Electroforming wrap angle compensation method, system, device, and medium

Abstract

The application provides an electronic forming winding angle compensation method, system, device and medium, and relates to the technical field of textile machinery, and comprises the following steps: a model characteristic value matrix calculation step: according to mechanical characteristics and a yarn winding model, different operating states are calculated to obtain a characteristic value matrix; and a dynamic winding angle compensation step based on the characteristic value: according to the operating state, the characteristic value matrix is dynamically queried to obtain the size of the winding angle compensation value. The application can accurately control the actual dynamic range of the yarn of the electronic forming system, effectively avoids the risk of the appearance of net yarn and steps on the end face of the bobbin when the winding ratio or the winding angle is switched. Meanwhile, the mechanical adaptation flexibility of the electronic forming system can be improved, and for different models and manufacturers, the method can be used for quick compatibility and system deployment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textile machinery, in particular to an electronic forming winding angle compensation method based on a winding model, and especially to an electronic forming winding angle compensation method, system, device and medium. BACKGROUND

[0002] The cradle part of the winding yarn forming system is generally composed of a winding part and a guide part. The winding part refers to winding the yarn on the processed yarn drum at a certain linear speed; the guide part refers to guiding the yarn left and right during winding, so that the yarn is evenly distributed in the axial direction of the yarn drum.

[0003] In some electronic forming systems at present, the free yarn length H can be controlled through mechanical design, so that the deviation δ is very small in any case. However, this requires compromises in the mechanical design, which limits the promotion and large-scale application of the electronic forming system. At the same time, for the fork type electronic forming system, due to the mechanical characteristics, the free yarn length H will be different at different guide positions, so it is difficult to reduce the deviation δ by reducing the free yarn length H through mechanical means. SUMMARY

[0004] In view of the defects in the prior art, the present application provides an electronic forming winding angle compensation method, system, device and medium.

[0005] According to the electronic forming winding angle compensation method, system, device and medium provided by the present application, the scheme is as follows:

[0006] In a first aspect, an electronic forming winding angle compensation method is provided, which comprises:

[0007] The model characteristic value matrix calculation step: according to the mechanical characteristics and the yarn winding model, the characteristic value matrix is calculated under different operating conditions;

[0008] The dynamic winding angle compensation step based on the characteristic value: according to the operating condition, the characteristic value matrix is dynamically queried to obtain the size of the winding angle compensation value.

[0009] Preferably, the model characteristic value matrix calculation step comprises: according to the set free yarn length, the cradle friction roller fulcrum offset distance, the model characteristic values δ1, δ2, δ3,... δn are calculated according to the existing winding linear speed, guide nozzle linear speed and guide nozzle acceleration classification. n ; and these model characteristic values are indexed by winding linear speed, guide nozzle linear speed and guide nozzle acceleration to form a characteristic value matrix.

[0010] In the yarn forming system, the winding angle satisfies the following relationship:

[0011]

[0012] wherein x represents the position of the yarn in the axial direction of the bobbin; y represents the winding length of the yarn in the radial direction of the bobbin;

[0013] Therefore, we have:

[0014] δ = H x tan β = PX - PA

[0015] wherein δ represents the axial distance from the guide to the bobbin; H represents the vertical distance from the guide to the bobbin; PA represents the position of the yarn on the bobbin, and PX represents the position of the guide.

[0016] During the uniform running of the guide, since β and H are constant, δ is constant, and is in a stable state, i.e., the position PX of the guide leads the position PA of the contact point of the yarn with the bobbin by a fixed distance δ.

[0017] During the turning of the guide, since there is a process of acceleration and deceleration, the stable condition of δ is broken; with the deceleration of the motor controlling the guide, δ gradually decreases;

[0018] When the speed of the guide decreases to zero, the speed of the contact point of the yarn with the bobbin does not decrease to zero, but continues to move forward in the original direction, and the position of the guide at this time is recorded as PX0, and the guide reaches the farthest end.

[0019] When the speed of the contact point of the yarn with the bobbin decreases to zero, the position of the contact point of the yarn with the bobbin at this time is recorded as PA0, and the contact point of the yarn with the bobbin reaches the farthest end. At this time, the following relationship exists:

[0020] δ = PX0- PA0

[0021] According to this method, the farthest end position PX0 of the guide and the farthest end position PA0 of the contact point of the yarn with the bobbin are calculated, and the deviation values δ1, δ2, δ3,... δn in different running states are iterated. n The deviation values are indexed by the winding line speed, the guide speed and the guide acceleration to form a three-dimensional matrix, i.e., a characteristic value matrix.

[0022] Preferably, the dynamic winding angle compensation step based on the characteristic value comprises: discretizing the current winding line speed, the guide speed and the guide to obtain their levels, using them to index the model characteristic values in the characteristic value matrix, and correcting the model characteristic values according to the deviation between the actual values of the winding line speed, the guide speed and the guide and the discretized values, to obtain the electronic shaping winding angle compensation, and compensating the electronic shaping guide movement into the electronic shaping guide movement; the dynamic winding angle compensation is performed once for each planning of the guide movement.

[0023] In a second aspect, there is provided an electronic forming and winding angle compensation system, the system comprising:

[0024] a model eigenvalue matrix calculation module configured to calculate eigenvalue matrixes according to mechanical characteristics and yarn winding models in different operating states;

[0025] a dynamic winding angle compensation module configured to dynamically query the eigenvalue matrixes according to the operating states to obtain the size of the winding angle compensation value.

[0026] Preferably, the model eigenvalue matrix calculation module comprises: calculating model eigenvalues δ1, δ2, δ3,... δn according to the set free yarn length, the swing frame friction roller fulcrum offset distance, and the existing winding line speed, the guide nose line speed and the guide nose acceleration classification; and taking the winding line speed, the guide nose line speed and the guide nose acceleration as indexes to form the eigenvalue matrix. n Preferably, the calculation of the eigenvalue matrix comprises:

[0027] Preferably, the calculation of the eigenvalue matrix comprises:

[0028] In the yarn forming system, the winding angle satisfies the following relationship:

[0029]

[0030] wherein x represents the position of the yarn in the axial direction of the bobbin; y represents the winding length of the yarn in the radial direction of the bobbin;

[0031] Further, it has:

[0032] δ = H x tan β = PX- PA

[0033] wherein δ represents the axial distance from the guide nose to the bobbin; H represents the vertical distance from the guide nose to the bobbin; PA represents the position of the yarn on the bobbin, and PX represents the position of the guide nose.

[0034] In the process of uniform speed of the guide nose, since β and H are constant, δ is constant, and it is in a stable state, that is, the position PX of the guide nose leads the position PA of the contact point of the yarn and the bobbin by a fixed distance δ.

[0035] In the turning of the guide nose, since there is a process of acceleration and deceleration, the stable condition of δ is broken; with the deceleration of the motor controlling the guide nose, δ gradually decreases;

[0036] When the speed of the guide nose decreases to zero, the speed of the contact point of the yarn and the bobbin does not decrease to zero, but continues to move forward in the original direction, and the position of the guide nose at this time is recorded as PX0, and the guide nose reaches the farthest end.

[0037] When the speed of the yarn contact point with the yarn drum is reduced to zero, the yarn contact point with the yarn drum is recorded as PA0, and the yarn contact point with the yarn drum reaches the farthest end. At this time, the following relationship exists:

[0038] δ = PX0- PA0

[0039] According to this method, the farthest end position PX0 of the yarn guide nozzle and the farthest end position PA0 of the yarn contact point with the yarn drum are calculated, and the deviation values δ1, δ2, δ3,... δn in different operating states are iterated. n The deviation values are indexed with the winding line speed, the yarn guide speed and the yarn guide acceleration to form a three-dimensional matrix, i.e., a characteristic value matrix.

[0040] Preferably, the dynamic winding angle compensation module based on the characteristic value comprises: discretizing the current winding line speed, the yarn guide speed and the yarn guide to obtain their levels, using the levels to index the model characteristic values in the characteristic value matrix, and correcting the model characteristic values according to the deviation of the actual values of the winding line speed, the yarn guide speed and the yarn guide from the discretized values to obtain the electronic shaping winding angle compensation, and compensating the electronic shaping yarn guide movement into the electronic shaping yarn guide movement; the dynamic winding angle compensation is performed once for each yarn guide movement planning.

[0041] In a third aspect, a computer readable storage medium storing a computer program is provided, and the computer program is executed by a processor to implement the steps of the electronic shaping winding angle compensation method.

[0042] In a fourth aspect, an electronic device is provided, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement the steps of the electronic shaping winding angle compensation method.

[0043] Compared with the prior art, the present application has the following beneficial effects:

[0044] 1. The present application can accurately control the actual movement of the yarn of the electronic shaping system, effectively avoiding the risk of appearing net yarn and steps on the end face of the yarn drum when the winding ratio or the winding angle is switched. At the same time, the mechanical adaptation flexibility of the electronic shaping system can be improved, and for different models and manufacturers, the method can be quickly compatible and the system deployment can be completed;

[0045] 2. The yarn movement is accurately controlled, and the winding angle jump can be realized, and the net yarn and steps caused by the sudden change of the winding angle will not appear; the process implementation of layered winding and segmented winding ratio is supported, and the requirements of high-end processes can be met;

[0046] 3. Not dependent on mechanical changes, greatly reducing the requirements for the length of the free yarn segment H. Making the electronic forming system more versatile, facilitating market promotion.

[0047] Other benefits of the present application will be described in the specific embodiments by introducing specific technical features and technical solutions, and those skilled in the art should be able to understand the benefits brought by the technical features and technical solutions through the introduction of the technical features and technical solutions. BRIEF DESCRIPTION OF DRAWINGS

[0048] Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0049] Figure 1 A flowchart showing the steps of the application is shown.

[0050] Figure 2 An example picture showing the yarn winding angle is shown.

[0051] Figure 3 An electronic forming winding model is shown. Figure 1 ;

[0052] Figure 4 A curve showing the relationship between the length of the free yarn segment and the deviation is shown.

[0053] Figure 5 A curve showing the relationship between the winding angle and the deviation is shown.

[0054] Figure 6 An electronic forming winding model is shown. Figure 2 . DETAILED DESCRIPTION

[0055] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0056] The electronic forming winding angle compensation method provided by the embodiment of the present application, the electronic forming system calculates the model eigenvalue matrix before starting yarn production, after the calculation is completed, the dynamic winding angle compensation based on the eigenvalue is executed, and the yarn production is started. Referring to Figure 1 , the method specifically includes:

[0057] Model eigenvalue matrix calculation step: according to the mechanical properties and the yarn winding model, the eigenvalue matrix is obtained by calculating different running states;

[0058] The model eigenvalue matrix calculation step specifically comprises: according to the set free yarn length, the rocker friction roller support point offset distance, and according to the existing winding line speed, the guide nose line speed and the guide nose acceleration grading, the model eigenvalues δ1, δ2, δ3,... δn are calculated. n ; and these model eigenvalues are indexed with the winding line speed, the guide nose line speed and the guide nose acceleration to form an eigenvalue matrix. The winding line speed, the guide nose line speed and the guide nose acceleration grading are as follows:

[0059]

[0060]

[0061] The calculation of the eigenvalue matrix comprises:

[0062] In the yarn forming system, the winding angle satisfies the following relationship:

[0063]

[0064] Wherein, x represents the position of the yarn in the axial direction of the bobbin; y represents the winding length of the yarn in the radial direction of the bobbin;

[0065] Also:

[0066] δ = H x tan β = PX- PA

[0067] Wherein, δ represents the axial distance from the guide nose to the bobbin; H represents the vertical distance from the guide nose to the bobbin; PA represents the position of the yarn on the bobbin, and PX represents the position of the guide nose.

[0068] During the uniform speed running of the guide nose, since β and H are constant, δ is constant, and it is in a stable state, that is, the position PX of the guide nose leads the position PA of the yarn contact point on the bobbin by a fixed distance δ.

[0069] During the turning of the guide nose, since there is an acceleration and deceleration process, the stability condition of δ is broken; with the deceleration of the motor controlling the guide nose, δ gradually decreases;

[0070] When the speed of the guide nose decreases to zero, the speed of the yarn contact point with the bobbin does not decrease to zero, but continues to move forward in the original direction, and the position of the guide nose at this time is recorded as PX0, and the guide nose reaches the farthest end;

[0071] When the speed of the yarn contact point with the bobbin decreases to zero, the position of the yarn contact point with the bobbin at this time is recorded as PA0, and the yarn contact point with the bobbin reaches the farthest end. At this time, the following relationship is satisfied:

[0072] δ = PX0- PA0

[0073] According to the method, the farthest end position PX0 of the yarn guide nozzle and the farthest end position PA0 of the yarn contact point with the yarn drum are calculated, and the deviation values δ1, δ2, δ3,... δ n are iterated under different operating states. The deviation values are indexed by the winding line speed, the yarn guide speed, and the yarn guide acceleration to form a three-dimensional matrix, i.e., an eigenvalue matrix.

[0074] The dynamic winding angle compensation step based on the eigenvalue includes: discretizing the current winding line speed, the yarn guide speed, and the yarn guide to obtain their levels, using the levels to index the model eigenvalues in the eigenvalue matrix, and correcting the model eigenvalues according to the deviations of the winding line speed, the yarn guide speed, and the yarn guide actual value from the discretized values to obtain the electronic shaping winding angle compensation, and compensating the electronic shaping yarn guide movement into the electronic shaping yarn guide movement.

[0075] The dynamic winding angle compensation step based on the eigenvalue specifically includes: discretizing the current winding line speed, the yarn guide speed, and the yarn guide to obtain their levels, using the levels to index the model eigenvalues in the eigenvalue matrix, and correcting the model eigenvalues according to the deviations of the winding line speed, the yarn guide speed, and the yarn guide actual value from the discretized values to obtain the electronic shaping winding angle compensation, and compensating the electronic shaping yarn guide movement into the electronic shaping yarn guide movement. The dynamic winding angle compensation is performed once for each yarn guide movement planning.

[0076] The electronic shaping winding angle compensation system can be realized by executing the flow steps of the electronic shaping winding angle compensation method, i.e., the electronic shaping winding angle compensation method can be understood as the preferred implementation of the electronic shaping winding angle compensation system by those skilled in the art.

[0077] The electronic shaping winding angle compensation system specifically includes:

[0078] The model eigenvalue matrix calculation module calculates the eigenvalue matrix under different operating states according to the mechanical characteristics and the yarn winding model;

[0079] The model eigenvalue matrix calculation module specifically includes: calculating the model eigenvalues δ1, δ2, δ3,... δ n according to the set free yarn length, the rocker friction roller support point offset distance, and the existing winding line speed, yarn guide speed, and yarn guide acceleration classification, and indexing the model eigenvalues by the winding line speed, the yarn guide speed, and the yarn guide acceleration to form the eigenvalue matrix.

[0080] The calculation of the eigenvalue matrix includes:

[0081] In the yarn shaping system, the winding angle satisfies the following relationship:

[0082]

[0083] Wherein, x represents the position of the yarn in the axial direction of the bobbin; y represents the winding length of the yarn in the radial direction of the bobbin;

[0084] Also have:

[0085] δ = H x tanβ = PX-PA

[0086] Wherein, δ represents the axial distance from the guide nozzle to the bobbin; H represents the vertical distance from the guide nozzle to the bobbin; PA represents the position of the yarn on the bobbin, and PX represents the position of the guide nozzle.

[0087] In the process of uniform running of the guide nozzle, since β and H are constant, δ is constant, and it is in a stable state, that is, the position PX of the guide nozzle leads the position PA of the yarn contact point on the bobbin by a fixed distance δ.

[0088] When the guide nozzle turns, the stable condition of δ is broken due to the existence of acceleration and deceleration process; with the deceleration of the motor controlling the guide nozzle, δ gradually decreases;

[0089] When the speed of the guide nozzle decreases to zero, the speed of the yarn contact point on the bobbin does not decrease to zero, but continues to move forward in the original direction, and the position of the guide nozzle at this time is recorded as PX0, and the guide nozzle reaches the farthest end;

[0090] When the speed of the yarn contact point on the bobbin decreases to zero, the position of the yarn contact point on the bobbin at this time is recorded as PA0, and the yarn contact point on the bobbin reaches the farthest end. At this time, the following relationship exists:

[0091] δ = PX0-PA0

[0092] According to this method, the farthest end position PX0 of the guide nozzle and the farthest end position PA0 of the yarn contact point on the bobbin are calculated, and the deviation values δ1, δ2, δ3,... δn in different running states are iterated. n The deviation values are indexed by the winding line speed, the guide yarn speed and the guide yarn acceleration to form a three-dimensional matrix, that is, the eigenvalue matrix.

[0093] The dynamic winding angle compensation module based on the eigenvalue: according to the running state, the eigenvalue matrix is dynamically queried to obtain the size of the winding angle compensation value.

[0094] The dynamic winding angle compensation module based on the eigenvalue specifically includes: discretizing the current winding line speed, the guide nozzle line speed and the guide nozzle to obtain their levels, so as to index the model eigenvalue in the eigenvalue matrix, and correct the model eigenvalue according to the deviation between the actual value and the discretized value of the winding line speed, the guide nozzle line speed and the guide nozzle, to obtain the electronic shaping winding angle compensation, and compensate it to the electronic shaping guide nozzle movement; the dynamic winding angle compensation is performed once for each guide nozzle movement planning.

[0095] Next, the application is more specific description.

[0096] As Figure 2 shown, the yarn in the yarn tube radial winding speed v j and the yarn guide nozzle line speed v h constitute a tangent relationship tan β = v h / v i , wherein β is called the winding angle.

[0097] As Figure 2 shown, in the winding work, the yarn guide nozzle to and fro guide yarn, will leave the two sides of the inclined yarn trajectory. The angle of this trajectory becomes the intersection angle α, there is the following relationship: α = 2β.

[0098] As Figure 3 shown, because of the winding yarn tube production process, the yarn is in a state of tension, so the yarn between the yarn guide structure and the yarn on the yarn tube is in the same straight line. It can be seen that the angle between the line from the yarn guide structure to the first contact point between the yarn tube and the yarn and the yarn tube radial is equal to the winding angle β. Due to this winding angle, there is a deviation δ between the travel of the yarn guide structure and the travel of the yarn, which is δ = (L d -L s ) / 2, wherein L d is the travel of the yarn guide structure; L s is the travel of the yarn.

[0099] As Figure 3 shown, the length of the free yarn segment is defined as the vertical distance between the yarn tube and the first contact point of the yarn. The deviation ΔL is determined by the winding angle β and the length of the free yarn segment, which is δ = H × tan β -- (f-1), wherein H is the length of the free yarn segment. That is, the axial distance from the yarn guide nozzle to the yarn tube is the deviation value between the travel of the yarn guide structure and the travel of the yarn.

[0100] As Figure 4 shown, the horizontal axis is the diameter of the yarn tube, and the vertical axis is the deviation δ, both in millimeters. Given the working condition winding angle β = 15°, the length of the free yarn segment is 20 mm when the diameter of the yarn tube is 45 mm, and the offset distance of the cradle friction roller fulcrum is 285 mm.

[0101] It can be seen that during production, when the diameter of the yarn tube increases, the deviation ΔL will gradually decrease. If the travel of the yarn guide structure remains unchanged, it will cause the end face of the yarn tube to have an inclination angle after processing, affecting the forming quality.

[0102] As Figure 5As shown, the horizontal axis is the winding angle, unit is °, the vertical axis is the deviation δ, unit is mm. In the case of the same yarn package diameter, the free yarn length is fixed as 20 mm, with the increase of the winding angle, the deviation δ also increases. In some applications of the electronic forming system, such as layered winding, when the winding angle is switched once, if the guide motion of the yarn guide structure is not adjusted according to the winding angle, the yarn motion will suddenly become larger or smaller, which will cause the net yarn or step, and seriously affect the product quality.

[0103] The electronic forming winding angle compensation method provided by the application comprises model eigenvalue matrix calculation and eigenvalue-based dynamic winding angle compensation.

[0104] Model eigenvalue matrix calculation: in engineering applications, the δ value needs to be discretized for storage and application. Therefore, the winding speed, the guide yarn speed and the guide yarn acceleration need to be graded. Considering the 10% engineering error, the minimum value of the above three variables is taken as the step accumulation, until their maximum value, and combined with the electronic forming winding free yarn length and the rocker friction roller fulcrum offset distance, the deviation values δ1, δ2, δ3,... δ n are iteratively calculated by the formula δ = PX0-PA0. These values are indexed to the winding speed, the guide yarn speed and the guide yarn acceleration to form a three-dimensional matrix.

[0105] Eigenvalue-based dynamic winding angle compensation: the actual winding speed, the guide yarn speed and the guide yarn acceleration are used for table lookup. In engineering applications, the above three actual values are discretized and transformed into the index of the above generated three-dimensional matrix. In this discretized retrieval process, in order to weaken the engineering error, the index result is combined with the deviation between the discretized values of the above three actual values and the original values, and linear interpolation is performed to finally obtain the winding angle compensation value. This value is directly compensated into the electronic forming guide motion.

[0106] The application is based on the following theory:

[0107] As Figure 6 shown in the electronic forming system yarn winding model, wherein,

[0108] H represents the vertical distance from the yarn guide nozzle to the yarn package;

[0109] δ represents the axial distance from the yarn guide nozzle to the yarn package contact surface of the yarn package;

[0110] θ represents the angle between the yarn and the yarn contact surface of the yarn guide and the radial direction of the yarn package.

[0111] In actual situations, the contact point of the yarn and the yarn package and the real-time position of the yarn guide are often different, i.e., δ≠0. As long as δ can be controlled, the position of the contact point of the yarn and the yarn package can be controlled by controlling the position of the yarn guide, so that the shaping of the yarn is controllable.

[0112] Ignoring the case of stopping, when V J ≠0, V h =0, the position of the yarn guide and the position of the contact point of the yarn and the yarn package in the vertical direction coincide, so that δ=0.

[0113] At this time, it will first move to the position in the vertical direction of the contact point of the yarn and the yarn package, and then be continuously wound onto the same position section circle of the yarn package.

[0114] In the stable state, the traverse line speed of the yarn is equal to the line speed of the yarn guide, so that At this time, δ remains constant. That is, the distance between the yarn guide and the contact point of the yarn and the yarn package is a fixed value.

[0115] When the yarn guide turns around, due to the inertia of the electronic shaping system, the motor has a speed-up and speed-down process when turning around. In this process, the stable condition of δ is broken. With the deceleration of the motor controlling the yarn guide, δ gradually decreases. When the speed of the yarn guide decreases to zero, the speed of the contact point of the yarn and the yarn package does not decrease to zero, but continues to move forward in the original direction. The position of the yarn guide at this time is recorded as PX, and the yarn guide reaches the farthest end. When the speed of the yarn guide changes to the opposite direction to a certain time, the speed of the contact point of the yarn and the yarn package decreases to zero, and starts to gradually move in the opposite direction. The position of the contact point of the yarn and the yarn package at this time is recorded as PA, and the contact point of the yarn and the yarn package reaches the farthest end.

[0116] Obviously, δ=PX-PA (1)

[0117] As described above, as long as the farthest end position of the yarn guide and the farthest end position of the contact point of the yarn and the yarn package are calculated, the deviation δ can be obtained.

[0118] For each instant, the winding angle satisfies the following relationship:

[0119] Wherein, x represents the position of the yarn in the axial direction of the yarn package; y represents the winding length of the yarn in the radial direction of the yarn package.

[0120] As shown in Figure 6 δ=H×tanβ (3)

[0121] The PX and PA positions under the specific winding speed, the guide nozzle wire speed and the guide nozzle acceleration can be obtained through the calculation of formula (2) and formula (3), so as to obtain the value of delta.

[0122] The electronic forming winding angle compensation method, system, device and medium provided by the embodiment of the application can accurately control the actual travel of the yarn of the electronic forming system, effectively avoids the risk of the appearance of the net yarn and the step on the end face of the yarn drum when the winding ratio or the winding angle is switched. Meanwhile, the mechanical adaptation flexibility of the electronic forming system can be improved, and for different models and manufacturers, the method can be used for quick compatibility and system deployment.

[0123] Those skilled in the art know that, in addition to implementing the system provided by the application and each device, module and unit thereof in the form of pure computer readable program code, the system provided by the application and each device, module and unit thereof can also be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps to achieve the same functions. Therefore, the system provided by the application and each device, module and unit thereof can be considered as a hardware component, and the devices, modules and units included therein for achieving various functions can also be considered as structures in the hardware component; the devices, modules and units for achieving various functions can also be considered as both software modules for implementing the method and structures in the hardware component.

[0124] The specific embodiments of the application are described above. It should be understood that the application is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the application. In the case of no conflict, the embodiments of the application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An electroforming wrap angle compensation method, characterized by, The method comprises the following steps: a model eigenvalue matrix calculation step: calculating an eigenvalue matrix under different operating states according to mechanical characteristics and a yarn winding model; a dynamic winding angle compensation step based on the eigenvalue: dynamically querying the eigenvalue matrix according to the operating state to obtain the size of the winding angle compensation value; The model eigenvalue matrix calculation step comprises: according to the set free yarn segment length, the support point offset distance of the swing frame friction roller, and according to the existing winding line speed, the thread guide nozzle line speed and the thread guide nozzle acceleration grading, calculating the model eigenvalues δ1, δ2, δ3,... δ n ; and taking the winding line speed, the thread guide nozzle line speed and the thread guide nozzle acceleration as indexes, the model eigenvalues are composed into an eigenvalue matrix. The calculation of the eigenvalue matrix comprises: In the electronic forming system, when the speed of the guide nozzle is reduced to zero, the position of the guide nozzle at this time is recorded as PX0; When the speed of the yarn contact point with the bobbin is reduced to zero, the position of the yarn contact point with the bobbin at this time is recorded as PA0; The deviation of the guide nozzle position PX0 and the yarn contact point position PA0 with the bobbin is recorded as δ, and the following relationship is obtained: δ = PX0 - PA0 According to this method, the farthest end position PX0 of the yarn guide nozzle and the farthest end position PA0 of the yarn contact point with the yarn drum under different operating states are calculated, and the corresponding model characteristic values δ1, δ2, δ3,... δ n ; these deviation values are indexed with the winding line speed, the yarn guide speed, and the yarn guide acceleration to form a three-dimensional matrix, i.e., a characteristic value matrix; The dynamic winding angle compensation step based on the eigenvalue comprises: discretizing the current winding line speed, the guide nozzle line speed and the guide nozzle to obtain their levels, using the levels to index the corresponding eigenvalue δ in the eigenvalue matrix, and correcting the eigenvalue obtained by the indexing according to the deviation between the actual values of the winding line speed, the guide nozzle line speed and the guide nozzle and the discretized values, so as to compensate the electronic forming winding angle and accumulate it into the electronic forming guide nozzle movement; the dynamic winding angle compensation is performed once for each guide nozzle movement planning.

2. An electroforming wrap angle compensation system characterized by, The method comprises the following steps: a model eigenvalue matrix calculation module: calculating an eigenvalue matrix under different operating states according to mechanical characteristics and a yarn winding model; a dynamic winding angle compensation module based on the eigenvalue: dynamically querying the eigenvalue matrix according to the operating state to obtain the size of the winding angle compensation value; The model characteristic value matrix calculation module comprises: according to different running states, including a set free yarn length, a rocker friction roller fulcrum offset distance, and grading according to an existing winding line speed, a guide nose line speed and a guide nose acceleration, calculating model characteristic values δ1, δ2, δ3,... δ n ; and taking the winding line speed, the guide nose line speed and the guide nose acceleration as indexes, the model characteristic values are combined to form a characteristic value matrix. The calculation of the eigenvalue matrix comprises: In the electronic forming system, when the speed of the guide nozzle is reduced to zero, the position of the guide nozzle at this time is recorded as PX0; When the speed of the yarn contact point with the bobbin is reduced to zero, the position of the yarn contact point with the bobbin at this time is recorded as PA0; The deviation of the guide nozzle position PX0 and the yarn contact point position PA0 with the bobbin is recorded as δ, and the following relationship is obtained: δ = PX0 - PA0 According to this method, the farthest end position PX0 of the yarn guide nozzle and the farthest end position PA0 of the yarn contact point with the yarn drum under different operating states are calculated, and the corresponding model characteristic values δ1, δ2, δ3,... δ n ; these deviation values are indexed with the winding line speed, the yarn guide speed, and the yarn guide acceleration to form a three-dimensional matrix, i.e., a characteristic value matrix; The dynamic winding angle compensation step based on the eigenvalue comprises: discretizing the current winding line speed, the guide nozzle line speed and the guide nozzle to obtain their levels, using the levels to index the corresponding eigenvalue δ in the eigenvalue matrix, and correcting the eigenvalue obtained by the indexing according to the deviation between the actual values of the winding line speed, the guide nozzle line speed and the guide nozzle and the discretized values, so as to compensate the electronic forming winding angle and accumulate it into the electronic forming guide nozzle movement; the dynamic winding angle compensation is performed once for each guide nozzle movement planning.

3. A computer readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the electronic forming winding angle compensation method of claim 1.

4. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The computer program is executed by the processor to realize the steps of the electronic forming winding angle compensation method of claim 1.

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