characterized in that: The method comprises: During the process of coiling the wire, determine the real-time position of the mandrel; Determine the high and low speed switching position of the mandrel and the target position of the mandrel rotation; When the target position is greater than the real-time position, calculating the difference between the target position and the high-speed and low-speed switching position; When the difference is less than or equal to the real-time position, determining in real time a first deceleration speed of the mandrel based on a decreasing power function, wherein the decreasing power function is composed of the target position, the real-time position, the high-speed and low-speed switching positions, and the decreasing speed ratio value; decelerating the mandrel based on the first deceleration speed; When the target position is less than or equal to the real-time position, calculating the sum of the target position and the high-speed and low-speed switching position; When the sum is greater than or equal to the real-time position, determining a second deceleration speed of the mandrel in real time based on a decreasing power function; The mandrel is decelerated based on the second deceleration speed.

2. The method according to claim 1, characterized in that The method further comprises: Acquiring a real-time position of the mandrel after deceleration according to the first deceleration speed; Calculating a first absolute value of a difference between the target position and the real-time position of the mandrel after deceleration at the first deceleration speed; comparing the first absolute value with a preset threshold; When the first absolute value is smaller than the preset threshold and the first absolute value is not 0, the mandrel is controlled to stop rotating.

3. The method according to claim 1, characterized in that The method further comprises: When the difference is greater than the real-time position, determining a first preset rotation speed of the mandrel and a rotation direction of the mandrel; The core rod is controlled to rotate at the first preset rotation speed according to the rotation direction.

4. The method according to claim 1, wherein The method further comprises: Acquiring a real-time position of the mandrel after deceleration according to the second deceleration speed; calculating a second absolute value of a difference between the target position and the real-time position of the mandrel after deceleration at the second deceleration speed; comparing the second absolute value with a preset threshold; When the second absolute value is smaller than the preset threshold and the second absolute value is not 0, the mandrel is controlled to stop rotating.

5. The method according to claim 1, wherein The method further comprises: When the sum is less than the real-time position, determining a second preset rotation speed of the mandrel and a rotation direction of the mandrel; The mandrel is controlled to rotate at the second preset rotation speed according to the rotation direction.

6. The method according to claim 1, characterized in that The decreasing power function is constructed by the following formula: Among them, target is the target position, current is the real-time position, k_speed is the decreasing speed ratio value, and reduce is the high-speed and low-speed switching position.

7. The method according to claim 5, characterized in that The method further comprises: comparing the second predetermined rotational speed with the maximum rotational speed of the mandrel; The step of controlling the mandrel to rotate at the second preset rotational speed according to the rotational direction includes: When the second preset rotation speed is greater than the maximum rotation speed, the mandrel is controlled to rotate at the maximum rotation speed according to the rotation direction.

8. A deceleration device for a wire winding mandrel, characterized in that: The device comprises: The first determination module is used to determine the real-time position of the mandrel during the process of wire coiling; The second determining module is used to determine the high-speed and low-speed switching position of the mandrel and the target position of the mandrel rotation; a first calculation module, configured to calculate a difference between the target position and the high-speed and low-speed switching position when the target position is greater than the real-time position; a third determining module, configured to determine, in real time, a first deceleration speed of the mandrel based on a decreasing power function when the difference is less than or equal to the real-time position, wherein the decreasing power function is composed of the target position, the real-time position, the high-speed and low-speed switching positions, and a decreasing speed ratio value; a first deceleration module, configured to decelerate the mandrel based on the first deceleration speed; a second calculation module, configured to calculate the sum of the target position and the high-speed and low-speed switching position when the target position is less than or equal to the real-time position; a fourth determining module, configured to determine, in real time, a second deceleration speed of the mandrel based on a decreasing power function when the sum is greater than or equal to the real-time position; The second deceleration module is configured to decelerate the mandrel based on the second deceleration speed.

9. A controller, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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