Coil tension control system and control method

Abstract

The present invention discloses a coil tension control system and a control method, which include: collecting the linear speed and angular speed of the coil and calculating the roll diameter ratio data; collecting the tension of the coil and calculating the tension deviation information between the linear speed and angular speed of the coil and a set tension reference value; performing PID adjustment on the tension deviation information and outputting the PID correction result; performing operation processing on the real-time linear speed information and the PID correction result to obtain a linear speed deviation value; judging whether a preset acceleration compensation enabling condition, a deceleration compensation enabling condition and / or a deceleration elongation compensation enabling condition is met, and if so, outputting a speed compensation value; calculating a linear speed calibration target value according to a preset linear speed reference value, a linear speed deviation value and a speed compensation value; performing a DIV operation on the linear speed calibration target value and the roll diameter ratio data, and controlling the output speed of a drive mechanism for retracting and releasing the coil according to the DIV operation result, so that the coil tension can be stably controlled during changes in the large, medium and small shaft diameters of the coil and during acceleration and deceleration.

Description

Technical Field

[0001] The present invention relates to the field of coil reeling and unreeling control, and in particular to a coil tension control system and a control method. Background Art

[0002] During the coiling and unwinding process, the coil diameter is constantly changing: during unwinding, the coil diameter decreases continuously; during rewinding, it increases continuously. During acceleration and deceleration, changes in the coil's inertia, acceleration and deceleration, and mechanical losses cause changes in the control system's mathematical model, resulting in unstable tension control. To address this issue, the control system requires dynamic compensation to control tension fluctuations.

[0003] At present, the main control method is to calculate the tension of the winding and unwinding device through a computer or PLC, and at the same time calculate the diameter of the winding and unwinding. According to M=F*R, where M represents the torque, F represents the tension of the wire sheet, and R represents the radius of curling or unwinding, the current torque is calculated to control the tension of the coil.

[0004] This control method has at least the following defects:

[0005] 1. During acceleration and deceleration, there is a lag in diameter calculation and torque control, which cannot be tracked in real time, resulting in unstable tension, causing the coil to be loose or too tight, resulting in poor product quality;

[0006] 2. When changing different raw materials, the inertia of the system changes greatly due to the difference in raw materials, resulting in unstable coil tension;

[0007] 3. When the coil is at different diameters, the inertia of the system changes greatly, and the system changes from linear to nonlinear, causing system instability and unstable coil tension.

[0008] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of this application. Summary of the Invention

[0009] The purpose of the present invention is to provide a coil tension control system and control method, which can stably control the coil retraction and unwinding speed to control its tension to maintain a stable range during the changes in large, medium and small shaft diameters and acceleration and deceleration processes.

[0010] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0011] A coil tension control system is used to control the tension of the coil during the winding and unwinding process. The system includes a main controller and the following modules:

[0012] A tension compensation adjustment module is configured with a tension deviation submodule, a roll diameter ratio calculation submodule, and a PID adjustment submodule. The PID adjustment submodule obtains a PID correction result based on the tension deviation information output by the tension deviation submodule, and the roll diameter ratio calculation submodule obtains roll diameter ratio data based on real-time linear speed and angular speed information.

[0013] A speed compensation adjustment module is configured with one or more of an acceleration compensation submodule, a deceleration compensation submodule, and a deceleration and elongation compensation submodule. If the acceleration compensation enabling condition preset by the acceleration compensation submodule is met, the acceleration compensation submodule outputs a preset acceleration compensation value; if the deceleration compensation enabling condition preset by the deceleration compensation submodule is met, the deceleration compensation submodule outputs a preset deceleration compensation value; if the deceleration and elongation compensation enabling condition preset by the deceleration and elongation compensation submodule is met, the deceleration and elongation compensation submodule outputs a preset deceleration and elongation compensation value; if none of the acceleration compensation enabling condition, the deceleration compensation enabling condition, and the deceleration and elongation compensation enabling condition are met, the speed compensation adjustment module outputs a speed compensation value of zero;

[0014] The main controller of the web tension control system is configured as follows:

[0015] Performing calculation processing on the real-time linear speed information and the PID correction result to obtain a linear speed deviation value;

[0016] Calculating a linear speed calibration target value according to a preset linear speed reference value, the linear speed deviation value, and a speed compensation result output by the speed compensation adjustment module;

[0017] A DIV operation is performed on the linear speed calibration target value and the roll diameter ratio data, and the output speed of the drive mechanism for winding and unwinding the coil is controlled according to the DIV operation result.

[0018] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, the tension compensation adjustment module is also configured with an inertia adjustment submodule, which estimates the inertia compensation degree of the coil based on the physical parameters of the coil, and adjusts the proportional value P of the PID adjustment submodule according to the inertia of the coil.

[0019] Furthermore, based on any one of the above technical solutions or a combination of multiple technical solutions, the system pre-builds a mapping relationship between the coil diameter value and the proportional adjustment coefficient, and the coil diameter ratio calculation submodule is further configured to calculate the coil diameter value based on the real-time linear speed and angular speed information;

[0020] The proportional value P of the PID adjustment submodule is adjusted according to the proportional adjustment coefficient corresponding to the coil diameter value.

[0021] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the tension compensation adjustment module is further configured to output the real-time linear speed; the system calculates the acceleration value of the coil according to the real-time linear speed;

[0022] If the acceleration value is greater than a preset first acceleration threshold value which is a positive number, the acceleration compensation enabling condition is met;

[0023] If the acceleration value is less than a preset negative second acceleration threshold, the deceleration compensation enabling condition is met;

[0024] If the acceleration value is maintained within a preset tolerance threshold range for a period of time that reaches a preset time threshold, the deceleration and elongation compensation enabling condition is met, wherein the lower limit value of the tolerance threshold range is greater than the second acceleration threshold, and the upper limit value of the tolerance threshold range is less than the first acceleration threshold.

[0025] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, the system also includes a linear velocity sensor and an angular velocity sensor, the linear velocity sensor is configured to detect real-time linear velocity, and the angular velocity sensor is configured to detect real-time angular velocity.

[0026] According to another aspect of the present invention, a coil tension control system is provided for controlling the tension of a coil during its retraction and unretraction process. The system includes a main controller and the following modules:

[0027] A tension compensation adjustment module is configured with a tension deviation submodule, a roll diameter ratio calculation submodule, and a PID adjustment submodule. The PID adjustment submodule obtains a PID correction result based on the tension deviation information output by the tension deviation submodule, and the roll diameter ratio calculation submodule obtains roll diameter ratio data based on real-time linear speed and angular speed information.

[0028] A speed compensation adjustment module is configured with one or more of an acceleration compensation submodule, a deceleration compensation submodule, and a deceleration and elongation compensation submodule. If the acceleration compensation enabling condition preset by the acceleration compensation submodule is met, the acceleration compensation submodule outputs a preset acceleration compensation value; if the deceleration compensation enabling condition preset by the deceleration compensation submodule is met, the deceleration compensation submodule outputs a preset deceleration compensation value; if the deceleration and elongation compensation enabling condition preset by the deceleration and elongation compensation submodule is met, the deceleration and elongation compensation submodule outputs a preset deceleration and elongation compensation value; if none of the acceleration compensation enabling condition, the deceleration compensation enabling condition, and the deceleration and elongation compensation enabling condition are met, the speed compensation adjustment module outputs a speed compensation value of zero;

[0029] The main controller of the web tension control system is configured as follows:

[0030] Performing a DIV operation on the real-time linear speed information and the roll diameter ratio data to obtain a DIV operation result; and performing a calculation on the DIV operation result and the PID correction result to obtain a speed deviation value;

[0031] Performing a DIV operation on the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data to obtain a speed compensation value;

[0032] Performing a DIV operation on the preset linear speed reference value and the winding diameter ratio data to obtain a rotation speed reference value;

[0033] Calculating a speed calibration target value based on the speed reference value, the speed deviation value, and the speed compensation value;

[0034] The output speed of the drive mechanism for winding and unwinding the coil is controlled according to the speed calibration target value.

[0035] Furthermore, according to any one of the above technical solutions or a combination of multiple technical solutions, performing a DIV operation on the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data, and performing a DIV operation on the preset linear speed reference value and the roll-diameter ratio data are two independent operation processes;

[0036] Alternatively, the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data are subjected to a DIV operation, and the preset line speed reference value and the roll-diameter ratio data are subjected to a DIV operation as an integrated operation process, including: performing operation processing on the preset line speed reference value and the speed compensation result to obtain the compensated line speed target value; performing a DIV operation on the compensated line speed target value and the roll-diameter ratio data.

[0037] Furthermore, according to any one of the above technical solutions or a combination of multiple technical solutions, performing DIV operation on the real-time line speed information and the roll diameter ratio data, and performing DIV operation on the preset line speed reference value and the roll diameter ratio data are two independent operation processes;

[0038] Alternatively, performing a DIV operation on the real-time line speed information and the roll diameter ratio data, and performing a DIV operation on the preset line speed reference value and the roll diameter ratio data are integrated into an integrated operation process, including: performing operation processing on the preset line speed reference value and the real-time line speed information to obtain the line speed target value after correcting the deviation; performing a DIV operation on the line speed target value after correcting the deviation and the roll diameter ratio data.

[0039] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, the tension compensation adjustment module is also configured with an inertia adjustment submodule, which estimates the inertia compensation degree of the coil based on the physical parameters of the coil, and adjusts the proportional value P of the PID adjustment submodule according to the inertia of the coil.

[0040] Furthermore, based on any one of the above technical solutions or a combination of multiple technical solutions, the system pre-builds a mapping relationship between the coil diameter value and the proportional adjustment coefficient, and the coil diameter ratio calculation submodule is further configured to calculate the coil diameter value based on the real-time linear speed and angular speed information;

[0041] The proportional value P of the PID adjustment submodule is adjusted according to the proportional adjustment coefficient corresponding to the coil diameter value.

[0042] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the tension compensation adjustment module is further configured to output the real-time linear speed; the system calculates the acceleration value of the coil according to the real-time linear speed;

[0043] If the acceleration value is greater than a preset first acceleration threshold value which is a positive number, the acceleration compensation enabling condition is met;

[0044] If the acceleration value is less than a preset negative second acceleration threshold, the deceleration compensation enabling condition is met;

[0045] If the acceleration value is maintained within a preset tolerance threshold range for a period of time that reaches a preset time threshold, the deceleration and elongation compensation enabling condition is met, wherein the lower limit value of the tolerance threshold range is greater than the second acceleration threshold, and the upper limit value of the tolerance threshold range is less than the first acceleration threshold.

[0046] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, the system also includes a linear velocity sensor and an angular velocity sensor, the linear velocity sensor is configured to detect real-time linear velocity, and the angular velocity sensor is configured to detect real-time angular velocity.

[0047] According to another aspect of the present invention, there is provided a method for controlling coil tension, comprising the following steps:

[0048] Collect the linear speed and angular speed information of the coil in real time and calculate the coil diameter ratio data; collect the tension of the coil in real time and calculate the tension deviation information between it and the set tension reference value;

[0049] Performing PID adjustment on the tension deviation information and outputting a PID correction result;

[0050] Performing calculation processing on the real-time linear speed information and the PID correction result to obtain a linear speed deviation value;

[0051] Determine whether a preset acceleration compensation enabling condition, deceleration compensation enabling condition, and / or deceleration elongation compensation enabling condition is met, and if so, output a speed compensation value;

[0052] Calculating a linear speed calibration target value according to a preset linear speed reference value, the linear speed deviation value, and the speed compensation value;

[0053] A DIV operation is performed on the linear speed calibration target value and the roll diameter ratio data, and the output speed of the drive mechanism for winding and unwinding the coil is controlled according to the DIV operation result.

[0054] In addition, the present invention also provides another coil tension control method, comprising the following steps:

[0055] Collect the linear speed and angular speed information of the coil in real time and calculate the coil diameter ratio data; collect the tension of the coil in real time and calculate the tension deviation information between it and the set tension reference value;

[0056] Performing PID adjustment on the tension deviation information and outputting a PID correction result;

[0057] Performing a DIV operation on the real-time linear speed information and the roll diameter ratio data to obtain a DIV operation result;

[0058] Performing calculation processing on the DIV calculation result and the PID correction result to obtain a speed deviation value;

[0059] Determine whether a preset acceleration compensation enabling condition, deceleration compensation enabling condition, and / or deceleration elongation compensation enabling condition is met, and if so, output a speed compensation value;

[0060] Performing a DIV operation on the speed compensation value and the roll-diameter ratio data to obtain a rotation speed compensation value;

[0061] Performing a DIV operation on the preset linear speed reference value and the winding diameter ratio data to obtain a rotation speed reference value;

[0062] Calculating a speed calibration target value based on the speed reference value, the speed deviation value, and the speed compensation value;

[0063] The output speed of the drive mechanism for winding and unwinding the coil is controlled according to the speed calibration target value.

[0064] Furthermore, performing a DIV operation on the real-time line speed information and the roll diameter ratio data, performing a DIV operation on the speed compensation value and the roll diameter ratio data, and performing a DIV operation on the preset line speed reference value and the roll diameter ratio data are independent operation processes.

[0065] Alternatively, performing a DIV operation on the speed compensation value output by the speed compensation adjustment module and the roll-diameter ratio data, and performing a DIV operation on the preset line speed reference value and the roll-diameter ratio data are integrated into an integrated operation process, including: performing operation processing on the preset line speed reference value and the speed compensation value to obtain a compensated line speed target value; performing a DIV operation on the compensated line speed target value and the roll-diameter ratio data;

[0066] Alternatively, performing a DIV operation on the real-time line speed information and the roll diameter ratio data, and performing a DIV operation on the preset line speed reference value and the roll diameter ratio data are integrated into an integrated operation process, including: performing operation processing on the preset line speed reference value and the real-time line speed information to obtain the line speed target value after correcting the deviation; performing a DIV operation on the line speed target value after correcting the deviation and the roll diameter ratio data.

[0067] The beneficial effects brought about by the technical solution provided by the present invention are as follows:

[0068] a. PID control is used to calculate not only the speed deviation value for tension control but also the speed compensation value for tension control, forming a solution for controlling web tension with high stability. Regardless of how the web material changes, the appropriate tension control solution can be automatically switched.

[0069] b. Incorporating inertia changes into the tension control strategy and adjusting the proportional value of PID control in real time further improves the stability and accuracy of web tension control, thereby stabilizing product quality.

[0070] c. The tension control system and method of the present invention are applicable to both coils with elongation properties and coils with zero elongation properties, and have a wide range of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0072] Figure 1 A schematic diagram of a framework of a first web tension control system provided by an exemplary embodiment of the present invention;

[0073] Figure 2 A schematic diagram of a tension compensation adjustment module according to an exemplary embodiment of the present invention;

[0074] Figure 3 A schematic diagram of a speed compensation adjustment module according to an exemplary embodiment of the present invention;

[0075] Figure 4 A diagram of a proportional coefficient adjustment architecture for PID control in a tension compensation adjustment module provided by an exemplary embodiment of the present invention;

[0076] Figure 5 A schematic framework diagram of a second web tension control system provided as an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0077] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0078] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0079] In one embodiment of the present invention, a coil tension control system is provided for controlling the tension of the coil during the winding and unwinding process. Figure 1 As shown, the system includes a main controller, a tension compensation adjustment module, and a speed compensation adjustment module, wherein the tension compensation adjustment module outputs a line speed deviation value △V, and the speed compensation adjustment module outputs a speed compensation value (including Figure 1 The acceleration / deceleration compensation and deceleration elongation speed compensation in the process are added to the speed reference value. The line speed deviation value △V, the speed compensation value, and the speed reference value are added to obtain the line speed calibration target value. This line speed calibration target value is then divided by the coil diameter ratio data to obtain the target speed, which is used to control the output speed of the motor driving the coil. The coil diameter ratio data is calculated by the tension compensation adjustment module.

[0080] The working principle of this system is:

[0081] The user sets the winding or unwinding tension value on the touchscreen. During operation, the tension sensor detects changes in the web's tension. A PLC or computer receives the set tension value and compares it with the measured value. The resulting tension difference is then used by the PID algorithm to adjust the actuator and change its speed, achieving tension control.

[0082] To further maintain constant tension control or improve tension control stability, the system adds coil diameter detection and calculation capabilities. This allows real-time calculation of coil diameter for varying coil sizes. Diameter measurement utilizes real-time detection of the coil's linear speed and angular velocity. The coil-diameter ratio calculation module uses these two parameters to calculate the actual coil-diameter ratio, controlling the actuator to adjust the torque and angular velocity to achieve constant linear speed control.

[0083] In actual working conditions, especially in textile equipment, such as the winding and unwinding process of filament winding and unwinding devices. At the starting speed of 0m / min, accelerate to more than 1000m / min, the acceleration time is within 40s, and the deceleration time is within 11s. During the acceleration and deceleration process, the control system is required to be stable and the tension is stable. At the same time, because the inertia of the winding and unwinding material changes greatly with the change of the coil diameter during the unwinding and coiling process, real-time low-tension control is required. It is necessary to consider the compensation of the speed difference during acceleration and deceleration, and when changing raw materials of different materials, at different diameters, it is necessary to consider the compensation of inertia, so as to achieve stable tension control and constant line speed control.

[0084] See Figure 2The tension compensation adjustment module includes a tension deviation submodule, a roll-diameter ratio calculation submodule, and a PID adjustment submodule. The PID adjustment submodule generates a PID correction result based on the tension deviation information output by the tension deviation submodule, and the roll-diameter ratio calculation submodule calculates the roll-diameter ratio data based on real-time linear speed and angular velocity information. The real-time linear speed information and the PID correction result are processed to obtain the aforementioned linear speed deviation value ΔV. The system also includes a linear speed sensor and an angular velocity sensor. The real-time linear speed information is collected by the linear speed sensor, and the real-time angular velocity information is collected by the angular velocity sensor.

[0085] See Figure 3 The speed compensation adjustment module includes an acceleration compensation submodule, a deceleration compensation submodule, and a deceleration and elongation compensation submodule. If the acceleration compensation enabling condition preset by the acceleration compensation submodule is met, the acceleration compensation submodule outputs a preset acceleration compensation value. If the deceleration compensation enabling condition preset by the deceleration compensation submodule is met, the deceleration compensation submodule outputs a preset deceleration compensation value. If the deceleration and elongation compensation enabling condition preset by the deceleration and elongation compensation submodule is met, the deceleration and elongation compensation submodule outputs a preset deceleration and elongation compensation value. The specific basis for determining whether the above three enabling conditions are met is as follows:

[0086] like Figure 2 As shown, the tension compensation adjustment module is further configured to output the real-time linear speed; the system calculates the acceleration value of the coil according to the real-time linear speed;

[0087] If the acceleration value is greater than a preset first acceleration threshold value which is a positive number, the acceleration compensation enabling condition is met;

[0088] If the acceleration value is less than a preset negative second acceleration threshold, the deceleration compensation enabling condition is met;

[0089] If the acceleration value is maintained within a preset tolerance threshold range for a period of time that reaches a preset time threshold, the deceleration and elongation compensation enabling condition is met, wherein the lower limit value of the tolerance threshold range is greater than the second acceleration threshold, and the upper limit value of the tolerance threshold range is less than the first acceleration threshold.

[0090] As mentioned above, the acceleration compensation value, deceleration compensation value and deceleration elongation speed compensation value are all speed compensation items output by the speed compensation adjustment module; if the acceleration compensation enabling condition, deceleration compensation enabling condition and deceleration elongation compensation enabling condition are not met, the speed compensation adjustment module outputs a speed compensation value of zero.

[0091] In one embodiment, the tension compensation adjustment module is further configured with an inertia adjustment submodule, which estimates the inertia compensation degree of the coil according to the physical parameters of the coil. For example, for raw materials of different materials, when the coil diameter is large, medium, or small, different P (proportional) values ​​are taken according to the inertia curve, such as Figure 4 As shown, the system adjusts the proportional value P of the PID adjustment submodule according to the inertia of the coil.

[0092] In one embodiment, the system pre-builds a mapping relationship between the coil diameter value and the proportional adjustment coefficient, such as Figure 4 The coil diameter-ratio adjustment coefficient curve shown, the coil diameter ratio calculation submodule is further configured to calculate the coil diameter value according to the real-time linear speed and angular speed information;

[0093] In order to ensure the stability of the PID control system during acceleration and deceleration and when different materials and diameters change, different numerical control of P (proportional) is adopted to control the stability of the control system and the linear control of the nonlinear system. Figure 4 As shown, the system adjusts the proportional value P of the PID regulator module based on the proportional adjustment coefficient corresponding to the coil diameter value. As the coil is reeled in and out, the coil diameter value changes, and the proportional value P of the PID regulator module is adjusted accordingly, enabling more precise dynamic control of the coil tension. Specifically, at a constant linear speed, a constant P (proportional) is used. At different diameters, different P (proportional) values ​​are used for large, medium, and small coil diameters. During acceleration and deceleration, different P (proportional) values ​​are used for different diameters, corresponding to large, medium, and small coil diameters.

[0094] In another embodiment of the present invention, a second coil tension control system is provided for controlling the tension of a coil during its retraction and unretraction process. The system includes a main controller and the following modules:

[0095] A tension compensation adjustment module is configured with a tension deviation submodule, a roll diameter ratio calculation submodule, and a PID adjustment submodule. The PID adjustment submodule obtains a PID correction result based on the tension deviation information output by the tension deviation submodule, and the roll diameter ratio calculation submodule obtains roll diameter ratio data based on real-time linear speed and angular speed information.

[0096] A speed compensation adjustment module is configured with one or more of an acceleration compensation submodule, a deceleration compensation submodule, and a deceleration and elongation compensation submodule. If the acceleration compensation enabling condition preset by the acceleration compensation submodule is met, the acceleration compensation submodule outputs a preset acceleration compensation value; if the deceleration compensation enabling condition preset by the deceleration compensation submodule is met, the deceleration compensation submodule outputs a preset deceleration compensation value; if the deceleration and elongation compensation enabling condition preset by the deceleration and elongation compensation submodule is met, the deceleration and elongation compensation submodule outputs a preset deceleration and elongation compensation value; if none of the acceleration compensation enabling condition, the deceleration compensation enabling condition, and the deceleration and elongation compensation enabling condition are met, the speed compensation adjustment module outputs a speed compensation value of zero;

[0097] The output line speed deviation value △V of the tension compensation adjustment module in the previous embodiment is different. Figure 5 As shown, the tension compensation adjustment module in this embodiment outputs the speed deviation value △N, and the specific method is as follows:

[0098] Performing a DIV operation on the real-time linear speed information and the roll diameter ratio data to obtain a DIV operation result;

[0099] The DIV operation result and the PID correction result are processed to obtain a rotation speed deviation value ΔN.

[0100] Similarly, a DIV operation is performed on the preset linear speed reference value and the winding diameter ratio data to obtain a rotation speed reference value;

[0101] Performing a DIV operation on the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data to obtain a speed compensation value;

[0102] Then, the speed deviation value ΔN, the speed reference value, and the speed compensation value are added to obtain a speed calibration target value; and the output speed of the drive mechanism for winding and unwinding the coil is controlled according to the speed calibration target value.

[0103] This embodiment does not limit the speed reference value to be output from the speed compensation adjustment module. For example, it can be output from an additional independent module (not shown), that is, a DIV operation is performed on the preset linear speed reference value and the roll-diameter ratio data, a DIV operation is performed on the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data, and a calculation is performed on the DIV operation result and the PID correction result to obtain the speed deviation value △N as three independent calculation processes.

[0104] For example, the speed reference value is output from the speed compensation adjustment module (such as Figure 1As shown), the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data are subjected to DIV operation, and the preset line speed reference value and the roll-diameter ratio data are subjected to DIV operation as an integrated operation process, including: performing operation processing on the preset line speed reference value and the speed compensation result to obtain the compensated line speed target value; performing DIV operation on the compensated line speed target value and the roll-diameter ratio data, and performing addition operation on the operation result and the speed deviation value △N to obtain the speed calibration target value.

[0105] For example, the speed reference value is input into the tension compensation adjustment module and output from the module (not shown). A DIV operation is performed on the real-time line speed information and the roll-diameter ratio data, and a DIV operation is performed on the preset line speed reference value and the roll-diameter ratio data as an integrated operation process. The speed compensation result output by the speed compensation adjustment module is subjected to a DIV operation on the roll-diameter ratio data to obtain a speed compensation value. The integrated operation process includes: performing an operation on the preset line speed reference value and the real-time line speed information to obtain a line speed target value after correction; performing a DIV operation on the line speed target value after correction and the roll-diameter ratio data. The operation result is added to the speed compensation value to obtain the speed calibration target value.

[0106] In one embodiment of the present invention, a method for controlling web tension is provided, comprising the following steps:

[0107] Collect the linear speed and angular speed information of the coil in real time and calculate the coil diameter ratio data; collect the tension of the coil in real time and calculate the tension deviation information between it and the set tension reference value;

[0108] Performing PID adjustment on the tension deviation information and outputting a PID correction result;

[0109] Performing calculation processing on the real-time linear speed information and the PID correction result to obtain a linear speed deviation value;

[0110] Determine whether a preset acceleration compensation enabling condition, deceleration compensation enabling condition, and / or deceleration elongation compensation enabling condition is met, and if so, output a speed compensation value;

[0111] Calculating a linear speed calibration target value according to a preset linear speed reference value, the linear speed deviation value, and the speed compensation value;

[0112] A DIV operation is performed on the linear speed calibration target value and the roll diameter ratio data, and the output speed of the drive mechanism for winding and unwinding the coil is controlled according to the DIV operation result.

[0113] The web tension control method provided in this embodiment and the first web tension control system provided in the above embodiment belong to the same inventive concept, and the description of the first web tension control system is introduced into this control method embodiment by reference.

[0114] In one embodiment of the present invention, a second web tension control method is provided, comprising the following steps:

[0115] Collect the linear speed and angular speed information of the coil in real time and calculate the coil diameter ratio data; collect the tension of the coil in real time and calculate the tension deviation information between it and the set tension reference value;

[0116] Performing PID adjustment on the tension deviation information and outputting a PID correction result;

[0117] Performing a DIV operation on the real-time linear speed information and the roll diameter ratio data to obtain a DIV operation result;

[0118] Performing calculation processing on the DIV calculation result and the PID correction result to obtain a speed deviation value;

[0119] Determine whether a preset acceleration compensation enabling condition, deceleration compensation enabling condition, and / or deceleration elongation compensation enabling condition is met, and if so, output a speed compensation value;

[0120] Performing a DIV operation on the speed compensation value and the roll-diameter ratio data to obtain a rotation speed compensation value;

[0121] Performing a DIV operation on the preset linear speed reference value and the winding diameter ratio data to obtain a rotation speed reference value;

[0122] Calculating a speed calibration target value based on the speed reference value, the speed deviation value, and the speed compensation value;

[0123] The output speed of the drive mechanism for winding and unwinding the coil is controlled according to the speed calibration target value.

[0124] The web tension control method provided in this embodiment and the second web tension control system provided in the above embodiment belong to the same inventive concept, and the description of the second web tension control system is introduced into this control method embodiment by reference.

[0125] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0126] The above is only a specific implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A coil tension control system for controlling the tension of coils during winding and unwinding, characterized in that: Includes the main controller and the following modules: A tension compensation adjustment module is configured with a tension deviation submodule, a roll diameter ratio calculation submodule, and a PID adjustment submodule. The PID adjustment submodule obtains a PID correction result based on the tension deviation information output by the tension deviation submodule, and the roll diameter ratio calculation submodule obtains roll diameter ratio data based on real-time linear speed and angular speed information. A speed compensation adjustment module is configured with an acceleration compensation submodule, a deceleration compensation submodule, and a deceleration and elongation compensation submodule. If the acceleration compensation enabling condition preset by the acceleration compensation submodule is met, the acceleration compensation submodule outputs a preset acceleration compensation value; if the deceleration compensation enabling condition preset by the deceleration compensation submodule is met, the deceleration compensation submodule outputs a preset deceleration compensation value; if the deceleration and elongation compensation enabling condition preset by the deceleration and elongation compensation submodule is met, the deceleration and elongation compensation submodule outputs a preset deceleration and elongation compensation value; if none of the acceleration compensation enabling condition, the deceleration compensation enabling condition, and the deceleration and elongation compensation enabling condition are met, the speed compensation adjustment module outputs a speed compensation value of zero; The tension compensation adjustment module is further configured to output the real-time line speed; the system calculates the acceleration value of the web according to the real-time line speed; if the acceleration value is greater than a preset first acceleration threshold value which is a positive number, the acceleration compensation enabling condition is met; if the acceleration value is less than a preset second acceleration threshold value which is a negative number, the deceleration compensation enabling condition is met; if the acceleration value is maintained within a preset tolerance threshold range for a time period which reaches a preset time threshold, the deceleration elongation compensation enabling condition is met, wherein the lower limit value of the tolerance threshold range is greater than the second acceleration threshold value, and the upper limit value of the tolerance threshold range is less than the first acceleration threshold value; The main controller of the web tension control system is configured as follows: Performing calculation processing on the real-time linear speed information and the PID correction result to obtain a linear speed deviation value; Calculating a linear speed calibration target value according to a preset linear speed reference value, the linear speed deviation value, and a speed compensation result output by the speed compensation adjustment module; A DIV operation is performed on the linear speed calibration target value and the roll diameter ratio data, and the output speed of the drive mechanism for winding and unwinding the coil is controlled according to the DIV operation result.

2. The web tension control system according to claim 1, characterized in that: The tension compensation adjustment module is further configured with an inertia adjustment submodule, which estimates the inertia compensation degree of the coil according to the physical parameters of the coil and adjusts the proportional value P of the PID adjustment submodule according to the inertia of the coil.

3. The web tension control system according to claim 1, characterized in that: The system pre-builds a mapping relationship between the coil diameter value and the proportional adjustment coefficient, and the coil diameter ratio calculation submodule is further configured to calculate the coil diameter value according to the real-time linear speed and angular speed information; The proportional value P of the PID adjustment submodule is adjusted according to the proportional adjustment coefficient corresponding to the coil diameter value.

4. The web tension control system according to claim 1, characterized in that: The system further includes a linear velocity sensor and an angular velocity sensor. The linear velocity sensor is configured to detect a real-time linear velocity, and the angular velocity sensor is configured to detect a real-time angular velocity.

5. A coil tension control system for controlling the tension of coils during winding and unwinding, characterized in that: Includes the main controller and the following modules: A tension compensation adjustment module is configured with a tension deviation submodule, a roll diameter ratio calculation submodule, and a PID adjustment submodule. The PID adjustment submodule obtains a PID correction result based on the tension deviation information output by the tension deviation submodule, and the roll diameter ratio calculation submodule obtains roll diameter ratio data based on real-time linear speed and angular speed information. A speed compensation adjustment module is configured with an acceleration compensation submodule, a deceleration compensation submodule, and a deceleration and elongation compensation submodule. If the acceleration compensation enabling condition preset by the acceleration compensation submodule is met, the acceleration compensation submodule outputs a preset acceleration compensation value; if the deceleration compensation enabling condition preset by the deceleration compensation submodule is met, the deceleration compensation submodule outputs a preset deceleration compensation value; if the deceleration and elongation compensation enabling condition preset by the deceleration and elongation compensation submodule is met, the deceleration and elongation compensation submodule outputs a preset deceleration and elongation compensation value; if none of the acceleration compensation enabling condition, the deceleration compensation enabling condition, and the deceleration and elongation compensation enabling condition are met, the speed compensation adjustment module outputs a speed compensation value of zero; The tension compensation adjustment module is further configured to output the real-time line speed; the system calculates the acceleration value of the web according to the real-time line speed; if the acceleration value is greater than a preset first acceleration threshold value which is a positive number, the acceleration compensation enabling condition is met; if the acceleration value is less than a preset second acceleration threshold value which is a negative number, the deceleration compensation enabling condition is met; if the acceleration value is maintained within a preset tolerance threshold range for a time period which reaches a preset time threshold, the deceleration elongation compensation enabling condition is met, wherein the lower limit value of the tolerance threshold range is greater than the second acceleration threshold value, and the upper limit value of the tolerance threshold range is less than the first acceleration threshold value; The main controller of the web tension control system is configured as follows: Performing a DIV operation on the real-time linear speed information and the roll diameter ratio data to obtain a DIV operation result; and performing a calculation on the DIV operation result and the PID correction result to obtain a speed deviation value; Performing a DIV operation on the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data to obtain a speed compensation value; Performing a DIV operation on the preset linear speed reference value and the winding diameter ratio data to obtain a rotation speed reference value; Calculating a speed calibration target value based on the speed reference value, the speed deviation value, and the speed compensation value; The output speed of the drive mechanism for winding and unwinding the coil is controlled according to the speed calibration target value.

6. The web tension control system according to claim 5, characterized in that: Performing a DIV operation on the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data, and performing a DIV operation on the preset line speed reference value and the roll-diameter ratio data are two independent operation processes; Alternatively, the speed compensation result output by the speed compensation adjustment module and the roll-diameter ratio data are subjected to a DIV operation, and the preset line speed reference value and the roll-diameter ratio data are subjected to a DIV operation as an integrated operation process, including: performing operation processing on the preset line speed reference value and the speed compensation result to obtain the compensated line speed target value; performing a DIV operation on the compensated line speed target value and the roll-diameter ratio data.

7. The web tension control system according to claim 5, characterized in that: Performing DIV calculation on the real-time line speed information and the roll diameter ratio data, and performing DIV calculation on the preset line speed reference value and the roll diameter ratio data are two independent calculation processes; Alternatively, performing a DIV operation on the real-time line speed information and the roll diameter ratio data, and performing a DIV operation on the preset line speed reference value and the roll diameter ratio data are integrated into an integrated operation process, including: performing operation processing on the preset line speed reference value and the real-time line speed information to obtain the line speed target value after correcting the deviation; performing a DIV operation on the line speed target value after correcting the deviation and the roll diameter ratio data.

8. The web tension control system according to any one of claims 5 to 7, characterized in that: The tension compensation adjustment module is further configured with an inertia adjustment submodule, which estimates the inertia compensation degree of the coil according to the physical parameters of the coil and adjusts the proportional value P of the PID adjustment submodule according to the inertia of the coil.

9. The web tension control system according to any one of claims 5 to 7, characterized in that: The system pre-builds a mapping relationship between the coil diameter value and the proportional adjustment coefficient, and the coil diameter ratio calculation submodule is further configured to calculate the coil diameter value according to the real-time linear speed and angular speed information; The proportional value P of the PID adjustment submodule is adjusted according to the proportional adjustment coefficient corresponding to the coil diameter value.

10. The web tension control system according to any one of claims 5 to 7, characterized in that: The system further includes a linear velocity sensor and an angular velocity sensor. The linear velocity sensor is configured to detect a real-time linear velocity, and the angular velocity sensor is configured to detect a real-time angular velocity.

11. A coil tension control method based on the coil tension control system according to claim 1, characterized in that: The following steps are involved: Collect the linear speed and angular speed information of the coil in real time and calculate the coil diameter ratio data; collect the tension of the coil in real time and calculate the tension deviation information between it and the set tension reference value; Performing PID adjustment on the tension deviation information and outputting a PID correction result; Performing calculation processing on the real-time linear speed information and the PID correction result to obtain a linear speed deviation value; Determine whether the preset acceleration compensation enabling condition, deceleration compensation enabling condition or deceleration elongation compensation enabling condition is met, and if so, output the speed compensation value; Calculating a linear speed calibration target value according to a preset linear speed reference value, the linear speed deviation value, and the speed compensation value; A DIV operation is performed on the linear speed calibration target value and the roll diameter ratio data, and the output speed of the drive mechanism for winding and unwinding the coil is controlled according to the DIV operation result.

12. A coil tension control method based on the coil tension control system according to claim 5, characterized in that: The following steps are involved: Collect the linear speed and angular speed information of the coil in real time and calculate the coil diameter ratio data; collect the tension of the coil in real time and calculate the tension deviation information between it and the set tension reference value; Performing PID adjustment on the tension deviation information and outputting a PID correction result; Performing a DIV operation on the real-time linear speed information and the roll diameter ratio data to obtain a DIV operation result; Performing calculation processing on the DIV calculation result and the PID correction result to obtain a speed deviation value; Determine whether the preset acceleration compensation enabling condition, deceleration compensation enabling condition or deceleration elongation compensation enabling condition is met, and if so, output the speed compensation value; Performing a DIV operation on the speed compensation value and the roll-diameter ratio data to obtain a rotation speed compensation value; Performing a DIV operation on the preset linear speed reference value and the winding diameter ratio data to obtain a rotation speed reference value; Calculating a speed calibration target value based on the speed reference value, the speed deviation value, and the speed compensation value; The output speed of the drive mechanism for winding and unwinding the coil is controlled according to the speed calibration target value.

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