Yarn electroforming position closed-loop control method, system, medium, and apparatus

Abstract

The application provides a yarn electronic forming position closed-loop control method, system, medium and equipment, including: parameter identification step: adopting a self-learning identification mode, key electromechanical parameters on a yarn electronic forming mechanical turning path are obtained, including parameters in an equation relationship between a cross-axis current value of a yarn electronic forming servo motor and a yarn electronic forming guide eye acceleration value; electronic forming position closed-loop control step: when the servo motor performs electronic forming turning, a model-based position closed-loop control mode is adopted, before an error occurs, key electromechanical parameters obtained through parameter identification are used for calculation according to a motion model, a target control strategy of the motor is obtained, and the motor is controlled. The application can not only ensure that real-time position precision meets high requirements, but also ensures consistency of an actual turning speed and a target turning speed curve of electronic forming.

Description

Technical Field

[0001] This invention relates to the field of textile machinery technology, specifically to a method, system, medium, and equipment for closed-loop control of yarn electronic forming position. Background Technology

[0002] Winding (also known as yarn winding) is a crucial step in the spinning process. Its task is to process the yarn from the previous process into bobbins that meet specific requirements. In simple terms, winding involves drawing yarn from one or more bobbins onto another to fulfill certain technological requirements. The machines that perform the winding process are collectively called winding machines. The key cradle component of a winding machine typically consists of a winding motor, a yarn guiding mechanism, and a bobbin holder.

[0003] Traditional winding machines process yarn bobbins by driving a winding motor, which in turn drives a grooved drum connected to the motor shaft, causing the yarn bobbin to rotate. This rotation pulls the yarn, winding it onto the bobbin. The pulled yarn then oscillates left and right along the grooved drum, arranging the yarn on the bobbin, i.e., forming the yarn. This method has the following drawbacks:

[0004] (1) The forming of the yarn bobbin is fixed at the factory. Most of the forming parameters of the yarn bobbin cannot be changed in the future, such as the cross angle, end face finishing, and stroke length. After a machine leaves the factory, it can only process a few relatively simple yarn varieties, which makes it difficult to meet the current requirements of multi-variety and multi-process spinning.

[0005] (2) It is impossible to perform precise control of the yarn bobbin during processing, such as controlling the winding ratio and the spacing between yarns. This makes it impossible to process high-quality and high-requirement raw materials.

[0006] (3) Yarn stacking is prone to occur during processing, requiring a drastic acceleration and deceleration control method for the motor to avoid this. Such drastic acceleration and deceleration will wear down the yarn, thereby reducing the quality of the processed yarn bobbin.

[0007] (4) When the winding motor drives the grooved cylinder to rotate at high speed, the traction yarn is easy to slip out of the groove of the grooved cylinder, resulting in the scrapping of the yarn cylinder in this process.

[0008] The new winding machine uses an electronic forming system to form the yarn bobbin.

[0009] The electronic forming system uses a servo motor connected to a drive belt, on which a yarn guide is mounted. The servo motor controls the left and right swing of the yarn guide by rotating in both directions. After the yarn passes through the yarn guide, it is wound onto a yarn bobbin and pulled onto the processing bobbin, thus achieving the purpose of replacing grooved bobbin forming.

[0010] Compared to grooved forming, the structural difference of the electroforming system is that the electroforming system uses a servo motor, a drive belt, and a yarn guide to achieve yarn oscillation. Grooved forming, on the other hand, uses grooves to drive the yarn oscillation. The friction cylinder surface of the electroforming system is smooth, while the grooved cylinder surface has grooves.

[0011] Compared to slotted bobbin forming, the advantages of an electronic forming system are: after the equipment leaves the factory, the cross angle, end face finishing, and stroke can be modified at any time. One machine can support multiple processes, offering great flexibility. By controlling the relative relationship between the operation of the yarn guide motor and the rotation of the processed bobbin, precise control of the winding ratio and yarn spacing can be achieved. This allows for the processing of bobbins with different densities and arrangements, providing strong support for processing high-quality, high-requirement raw materials. Similarly, by controlling the relative relationship between the yarn guide motor and the rotation of the processed bobbin, the phenomenon of yarn overlap can be effectively avoided. This control only requires modification of the operation of the yarn guide motor, without the need for acceleration or deceleration of the winding motor. Therefore, the problem of yarn overlap damaging the bobbin quality will not occur. The yarn guide nozzle can be specially shaped to prevent the yarn from slipping out of the guide structure during traction, thus avoiding bobbin scrap due to this reason.

[0012] Currently, in various applications of winding machines, electroforming systems are gradually replacing traditional slotted tube forming. Electroforming systems were initially mainly imported, but their high cost limited market share. In recent years, domestically produced electroforming systems have matured and entered the domestic manufacturing market, showing great potential. The electroforming system developed by my company has been applied in multiple fields and has spawned several related products.

[0013] Patent document CN101639702A (application number: CN200910072783.3) discloses a hydraulic and electronic integrated closed-loop proportional control system. This system solves the problems of automatic control, automatic setting, and automatic plotting of pressure curves in hydraulic pressure holding systems. It also addresses issues such as the inability to automatically correct pressure errors in known control systems, difficulties in increasing high pressure, difficulties in maintaining pressure, rapid pressure drop, inability to set pressure fluctuation ranges, and inaccurate plotting of pressure curves. The objective of this invention is achieved as follows: A control program is developed using computer software. The closed-loop control system's mathematical model, hardware PLVC, and industrial computer control system modulate the analog hydraulic pressure signal using analog voltage signals, enabling automatic plotting of the curve and drive control of the actuators. Closed-loop negative feedback automatically eliminates error signals, achieving highly precise system pressure control. After mold closing, the system provides the product in the mold with a time-cycled process of increasing, maintaining, and decreasing pressure, achieving precise control and plotting of the time-pressure curve.

[0014] Current challenges of electroforming systems:

[0015] The servo motor of the electroforming system operates under conditions of extremely high acceleration and extremely short acceleration / deceleration times: The electroforming system supports higher winding speeds. At the current high winding speeds, the reciprocating frequency of the electroforming yarn guide structure reaches approximately 500 to 1000 times per minute. During the constant speed phase, the rotational speed of the electroforming servo motor is between 1000 rpm and 2000 rpm. At this reciprocating frequency, the acceleration / deceleration time of the electroforming is only 2.5 to 5 milliseconds.

[0016] The servo motor in the electronic forming system requires high positional accuracy during acceleration and deceleration: the operation of the yarn guide must not only ensure that the error of its final target is sufficiently small, but also that the dynamic position error is sufficiently small. Therefore, during the acceleration and deceleration process of the motor, not only must the acceleration and deceleration distance be highly accurate, but the motor speed during acceleration and deceleration must also not deviate significantly.

[0017] For traditional servo motor control, the speed loop frequency is typically between 5kHz and 500Hz, meaning the speed loop period using a PID algorithm is between 200µs and 2ms, while the position loop period is even longer, generally above 2ms. Furthermore, the PID algorithm is an error-based control method. In the extreme acceleration and deceleration scenarios of an electronic molding system, by the time the position or speed error triggers the PID to react, it is already too late. Clearly, using a traditional PID closed-loop algorithm is insufficient to meet the extreme requirements of a servo motor during acceleration and deceleration in an electronic molding system. Summary of the Invention

[0018] To address the shortcomings of existing technologies, the purpose of this invention is to provide a closed-loop control method, system, medium, and device for yarn electronic forming position.

[0019] The yarn electronic forming position closed-loop control method provided by the present invention includes:

[0020] Parameter identification steps: Using a self-learning identification method, key electromechanical parameters on the turning path of the yarn electronic forming machine are obtained, including the parameters in the equation relationship between the cross-axis current value of the yarn electronic forming servo motor and the acceleration value of the yarn electronic forming guide nozzle.

[0021] Electronic forming position closed-loop control steps: When the servo motor performs electronic forming turning, a model-based position closed-loop control method is adopted. Before the error occurs, the key electromechanical parameters obtained by parameter identification are calculated based on the motion model to obtain the target control strategy of the motor and control the motor.

[0022] Preferably, the parameter identification step includes:

[0023] Single acceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and accelerates under this current, and records the acceleration time taken for the servo motor rotor speed to accelerate from preset speed one to preset speed two.

[0024] Single deceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and decelerates under this current, and records the deceleration time taken for the servo motor rotor speed to decelerate from preset speed two to preset speed one.

[0025] Repeated acceleration and deceleration: Following the above method of sampling single acceleration information and single deceleration information, different cross-axis current values ​​of the yarn electronic forming servo motor are given, so that the servo motor generates torque and accelerates or decelerates under the current, and the acceleration time and deceleration time are recorded each time.

[0026] Parameter calculation: After repeated acceleration and deceleration, the given current value, acceleration time, and deceleration time are filtered out. Acceleration and deceleration times and their corresponding given currents that are less than the acceleration and deceleration time thresholds are removed. The remaining data are then fitted using least squares to obtain the key electromechanical parameters.

[0027] Acceleration = k1 × Current value + k2

[0028] Among them, k1 and k2 are defined as two key electromechanical parameters;

[0029] Boundary constraints: After the parameters are calculated, the maximum acceleration is calculated based on the rated current of the servo motor, and the minimum acceleration is calculated based on the minimum linear current of the servo motor.

[0030] Preferably, the electronic molding position closed-loop control step includes:

[0031] Acceleration / deceleration path planning: Calculate acceleration / deceleration distances based on kinematic equations.

[0032]

[0033] Based on the above formula, calculate the acceleration and deceleration distance, and determine the position of the yarn electronic forming guide nozzle when acceleration and deceleration occur according to the maximum and minimum acceleration conditions;

[0034] Acceleration / deceleration entry judgment: Based on the acceleration / deceleration distance and the position of the yarn electronic forming guide nozzle, determine whether to start acceleration or deceleration;

[0035] Execution of acceleration and deceleration: Calculate the acceleration based on the following kinematic equations:

[0036]

[0037] Based on the calculated acceleration, calculate the target current value using the following formula:

[0038]

[0039] The current loop is controlled based on the calculated target current value to achieve closed-loop control.

[0040] Preferably, the electroforming system uses a permanent magnet synchronous servo motor and employs i d =0 vector control, its output electromagnetic torque is:

[0041]

[0042] Among them, T e It is electromagnetic torque; k e It is the electromagnetic torque constant of the traverse servo motor; i q It is the quadrature axis current of the transverse servo motor;

[0043] The electronic forming system adopts a yarn guiding mechanical structure, including a servo motor, a motor guide wheel, a yarn guide nozzle, a transmission belt, and a driven wheel. The servo motor is connected to the motor guide wheel through a motor shaft, and the yarn guide nozzle is driven to move back and forth on the motor guide wheel through the transmission belt.

[0044] If the transmission structure is a rigid connection, the relationship between the tension on the yarn guide nozzle during acceleration and deceleration and the torque output by the motor shaft is:

[0045]

[0046] Among them, F H It is the tension received by the traverse yarn guide during acceleration and deceleration; D a It is the diameter of the motor guide wheel;

[0047] The transformation yields:

[0048] F H =k F i q

[0049] Where, k F It is the tensile strength coefficient, which reflects the combined electrical and mechanical characteristics of an electroformed mechanical structure;

[0050]

[0051] The force analysis of the yarn guide tip is expressed as follows:

[0052] F H -f c =ma H

[0053] Among them, f cThe friction force experienced by the yarn guide nozzle structure is m; the mass of the yarn guide nozzle structure is a. H It is the acceleration of the yarn guide structure;

[0054] The result of the transformation is:

[0055]

[0056] Among them, a f It is the equivalent acceleration of friction, a f =f c / m;

[0057] The result of the transformation is:

[0058] i q =k a a H +b a

[0059] in,

[0060] Once the electronic molding servo motor and mechanical components are determined, k a and b a It is a constant that reflects the electrical and mechanical properties of the electronic forming system's mechanical structure;

[0061] According to the kinematic equations, we get:

[0062]

[0063] Where v1 and v0 are the final velocity and initial velocity of the electronic molding servo motor; a0 is the acceleration of the electronic molding servo motor; and s is the displacement of the electronic molding servo motor.

[0064] The target acceleration is calculated based on the target displacement and rotational speed. Then, k is obtained through a self-learning method. a and b a After obtaining the calibration value, the target current is calculated, and finally, through current loop and vector control, the control objective is achieved.

[0065] The yarn electronic forming position closed-loop control system provided by the present invention includes:

[0066] Parameter recognition module: It adopts a self-learning recognition method to obtain key electromechanical parameters on the turning path of the yarn electronic forming mechanical, including the parameters in the equation relationship between the cross-axis current value of the yarn electronic forming servo motor and the acceleration value of the yarn electronic forming guide nozzle;

[0067] Electronic forming position closed-loop control module: When the servo motor performs electronic forming turning, a model-based position closed-loop control method is adopted. Before the error occurs, the key electromechanical parameters obtained by parameter identification are calculated based on the motion model to obtain the target control strategy of the motor and control the motor.

[0068] Preferably, the parameter recognition module includes:

[0069] Single acceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and accelerates under this current, and records the acceleration time taken for the servo motor rotor speed to accelerate from preset speed one to preset speed two.

[0070] Single deceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and decelerates under this current, and records the deceleration time taken for the servo motor rotor speed to decelerate from preset speed two to preset speed one.

[0071] Repeated acceleration and deceleration: Following the above method of sampling single acceleration information and single deceleration information, different cross-axis current values ​​of the yarn electronic forming servo motor are given, so that the servo motor generates torque and accelerates or decelerates under the current, and the acceleration time and deceleration time are recorded each time.

[0072] Parameter calculation: After repeated acceleration and deceleration, the given current value, acceleration time, and deceleration time are filtered out. Acceleration and deceleration times and their corresponding given currents that are less than the acceleration and deceleration time thresholds are removed. The remaining data are then fitted using least squares to obtain the key electromechanical parameters.

[0073] Acceleration = k1 × Current value + k2

[0074] Among them, k1 and k2 are defined as two key electromechanical parameters;

[0075] Boundary constraints: After the parameters are calculated, the maximum acceleration is calculated based on the rated current of the servo motor, and the minimum acceleration is calculated based on the minimum linear current of the servo motor.

[0076] Preferably, the electronic molding position closed-loop control module includes:

[0077] Acceleration / deceleration path planning: Calculate acceleration / deceleration distances based on kinematic equations.

[0078]

[0079] Based on the above formula, calculate the acceleration and deceleration distance, and determine the position of the yarn electronic forming guide nozzle when acceleration and deceleration occur according to the maximum and minimum acceleration conditions;

[0080] Acceleration / deceleration entry judgment: Based on the acceleration / deceleration distance and the position of the yarn electronic forming guide nozzle, determine whether to start acceleration or deceleration;

[0081] Execution of acceleration and deceleration: Calculate the acceleration based on the following kinematic equations:

[0082]

[0083] Based on the calculated acceleration, calculate the target current value using the following formula:

[0084]

[0085] The current loop is controlled based on the calculated target current value to achieve closed-loop control.

[0086] Preferably, the electroforming system uses a permanent magnet synchronous servo motor and employs i d =0 vector control, its output electromagnetic torque is:

[0087]

[0088] Among them, T e It is electromagnetic torque; k e It is the electromagnetic torque constant of the traverse servo motor; i q It is the quadrature axis current of the transverse servo motor;

[0089] The electronic forming system adopts a yarn guiding mechanical structure, including a servo motor, a motor guide wheel, a yarn guide nozzle, a transmission belt, and a driven wheel. The servo motor is connected to the motor guide wheel through a motor shaft, and the yarn guide nozzle is driven to move back and forth on the motor guide wheel through the transmission belt.

[0090] If the transmission structure is a rigid connection, the relationship between the tension on the yarn guide nozzle during acceleration and deceleration and the torque output by the motor shaft is:

[0091]

[0092] Among them, F H It is the tension received by the traverse yarn guide during acceleration and deceleration; D a It is the diameter of the motor guide wheel;

[0093] The transformation yields:

[0094] F H =k F i q

[0095] Where, k F It is the tensile strength coefficient, which reflects the combined electrical and mechanical characteristics of an electroformed mechanical structure;

[0096]

[0097] The force analysis of the yarn guide tip is expressed as follows:

[0098] F H -f c =ma H

[0099] Among them, f c The friction force experienced by the yarn guide nozzle structure is m; the mass of the yarn guide nozzle structure is a. H It is the acceleration of the yarn guide structure;

[0100] The result of the transformation is:

[0101]

[0102] Among them, a f It is the equivalent acceleration of friction, a f =f c / m;

[0103] The result of the transformation is:

[0104] i q =k a a H +b a

[0105] in,

[0106] Once the electronic molding servo motor and mechanical components are determined, k a and b a It is a constant that reflects the electrical and mechanical properties of the electronic forming system's mechanical structure;

[0107] According to the kinematic equations, we get:

[0108]

[0109] Where v1 and v0 are the final velocity and initial velocity of the electronic molding servo motor; a0 is the acceleration of the electronic molding servo motor; and s is the displacement of the electronic molding servo motor.

[0110] The target acceleration is calculated based on the target displacement and rotational speed. Then, k is obtained through a self-learning method. a and b a After obtaining the calibration value, the target current is calculated, and finally, through current loop and vector control, the control objective is achieved.

[0111] According to the computer-readable storage medium storing a computer program provided by the present invention, when the computer program is executed by a processor, it implements the steps of the yarn electronic forming position closed-loop control method.

[0112] The electronic device provided by the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the computer program, when executed by the processor, implements the steps of the yarn electronic forming position closed-loop control method.

[0113] Compared with the prior art, the present invention has the following beneficial effects:

[0114] The target current given by this invention does not depend on the input error of the PID controller, but comes directly from the model calculation results. Therefore, the control result can be given before the error occurs, so as not to amplify the control error. This invention can not only ensure that the real-time position accuracy meets the high requirements, but also ensure the consistency between the actual turning speed and the target turning speed curve of the electronic forming. Attached Figure Description

[0115] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0116] Figure 1 A flowchart illustrating the steps of a closed-loop control method for the electronic forming position of yarn is shown.

[0117] Figure 2 A schematic diagram of the electronic molding mechanical structure is shown;

[0118] Figure 3 The diagram shows the force analysis of the electronically formed yarn guide nozzle. Detailed Implementation

[0119] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0120] Example:

[0121] like Figure 1 This invention provides a closed-loop control method for the electronic forming position of yarn, comprising:

[0122] Parameter identification steps: A self-learning identification method is used to obtain the key electromechanical parameters on the turning path of the yarn electronic forming machine; wherein, the parameters refer to the parameters in the equation relationship between the cross-axis current value of the yarn electronic forming servo motor and the acceleration value of the yarn electronic forming guide nozzle.

[0123] Electronic forming position closed-loop control steps: When the servo motor performs electronic forming turning, a model-based position closed-loop control method is adopted. Before the error occurs, the key electromechanical parameters obtained in the parameter identification step are used according to the motion model to obtain the target control strategy of the motor for precise control.

[0124] The parameter identification step includes:

[0125] Single acceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and accelerates under this current, and records the acceleration time taken for the servo motor rotor speed to accelerate from speed one to speed two.

[0126] Single deceleration information sampling: Given the quadrature axis current value of the yarn electronic forming servo motor, the servo motor generates torque and decelerates under this current, and records the deceleration time taken for the servo motor rotor speed to decrease from speed two to speed one.

[0127] Repeated acceleration and deceleration: Following the methods of single acceleration and deceleration information sampling described above, different cross-axis current values ​​of the yarn electronic forming servo motor are given, so that the servo motor generates torque and accelerates or decelerates under the current, and the acceleration and deceleration times are recorded each time.

[0128] Parameter calculation: After repeated acceleration and deceleration, the given current values ​​and acceleration and deceleration times are filtered out. Acceleration and deceleration times that are less than the acceleration and deceleration time thresholds, along with their corresponding given currents, are removed. The remaining data are then subjected to least-squares fitting to obtain the key electromechanical parameters.

[0129] Acceleration = k1 × Current value + k2

[0130] In the formula, k1 and k2 are defined as two key electromechanical parameters, which are also the information that the above parameter identification steps need to obtain through the self-learning method.

[0131] Boundary constraints: After the parameters are calculated, the maximum acceleration is calculated based on the rated current of the servo motor; the minimum acceleration is calculated based on the minimum linear current of the servo motor.

[0132] The closed-loop control steps for the electronic molding position include:

[0133] Acceleration / deceleration path planning: Calculate the acceleration / deceleration distance based on the following kinematic equations:

[0134]

[0135] Based on the above formula, calculate the acceleration and deceleration distance, and determine the position of the yarn electronic forming guide nozzle when acceleration and deceleration occur according to the maximum and minimum acceleration conditions.

[0136] Acceleration / deceleration entry judgment: Based on the acceleration / deceleration distance and the position of the yarn electronic forming guide nozzle, determine whether to start acceleration or deceleration.

[0137] Execution of acceleration and deceleration: Calculate the acceleration based on the following kinematic equations:

[0138]

[0139] Based on the calculated acceleration, calculate the target current value using the following formula:

[0140]

[0141] The current loop is controlled based on the calculated target quadrature-axis current value to achieve closed-loop control.

[0142] This invention is based on the following theory:

[0143] The motor in the electroforming system is a permanent magnet synchronous servo motor, employing i d =0 vector control. For this servo motor, its output electromagnetic torque is:

[0144] Among them, T e It is electromagnetic torque; k e It is the electromagnetic torque constant of the traverse servo motor; i q It is the quadrature axis current of the transverse servo motor.

[0145] like Figure 2 The diagram shows the yarn guiding mechanism of an electronic forming system, consisting of a servo motor, a motor guide wheel, a yarn guide nozzle, a transmission belt, and a driven wheel. The servo motor is connected to the motor guide wheel via a motor shaft. The transmission belt drives the yarn guide nozzle to move back and forth on the motor guide wheel. Assuming a rigid connection in the transmission structure, the relationship between the tension on the yarn guide nozzle during acceleration and deceleration and the torque output by the motor shaft is:

[0146] Among them, F H It is the tension received by the traverse yarn guide during acceleration and deceleration; D a It is the diameter of the motor guide wheel;

[0147] Substituting equation (f-1) into equation (f-2), we have: F H =k F i q -------(f-3)

[0148] Where, k F It is the tensile strength coefficient, which reflects the combined electrical and mechanical characteristics of an electroformed mechanical structure.

[0149] like Figure 3 As shown, a force analysis of the yarn guide nozzle yields: F H -f c =ma H -------(f-5)

[0150] Among them, f c The friction force experienced by the yarn guide nozzle structure is m; the mass of the yarn guide nozzle structure is a. H It is the acceleration of the yarn guide structure;

[0151] Substituting equation (f-3) into equation (f-5), we get:

[0152] Among them, a f It is the equivalent acceleration of friction, a f =f c / m;

[0153] Modifying equation (f-6), we have: i q =k a a H +b a -------(f-7)

[0154] in,

[0155] Once the electronic molding servo motor and mechanical components are determined, k a and b a It is a constant that reflects the electrical and mechanical characteristics of the electroforming system's mechanical structure. Therefore, k can be adjusted through a self-learning method. a and b a After calibrating the value, we can use equation (f-7) to obtain the relationship between the quadrature axis current of the electronic forming servo motor and the acceleration of the electronic forming yarn guide nozzle.

[0156] According to the kinematic equations

[0157] Where v1 and v0 are the final velocity and initial velocity of the electronic molding servo motor; a0 is the acceleration of the electronic molding servo motor; and s is the displacement of the electronic molding servo motor.

[0158] Using equation (f-8), the target acceleration can be calculated based on the target displacement and rotational speed. When k is obtained through a self-learning method... a and b a After determining the calibration value, the target current is calculated using equation (f-7). Finally, the control objective is achieved through current loop and vector control.

[0159] Since the target current in the control process is calculated from the current motor speed and position, there is a closed-loop relationship between its position and speed, and the whole process is a convergent position closed loop.

[0160] Example 2:

[0161] Example 2 is a preferred example of Example 1.

[0162] This invention provides a closed-loop control system for the electronic forming position of yarn, comprising the following modules:

[0163] Parameter recognition module: It adopts a self-learning recognition method to obtain key electromechanical parameters on the turning path of the yarn electronic forming machine; wherein, the parameters refer to the parameters in the equation relationship between the cross-axis current value of the yarn electronic forming servo motor and the acceleration value of the yarn electronic forming guide nozzle.

[0164] Turning position closed-loop control module: When the servo motor performs electronic forming turning, a model-based position closed-loop control method is adopted. Before the error occurs, the key electromechanical parameters obtained by the parameter identification module are used to obtain the target control strategy of the motor for precise control based on the motion model.

[0165] The parameter recognition module includes:

[0166] Single acceleration information sampling: Given the quadrature axis current value of the yarn electronic forming servo motor, the servo motor generates torque and accelerates under this current, and records the acceleration time taken for the servo motor rotor speed to accelerate from N0 to N1.

[0167] Single deceleration information sampling: Given the quadrature axis current value of the yarn electronic forming servo motor, the servo motor generates torque and decelerates under this current, and records the deceleration time taken for the servo motor rotor speed to decelerate from N1 to N0.

[0168] Repeated acceleration and deceleration: Following the methods of single acceleration and deceleration information sampling described above, different cross-axis current values ​​of the yarn electronic forming servo motor are given, so that the servo motor generates torque and accelerates or decelerates under the current, and the acceleration and deceleration times are recorded each time.

[0169] Parameter calculation: After repeated acceleration and deceleration, the given current value and acceleration / deceleration time are filtered, and values ​​less than T are discarded. TH After determining the acceleration and deceleration times and their corresponding given currents, a least-squares fit is performed on the remaining data to obtain the following relationship:

[0170] a = k1 × i + k2

[0171] In the formula, a is defined as the acceleration value of the yarn electronic forming guide nozzle; i is defined as the quadrature axis current value of the yarn electronic forming servo motor; k1 and k2 are defined as two key electromechanical parameters, which are also the information that the above parameter identification module needs to obtain through the self-learning method.

[0172] Boundary constraints: After the parameters are calculated, based on the rated current i of the servo motor... rate Calculate the maximum acceleration a max According to the minimum linear current i of the servo motor min Calculate the minimum acceleration a min .

[0173] The electronic molding position closed-loop control module includes:

[0174] Acceleration / deceleration path planning: Calculate the acceleration / deceleration distance based on the following kinematic equations:

[0175]

[0176] In the formula, v0 is the initial velocity when entering acceleration or deceleration; v1 is the final velocity when entering or exiting the acceleration phase and entering the uniform velocity phase, or exiting the deceleration phase and entering the acceleration phase; a0 is the acceleration value calculated by the yarn electronic forming guide nozzle; and s is the acceleration or deceleration distance.

[0177] Calculate the following results using the above formula:

[0178] Based on maximum acceleration a max Calculate the acceleration and deceleration distance to obtain S. min ;

[0179] Based on minimum acceleration a min Calculate the acceleration and deceleration distance to obtain S. max ;

[0180] Based on the default acceleration / deceleration distance S default Calculate the default acceleration a default ;

[0181] When the default acceleration satisfies a default ∈(0,a min When [the acceleration / deceleration distance is S], the acceleration / deceleration distance is S. min ;

[0182] When the default acceleration satisfies a default ∈(a min ,a max When [the acceleration / deceleration distance is S], the acceleration / deceleration distance is S. default ;

[0183] When the default acceleration satisfies a default ∈(a max When the acceleration / deceleration distance is S (+∞), the acceleration / deceleration distance is S. max ;

[0184] Based on the above formula, calculate the acceleration and deceleration distance to determine the location of the yarn electronic forming guide nozzle where acceleration and deceleration occur.

[0185] Acceleration / deceleration entry judgment: Based on the acceleration / deceleration distance and the position of the yarn electronic forming guide nozzle, determine whether to start model calculation and implement acceleration or deceleration.

[0186] When moving at a constant speed, the position of the current yarn electronic forming guide tip is monitored in real time to see if it has reached the starting position of deceleration. When it is found that the deceleration position has been exceeded, deceleration begins according to the calculation method of the model.

[0187] After decelerating to 0 speed, it begins to accelerate according to the calculation method of the model.

[0188] Once the target speed is reached or the displacement of the yarn electronic forming guide nozzle exceeds the acceleration distance, the system enters a constant speed phase.

[0189] Execution of acceleration and deceleration: Calculate the acceleration based on the following kinematic equations:

[0190]

[0191] In the formula, v0 is the initial velocity when entering acceleration or deceleration; v1 is the final velocity when entering or exiting the acceleration phase and entering the uniform velocity phase, or exiting the deceleration phase and entering the acceleration phase; a1 is the target acceleration value of the yarn electronic forming guide nozzle; ΔS is the current distance between the electronic forming guide nozzle and the target position.

[0192] Calculate a1, and then calculate the target current value using the following formula:

[0193]

[0194] In the formula, a1 is the target acceleration value of the yarn electronic forming guide nozzle; k1 and k2 are defined as two key electromechanical parameters, which are also the information that the above parameter identification module needs to obtain through the self-learning method; i1 is the target cross-axis current value of the yarn electronic forming servo motor; the current loop is controlled according to the calculated target cross-axis current value i1 to achieve the purpose of closed-loop control.

[0195] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0196] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can 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. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0197] Specific embodiments of the present invention have been described above. It should be understood that the present invention 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 do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A closed-loop control method for the electronic forming position of yarn, characterized in that, include: Parameter identification steps: Using a self-learning identification method, key electromechanical parameters on the turning path of the yarn electronic forming machine are obtained, including the parameters in the equation relationship between the cross-axis current value of the yarn electronic forming servo motor and the acceleration value of the yarn electronic forming guide nozzle. Electronic forming position closed-loop control steps: When the servo motor performs electronic forming turning, a model-based position closed-loop control method is adopted. Before the error occurs, the key electromechanical parameters obtained by parameter identification are calculated based on the motion model to obtain the target control strategy of the motor and control the motor. The electroforming system uses a permanent magnet synchronous servo motor. Vector control, its output electromagnetic torque is: in, It is electromagnetic torque; It is the electromagnetic torque constant of the transverse servo motor; It is the quadrature axis current of the transverse servo motor; The electronic forming system adopts a yarn guiding mechanical structure, including a servo motor, a motor guide wheel, a yarn guide nozzle, a transmission belt, and a driven wheel. The servo motor is connected to the motor guide wheel through a motor shaft, and the yarn guide nozzle is driven to move back and forth on the motor guide wheel through the transmission belt. If the transmission structure is a rigid connection, the relationship between the tension on the yarn guide nozzle during acceleration and deceleration and the torque output by the motor shaft is: in, It is the tension received by the transverse yarn guide during acceleration and deceleration; It is the diameter of the motor guide wheel; The transformation yields: in, It is the tensile strength coefficient, which reflects the combined electrical and mechanical characteristics of an electroformed mechanical structure; The force analysis of the yarn guide tip is expressed as follows: in, is the frictional force acting on the yarn guide nozzle structure; m is the mass of the yarn guide nozzle structure; It is the acceleration of the yarn guide structure; The result of the transformation is: in, It is the equivalent acceleration of friction. ; The result of the transformation is: in, , Once the electronic molding servo motor and mechanical components are determined... and It is a constant that reflects the electrical and mechanical properties of the electronic forming system's mechanical structure; According to the kinematic equations, we get: in, and These are the final speed and initial speed of the electronic molding servo motor; It is the acceleration of the electron-forming servo motor; Displacement of the electron forming servo motor; The target acceleration is calculated based on the target displacement and rotational speed. This acceleration is then obtained through a self-learning method. and After setting the calibration value, the target current is calculated, and finally the control purpose is achieved through current loop and vector control. The parameter identification step includes: Single acceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and accelerates under this current, and records the acceleration time taken for the servo motor rotor speed to accelerate from preset speed one to preset speed two. Single deceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and decelerates under this current, and records the deceleration time taken for the servo motor rotor speed to decelerate from preset speed two to preset speed one. Repeated acceleration and deceleration: Following the above method of sampling single acceleration information and single deceleration information, different cross-axis current values ​​of the yarn electronic forming servo motor are given, so that the servo motor generates torque and accelerates or decelerates under the current, and the acceleration time and deceleration time are recorded each time. Parameter calculation: After repeated acceleration and deceleration, the given current value, acceleration time, and deceleration time are filtered out. Acceleration and deceleration times and their corresponding given currents that are less than the acceleration and deceleration time thresholds are removed. The remaining data are then fitted using least squares to obtain the key electromechanical parameters. in, and Defined as two key electromechanical parameters; Boundary constraints: After the parameters are calculated, the maximum acceleration is calculated based on the rated current of the servo motor, and the minimum acceleration is calculated based on the minimum linear current of the servo motor. The closed-loop control steps for the electronic molding position include: Acceleration / deceleration path planning: Calculate acceleration / deceleration distances based on kinematic equations. Based on the above formula, calculate the acceleration and deceleration distance, and determine the position of the yarn electronic forming guide nozzle when acceleration and deceleration occur according to the maximum and minimum acceleration conditions; Acceleration / deceleration entry judgment: Based on the acceleration / deceleration distance and the position of the yarn electronic forming guide nozzle, determine whether to start acceleration or deceleration; Execution of acceleration and deceleration: Calculate the acceleration based on the following kinematic equations: Based on the calculated acceleration, calculate the target current value using the following formula: The current loop is controlled based on the calculated target current value to achieve closed-loop control.

2. A closed-loop control system for electronic yarn forming position, characterized in that, include: Parameter recognition module: It adopts a self-learning recognition method to obtain key electromechanical parameters on the turning path of the yarn electronic forming mechanical, including the parameters in the equation relationship between the cross-axis current value of the yarn electronic forming servo motor and the acceleration value of the yarn electronic forming guide nozzle; Electronic forming position closed-loop control module: When the servo motor performs electronic forming turning, a model-based position closed-loop control method is adopted. Before the error occurs, the key electromechanical parameters obtained by parameter identification are calculated based on the motion model to obtain the target control strategy of the motor and control the motor. The electroforming system uses a permanent magnet synchronous servo motor. Vector control, its output electromagnetic torque is: in, It is electromagnetic torque; It is the electromagnetic torque constant of the transverse servo motor; It is the quadrature axis current of the transverse servo motor; The electronic forming system adopts a yarn guiding mechanical structure, including a servo motor, a motor guide wheel, a yarn guide nozzle, a transmission belt, and a driven wheel. The servo motor is connected to the motor guide wheel through a motor shaft, and the yarn guide nozzle is driven to move back and forth on the motor guide wheel through the transmission belt. If the transmission structure is a rigid connection, the relationship between the tension on the yarn guide nozzle during acceleration and deceleration and the torque output by the motor shaft is: in, It is the tension received by the transverse yarn guide during acceleration and deceleration; It is the diameter of the motor guide wheel; The transformation yields: in, It is the tensile strength coefficient, which reflects the combined electrical and mechanical characteristics of an electroformed mechanical structure; The force analysis of the yarn guide tip is expressed as follows: in, is the frictional force acting on the yarn guide nozzle structure; m is the mass of the yarn guide nozzle structure; It is the acceleration of the yarn guide structure; The result of the transformation is: in, It is the equivalent acceleration of friction. ; The result of the transformation is: in, , Once the electronic molding servo motor and mechanical components are determined... and It is a constant that reflects the electrical and mechanical properties of the electronic forming system's mechanical structure; According to the kinematic equations, we get: in, and These are the final speed and initial speed of the electronic molding servo motor; It is the acceleration of the electron-forming servo motor; Displacement of the electron forming servo motor; The target acceleration is calculated based on the target displacement and rotational speed. This acceleration is then obtained through a self-learning method. and After setting the calibration value, the target current is calculated, and finally the control purpose is achieved through current loop and vector control. The parameter recognition module includes: Single acceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and accelerates under this current, and records the acceleration time taken for the servo motor rotor speed to accelerate from preset speed one to preset speed two. Single deceleration information sampling: Given the cross-axis current value of the yarn electronic forming servo motor, the servo motor generates torque and decelerates under this current, and records the deceleration time taken for the servo motor rotor speed to decelerate from preset speed two to preset speed one. Repeated acceleration and deceleration: Following the above method of sampling single acceleration information and single deceleration information, different cross-axis current values ​​of the yarn electronic forming servo motor are given, so that the servo motor generates torque and accelerates or decelerates under the current, and the acceleration time and deceleration time are recorded each time. Parameter calculation: After repeated acceleration and deceleration, the given current value, acceleration time, and deceleration time are filtered out. Acceleration and deceleration times and their corresponding given currents that are less than the acceleration and deceleration time thresholds are removed. The remaining data are then fitted using least squares to obtain the key electromechanical parameters. in, and Defined as two key electromechanical parameters; Boundary constraints: After the parameters are calculated, the maximum acceleration is calculated based on the rated current of the servo motor, and the minimum acceleration is calculated based on the minimum linear current of the servo motor. The electronic molding position closed-loop control module includes: Acceleration / deceleration path planning: Calculate acceleration / deceleration distances based on kinematic equations. Based on the above formula, calculate the acceleration and deceleration distance, and determine the position of the yarn electronic forming guide nozzle when acceleration and deceleration occur according to the maximum and minimum acceleration conditions; Acceleration / deceleration entry judgment: Based on the acceleration / deceleration distance and the position of the yarn electronic forming guide nozzle, determine whether to start acceleration or deceleration; Execution of acceleration and deceleration: Calculate the acceleration based on the following kinematic equations: Based on the calculated acceleration, calculate the target current value using the following formula: The current loop is controlled based on the calculated target current value to achieve closed-loop control.

3. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the yarn electronic forming position closed-loop control method according to claim 1.

4. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is executed by the processor, it implements the steps of the yarn electronic forming position closed-loop control method according to claim 1.

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