Constant tension unwinding control method, system, device and storage medium

Abstract

The application provides a constant-tension unwinding control method, system, device and storage medium. The method is applied to a servo driver of a constant-tension unwinding control system. The system further comprises a servo motor and a tension detection unit. A preset tension value corresponding to a target roll is obtained, and an output torque of the servo motor is set as a torque corresponding to the preset tension value. An actual tension value of the target roll at present is obtained. It is judged whether the actual tension value is equal to the preset tension value. If the actual tension value is not equal to the preset tension value, the output torque of the servo motor is adjusted according to the actual tension value and the preset tension value. The actual tension value of the target roll at present is re-obtained, a new actual tension value is obtained, and the new actual tension value is compared with the preset tension value. If the new actual tension value is not equal to the preset tension value, the output torque of the servo motor is re-adjusted until the new actual tension value is equal to the preset tension value. The servo driver can directly calculate and control the servo motor, equipment resources are saved, and the purpose of improving production efficiency is achieved.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a constant tension unwinding control method, system, device and storage medium. Background Technology

[0002] Currently, winding and unwinding equipment mainly consists of tension sensors, motors, and drivers. Algorithms and programs are written on a host computer to process the data generated by the tension sensors and return the processing results to the driver, which then controls the speed or torque of the motor.

[0003] However, during the unwinding and winding control process, the production efficiency is low because the cycle of adjusting the motor speed or torque is too long. Summary of the Invention

[0004] The purpose of this application is to at least solve one of the aforementioned technical defects, particularly the technical defect in the prior art that results in low production efficiency due to the excessively long cycle of adjusting the speed or torque of the motor.

[0005] In a first aspect, this application provides a constant tension unwinding control method, applied to a servo driver in a constant tension unwinding control system, the system further including a servo motor and a tension detection unit, the method comprising:

[0006] Obtain the preset tension value corresponding to the target roll material;

[0007] Set the output torque of the servo motor to the torque corresponding to the preset tension value;

[0008] The actual tension value of the target roll material is obtained; wherein the actual tension value is detected by the tension detection unit and fed back to the servo driver;

[0009] Determine whether the actual tension value is equal to the preset tension value;

[0010] If the actual tension value is not equal to the preset tension value, the output torque of the servo motor is adjusted according to the actual tension value and the preset tension value, and the current actual tension value of the target roll material is obtained again. The new actual tension value is compared with the preset tension value. If they are not equal, the output torque of the servo motor is readjusted until the new actual tension value is equal to the preset tension value.

[0011] In one embodiment, adjusting the output torque of the servo motor based on the actual tension value and the preset tension value includes:

[0012] Based on the preset tension value, determine the preset range;

[0013] Determine whether the actual tension value is within the preset range;

[0014] If the actual tension value is within the preset range, the built-in PID control algorithm is activated;

[0015] The first torque correction value is obtained based on the actual tension value, the preset tension value, and the PID control algorithm;

[0016] The output torque of the servo motor is adjusted based on the first torque correction value.

[0017] In one embodiment, adjusting the output torque of the servo motor based on the actual tension value and the preset tension value further includes:

[0018] If the actual tension value is not within the preset range, a second torque correction value is obtained based on the preset adjustment function, the preset range, and the actual tension value.

[0019] Obtain the first endpoint value and the second endpoint value within the preset range, wherein the first endpoint value is less than the second endpoint value;

[0020] If the actual tension value is less than the first endpoint value, then the second torque correction value is increased by one unit based on the current output torque of the servo motor to adjust the output torque of the servo motor.

[0021] In one embodiment, adjusting the output torque of the servo motor based on the actual tension value and the preset tension value further includes:

[0022] If the actual tension value is greater than the second endpoint value, then the second torque correction value is reduced by one unit based on the current output torque of the servo motor to adjust the output torque of the servo motor.

[0023] In one embodiment, obtaining the preset tension value corresponding to the target roll material includes:

[0024] Obtain the material type, thickness, and width of the target roll material;

[0025] The material type, thickness, and width of the target roll material are input into a preset target model to obtain a preset tension value corresponding to the target roll material. The target model is generated by training based on multiple sets of roll material types, thicknesses, widths, and corresponding expected tension values. It is used to analyze the material type, thickness, and width of the target roll material, predict, and output a preset tension value that matches the target roll material.

[0026] Secondly, this application provides a constant tension unwinding control system, comprising:

[0027] Servo motors are used to provide power for unwinding the target roll material;

[0028] The tension detection unit is used to acquire the actual tension signal of the target roll material, amplify and convert the actual tension signal, and output the actual tension value corresponding to the target roll material.

[0029] The servo driver is electrically connected to the servo motor and the tension detection unit, respectively. The servo driver is used to obtain the preset tension value corresponding to the target roll material, and also to obtain the actual tension value corresponding to the target roll material detected by the tension detection unit. It is also used to perform torque control on the servo motor according to the preset tension value and the actual tension value.

[0030] In one embodiment, the tension detection unit includes a tension sensor and a tension transmitter;

[0031] The tension sensor is used to collect the actual tension signal of the target roll material;

[0032] The tension transmitter is electrically connected to the tension sensor and is used to amplify the actual tension signal and convert the amplified actual tension signal into an analog quantity. The analog quantity is then output to the servo driver as the actual tension value corresponding to the target roll material.

[0033] In one embodiment, obtaining the preset tension value corresponding to the target roll material includes:

[0034] The servo driver is also used to acquire the material type, thickness, and width of the target roll material, and to input the material type, thickness, and width of the target roll material into a preset target model to obtain a preset tension value corresponding to the target roll material; wherein, the target model is generated by training based on multiple sets of roll material types, thicknesses, widths, and corresponding expected tension values, and is used to analyze the material type, thickness, and width of the target roll material, predict, and output a preset tension value matching the target roll material.

[0035] Thirdly, this application provides a constant tension unwinding control device, a servo driver used in a constant tension unwinding control system, the system further including a servo motor and a tension detection unit, the device comprising:

[0036] The first acquisition module is used to acquire the preset tension value corresponding to the target roll material;

[0037] A torque setting module is used to set the output torque of the servo motor to a torque corresponding to the preset tension value;

[0038] The second acquisition module is used to acquire the current actual tension value of the target roll material; wherein the actual tension value is detected by the tension detection unit and fed back to the servo driver;

[0039] The judgment module is used to determine whether the actual tension value is equal to the preset tension value;

[0040] The torque adjustment module is used to adjust the output torque of the servo motor according to the actual tension value and the preset tension value if the actual tension value is not equal to the preset tension value, and to re-acquire the current actual tension value of the target roll material, obtain a new actual tension value and compare it with the preset tension value. If they are not equal, the output torque of the servo motor is readjusted until the new actual tension value is equal to the preset tension value.

[0041] Fourthly, this application provides a storage medium storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the constant tension unwinding control method as described in any of the above embodiments.

[0042] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0043] The constant tension unwinding control method provided in this application is applied to the servo driver of a constant tension unwinding control system. The system also includes a servo motor and a tension detection unit. When the system starts constant tension unwinding control, it acquires a preset tension value corresponding to the target roll material and sets the output torque of the servo motor to the torque corresponding to the preset tension value. It then acquires the current actual tension value of the target roll material and determines whether the actual tension value is equal to the preset tension value. If the actual tension value is not equal to the preset tension value, it adjusts the output torque of the servo motor according to the actual tension value and the preset tension value, and reacquires the current actual tension value of the target roll material. The new actual tension value is compared with the preset tension value. If they are not equal, the output torque of the servo motor is readjusted until the new actual tension value is equal to the preset tension value. The servo driver obtains the actual tension value and the preset tension value, and controls the torque of the servo motor based on the actual tension value and the preset tension value. This method of directly controlling the output torque of the servo motor does not require writing algorithms in the host computer, and then having the host computer calculate and generate adjustment instructions related to the operating parameters of the servo motor, and then transmitting the adjustment instructions to the servo driver to control the servo motor, ultimately achieving the purpose of constant tension unwinding control. In comparison, directly calculating and controlling the servo motor by the servo driver can save equipment resources and improve production efficiency. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A flowchart illustrating a constant tension unwinding control method provided in an embodiment of this application;

[0046] Figure 2 A flowchart illustrating the steps for obtaining a preset tension value corresponding to a target roll material, as provided in an embodiment of this application;

[0047] Figure 3 A flowchart illustrating the steps of adjusting the output torque of the servo motor based on the actual tension value and the preset tension value, provided for an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of a constant tension unwinding control system provided in an embodiment of this application;

[0049] Figure 5 This is a schematic diagram of the tension detection unit provided in the embodiments of this application;

[0050] Figure 6 This is a schematic diagram of a constant tension unwinding control device provided in an embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] like Figure 1 As shown, this application provides a constant tension unwinding control method, applied to a servo driver in a constant tension unwinding control system. The system further includes a servo motor and a tension detection unit. The method includes:

[0053] Step S101: Obtain the preset tension value corresponding to the target roll material.

[0054] The target roll material is the material that needs to be unwound in the constant tension unwinding control system. The preset tension value is the tension value that prevents the target roll material from deforming or wrinkling during the winding process.

[0055] Specifically, when the tension value is too high, the target roll material is prone to deformation or even breakage during the winding process. When the tension value is too low, the target roll material is prone to wrinkling during the winding process, reducing the quality of the wound product.

[0056] Step S102: Set the output torque of the servo motor to the torque corresponding to the preset tension value.

[0057] The output torque of a servo motor refers to the torque that causes the target roll to rotate. With a fixed power, the output torque of a servo motor is inversely proportional to the speed of the servo motor.

[0058] Step S103: Obtain the current actual tension value of the target roll material.

[0059] The actual tension value is detected by the tension detection unit and fed back to the servo driver.

[0060] Step S104: Determine whether the actual tension value is equal to the preset tension value.

[0061] Step S105: If the actual tension value is not equal to the preset tension value, adjust the output torque of the servo motor according to the actual tension value and the preset tension value, and re-obtain the current actual tension value of the target roll material. Compare the new actual tension value with the preset tension value. If they are not equal, readjust the output torque of the servo motor until the new actual tension value equals the preset tension value.

[0062] Step S106: If the actual tension value is equal to the preset tension value, exit torque adjustment.

[0063] For example, the units of the preset tension value and the actual tension value in the following examples are mN / m.

[0064] Assuming the preset tension value is 5, the output torque of the servo motor is set to match the preset tension value. If the actual tension value of the target roll is 4.85, the preset tension value and the actual tension value are not equal. Therefore, the output torque of the servo motor is adjusted based on the preset and actual tension values. Then, the actual tension value of the target roll is re-acquired, which is 4.95. At this point, the new actual tension value is not equal to the preset tension value. The output torque of the servo motor is adjusted again, and the actual tension value of the target roll is re-acquired, which is 5. At this point, the new actual tension value is equal to the preset tension value, and the torque adjustment is exited.

[0065] The constant tension unwinding control method provided in this application is applied to the servo driver of a constant tension unwinding control system. The system also includes a servo motor and a tension detection unit. When the system starts constant tension unwinding control, it acquires a preset tension value corresponding to the target roll material and sets the output torque of the servo motor to the torque corresponding to the preset tension value. It then acquires the current actual tension value of the target roll material and determines whether the actual tension value is equal to the preset tension value. If the actual tension value is not equal to the preset tension value, it adjusts the output torque of the servo motor according to the actual tension value and the preset tension value, and reacquires the current actual tension value of the target roll material. The new actual tension value is compared with the preset tension value. If they are not equal, the output torque of the servo motor is readjusted until the new actual tension value is equal to the preset tension value. The servo driver obtains the actual tension value and the preset tension value, and controls the torque of the servo motor based on the actual tension value and the preset tension value. This method of directly controlling the output torque of the servo motor does not require writing algorithms in the host computer, and then having the host computer calculate and generate adjustment instructions related to the operating parameters of the servo motor, and then transmitting the adjustment instructions to the servo driver to control the servo motor, ultimately achieving the purpose of constant tension unwinding control. In comparison, directly calculating and controlling the servo motor by the servo driver can save equipment resources and improve production efficiency.

[0066] like Figure 2 As shown, in one embodiment, obtaining the preset tension value corresponding to the target roll material includes:

[0067] Step S201: Obtain the material type, thickness, and width of the target roll material.

[0068] Step S202: Input the material type, thickness and width of the target roll material into the preset target model to obtain the preset tension value corresponding to the target roll material.

[0069] The target model is generated by training based on multiple sets of roll material types, thicknesses, widths, and corresponding expected tension values. It is used to analyze the material type, thickness, and width of the target roll material, predict and output a preset tension value that matches the target roll material.

[0070] Specifically, multiple sets of roll material parameters and their corresponding expected tension values ​​are used as training data for the target model. The expected tension value is the tension value that ensures the corresponding roll material does not deform or wrinkle during the winding process. The target model is trained based on this training data, so that the output preset tension value is closer to the corresponding expected tension value. This can shorten the torque adjustment cycle to a certain extent, improve production efficiency and unwinding quality of unwound products.

[0071] It is understandable that the material type, width, and thickness of the target roll material are the product parameters of the target roll material. After obtaining the product parameters of the target roll material, a preset tension value corresponding to the product parameters of the target roll material can be selected or set.

[0072] Furthermore, the selection or setting of the preset tension value corresponding to the target roll material is not limited to obtaining it from the target model. In one embodiment, the selection or setting of the preset tension value corresponding to the target roll material can also be done by the maintenance personnel manually selecting or setting the preset tension value corresponding to the target roll material based on the product parameters of the target roll material.

[0073] like Figure 3 As shown, in one embodiment, adjusting the output torque of the servo motor based on the actual tension value and the preset tension value includes:

[0074] Step S301: Determine the preset range based on the preset tension value.

[0075] For example, when the preset tension value is 5 mN / m, the preset range can be 4.95 mm / m-5.05 mm / m, 4.9 mm / m-5.1 mm / m, or 4.8 mm / m-5.2 mm / m. The preset range can be set by the operation and maintenance personnel according to the various parameters of the target roll material, or it can be determined by the constant tension unwinding control system according to the preset strategy.

[0076] Step S302: Determine whether the actual tension value is within the preset range.

[0077] Step S303: If the actual tension value is within the preset range, the built-in PID control algorithm is activated.

[0078] Step S304: Obtain the first torque correction value based on the actual tension value, the preset tension value, and the PID control algorithm.

[0079] The PID control algorithm is proportional-integral-derivative control. The principle is to form a control deviation based on the given value and the actual output value, and to form a control quantity by linearly combining the proportional, integral and derivative of the control deviation to control the controlled object. In this embodiment, the preset tension value is the given value, the actual tension value is the actual output value, the torque correction value is the control quantity, and the servo motor is the controlled object.

[0080] Step S305: Adjust the output torque of the servo motor based on the first torque correction value.

[0081] The torque correction value is the change between the current output torque of the servo motor and the adjusted output torque of the servo motor.

[0082] Step S306: If the actual tension value is not within the preset range, then the second torque correction value is obtained according to the preset adjustment function, the preset range and the actual tension value.

[0083] The independent variables of the adjustment function include the endpoint values ​​at both ends of the preset range and the actual tension value, while the dependent variable is the torque correction value.

[0084] Step S307: Obtain the first endpoint value and the second endpoint value within a preset range.

[0085] The value of the first endpoint is less than the value of the second endpoint.

[0086] Step S308: Determine the relationship between the actual tension value and the values ​​at the first and second endpoints.

[0087] Step S309: If the actual tension value is less than the first endpoint value, then add a second torque correction value of one unit to the current output torque of the servo motor to adjust the output torque of the servo motor.

[0088] Step S310: If the actual tension value is greater than the second endpoint value, then reduce the second torque correction value by one unit based on the current output torque of the servo motor to adjust the output torque of the servo motor.

[0089] It is understandable that when the actual tension value is less than the first endpoint value or greater than the second endpoint value, that is, when the error between the actual tension value and the preset tension value is large, it is necessary to adjust the output torque of the servo motor through the adjustment function. By selecting different adjustment methods through the preset range, the torque adjustment cycle can be shortened.

[0090] When the actual tension value is within the preset range, the output torque of the servo motor is adjusted through the PID control algorithm. When the actual tension value is outside the preset range, the output torque of the servo motor is adjusted through the adjustment function. The adjustment method of the servo motor's output torque is determined by the magnitude of the error between the actual tension value and the preset tension value. When the error between the actual tension value and the preset tension value is large, that is, when the actual tension value is outside the preset range, the torque correction value calculated by the adjustment function is larger than the torque correction value calculated by the PID control algorithm, which can shorten the torque adjustment cycle and improve production efficiency.

[0091] For example, in the following examples, the units of output torque and torque correction value are mN*m, and the units of preset tension value and actual tension value are mN / m.

[0092] Assuming a preset tension value of 4 and a servo motor output torque of 100, the preset range determined by the preset tension value is 3.95-4.05, where 3.95 is the first endpoint value and 4.05 is the second endpoint value. The actual tension value of the target roll is 3.5. At this point, the actual tension value is not within the preset range and is less than the first endpoint value. The torque correction value calculated by the adjustment function is 3, and the output torque of the servo motor is adjusted to 103. The actual tension value of the target roll is re-detected and found to be 3.85. At this point, the actual tension value is not within the preset range and is less than the first endpoint value. The torque correction value calculated by the adjustment function is 2, and the output torque of the servo motor is adjusted to 105. The actual tension value of the target roll is re-detected and found to be 3.98. At this point, the actual tension value is within the preset range. The PID control algorithm is activated, resulting in a torque correction value of 0.8. The output torque of the servo motor is adjusted to 105.8, and the actual tension value of the target roll is re-detected and found to be 4. At this point, the actual tension value equals the preset tension value, and the torque adjustment is exited.

[0093] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0094] like Figure 4 As shown, in one embodiment, this application provides a constant tension unwinding control system 400, comprising:

[0095] Servo motor 410 is used to provide power for unwinding the target roll material;

[0096] The tension detection unit 420 is used to acquire the actual tension signal of the target roll material, amplify and convert the actual tension signal, and output the actual tension value corresponding to the target roll material.

[0097] The servo driver 430 is electrically connected to the servo motor 410 and the tension detection unit 420 respectively. The servo driver is used to obtain the preset tension value corresponding to the target roll material, and also to obtain the actual tension value corresponding to the target roll material detected by the tension detection unit 420. It is also used to perform torque control on the servo motor according to the preset tension value and the actual tension value.

[0098] Understandably, the tension detection unit 420 feeds back the actual tension value of the target roll material to the servo driver 430. The servo driver acquires the actual tension value of the target roll material and adjusts the output torque of the servo motor based on the preset tension value and the actual tension value. After the output torque of the servo motor is adjusted, the tension detection unit 420 re-detects the actual tension value of the target roll material and feeds back the new actual tension value to the servo driver, thus forming a closed-loop torque control. This control method, in which the servo driver directly calculates and controls the servo motor, can save equipment resources and improve production efficiency.

[0099] like Figure 5 As shown, in one embodiment, the tension detection unit 420 may include a tension sensor 421 and a tension transmitter 422;

[0100] Tension sensor 421 is used to acquire the actual tension signal of the target roll material;

[0101] The tension transmitter 422 is electrically connected to the tension sensor 421. It is used to amplify the actual tension signal and convert the amplified actual tension signal into an analog quantity. The analog quantity is then output to the servo driver as the actual tension value corresponding to the target roll material.

[0102] In one embodiment, obtaining the preset tension value corresponding to the target roll material includes:

[0103] The servo driver is also used to acquire the material type, thickness and width of the target roll material, and to input the material type, thickness and width of the target roll material into a preset target model to obtain a preset tension value corresponding to the target roll material.

[0104] The target model is generated by training based on multiple sets of roll material types, thicknesses, widths, and corresponding expected tension values. It is used to analyze the material type, thickness, and width of the target roll material, predict and output a preset tension value that matches the target roll material.

[0105] Those skilled in the art will understand that Figure 4 and Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0106] The constant tension unwinding control device provided in the embodiments of this application is described below. The constant tension unwinding control device described below can be referred to in correspondence with the constant tension unwinding control method described above.

[0107] like Figure 6 As shown, this application provides a constant tension unwinding control device 500, which is a servo driver used in a constant tension unwinding control system. The system also includes a servo motor and a tension detection unit. The device includes:

[0108] The first acquisition module 501 is used to acquire the preset tension value corresponding to the target roll material;

[0109] The torque setting module 502 is used to set the output torque of the servo motor to a torque corresponding to a preset tension value.

[0110] The second acquisition module 503 is used to acquire the current actual tension value of the target roll material; wherein the actual tension value is detected by the tension detection unit and fed back to the servo driver;

[0111] The judgment module 504 is used to determine whether the actual tension value is equal to the preset tension value;

[0112] The torque adjustment module 505 is used to adjust the output torque of the servo motor according to the actual tension value and the preset tension value if the actual tension value is not equal to the preset tension value, and to re-acquire the current actual tension value of the target roll material, obtain the new actual tension value and compare it with the preset tension value. If they are not equal, the output torque of the servo motor is readjusted until the new actual tension value is equal to the preset tension value.

[0113] The division of modules in the above-described constant tension unwinding control device is merely illustrative. In other embodiments, the constant tension unwinding control device can be divided into different modules as needed to complete all or part of its functions. Each module in the above-described constant tension unwinding control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0114] In one embodiment, this application also provides a storage medium storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the constant tension unwinding control method as described in any of the above embodiments.

[0115] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. In this document, the singular forms "a," "an," and "the" may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprising," "including," or "having," etc., specify the presence of the stated features, integrals, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, integrals, steps, operations, components, parts, or combinations thereof.

[0116] Understandably, when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element.

[0117] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0118] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A constant tension unwinding control method, characterized in that, A servo driver is applied in a constant tension unwinding control system. The system further includes a servo motor and a tension detection unit. The servo driver is electrically connected to the servo motor and the tension detection unit, respectively. It is used to acquire a preset tension value corresponding to the target roll material, to acquire the actual tension value corresponding to the target roll material detected by the tension detection unit, and to perform torque control on the servo motor based on the preset tension value and the actual tension value. The method includes: Obtain the preset tension value corresponding to the target roll material; Set the output torque of the servo motor to the torque corresponding to the preset tension value; The actual tension value of the target roll material is obtained; wherein the actual tension value is detected by the tension detection unit and fed back to the servo driver; Determine whether the actual tension value is equal to the preset tension value; If the actual tension value is not equal to the preset tension value, the output torque of the servo motor is adjusted according to the actual tension value and the preset tension value, and the current actual tension value of the target roll material is obtained again. The new actual tension value is compared with the preset tension value. If they are not equal, the output torque of the servo motor is readjusted until the new actual tension value is equal to the preset tension value. The step of adjusting the output torque of the servo motor based on the actual tension value and the preset tension value includes: Based on the preset tension value, determine the preset range; Determine whether the actual tension value is within the preset range; If the actual tension value is within the preset range, the built-in PID control algorithm is activated. Based on the actual tension value, the preset tension value, and the PID control algorithm, a first torque correction value is obtained. Based on the first torque correction value, the output torque of the servo motor is adjusted. If the actual tension value is not within the preset range, then according to the preset adjustment function, the preset range and the actual tension value, a second torque correction value is obtained, and the first endpoint value and the second endpoint value of the preset range are obtained, wherein the first endpoint value is less than the second endpoint value; If the actual tension value is less than the first endpoint value, then the second torque correction value is increased by one unit based on the current output torque of the servo motor to adjust the output torque of the servo motor.

2. The constant tension unwinding control method according to claim 1, characterized in that, The step of adjusting the output torque of the servo motor based on the actual tension value and the preset tension value further includes: If the actual tension value is greater than the second endpoint value, then the second torque correction value is reduced by one unit based on the current output torque of the servo motor to adjust the output torque of the servo motor.

3. The constant tension unwinding control method according to claim 1, characterized in that, The step of obtaining the preset tension value corresponding to the target roll material includes: Obtain the material type, thickness, and width of the target roll material; The material type, thickness, and width of the target roll are input into a preset target model to obtain a preset tension value corresponding to the target roll. The target model is generated by training based on multiple sets of roll material types, thicknesses, widths, and corresponding expected tension values. It is used to analyze the material type, thickness, and width of the target roll, predict, and output a preset tension value that matches the target roll.

4. A constant tension unwinding control system, characterized in that, The system is controlled by the constant tension unwinding control method as described in any one of claims 1 to 3, wherein the system comprises: Servo motors are used to provide power for unwinding the target roll material; The tension detection unit is used to acquire the actual tension signal of the target roll material, amplify and convert the actual tension signal, and output the actual tension value corresponding to the target roll material. The servo driver is electrically connected to the servo motor and the tension detection unit, respectively. The servo driver is used to obtain the preset tension value corresponding to the target roll material, and also to obtain the actual tension value corresponding to the target roll material detected by the tension detection unit. It is also used to perform torque control on the servo motor according to the preset tension value and the actual tension value.

5. The constant tension unwinding control system according to claim 4, characterized in that, The tension detection unit includes a tension sensor and a tension transmitter; The tension sensor is used to collect the actual tension signal of the target roll material; The tension transmitter is electrically connected to the tension sensor and is used to amplify the actual tension signal and convert the amplified actual tension signal into an analog quantity. The analog quantity is then output to the servo driver as the actual tension value corresponding to the target roll material.

6. The constant tension unwinding control system according to claim 4, characterized in that, Obtaining the preset tension value corresponding to the target roll material includes: The servo driver is also used to acquire the material type, thickness, and width of the target roll material, and to input the material type, thickness, and width of the target roll material into a preset target model to obtain a preset tension value corresponding to the target roll material; wherein, the target model is generated by training based on multiple sets of roll material types, thicknesses, widths, and corresponding expected tension values, and is used to analyze the material type, thickness, and width of the target roll material, predict, and output a preset tension value matching the target roll material.

7. A constant tension unwinding control device, characterized in that, The constant tension unwinding control method as described in any one of claims 1 to 3 is used for control, and a servo driver is applied in the constant tension unwinding control system. The system further includes a servo motor and a tension detection unit. The device includes: The first acquisition module is used to acquire the preset tension value corresponding to the target roll material; A torque setting module is used to set the output torque of the servo motor to a torque corresponding to the preset tension value; The second acquisition module is used to acquire the current actual tension value of the target roll material; wherein the actual tension value is detected by the tension detection unit and fed back to the servo driver; The judgment module is used to determine whether the actual tension value is equal to the preset tension value; The torque adjustment module is used to adjust the output torque of the servo motor according to the actual tension value and the preset tension value if the actual tension value is not equal to the preset tension value, and to re-acquire the current actual tension value of the target roll material, obtain a new actual tension value and compare it with the preset tension value. If they are not equal, the output torque of the servo motor is readjusted until the new actual tension value is equal to the preset tension value.

8. A storage medium, characterized in that: The storage medium stores computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the constant tension unwinding control method as described in any one of claims 1 to 3.

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