A vibration unwinding device based on fuzzy PID control and a control method thereof

Abstract

The application discloses a kind of based on fuzzy PID control's vibration unwinding device, comprising: support device;Wire tube placement platform, it is rotatably arranged in the upper portion of support device;Rotary mechanism module, it is arranged between support device and wire tube placement platform, for driving wire tube placement platform rotates on support device;Vibration mechanism module, coaxially arranged in the upper portion of wire tube placement platform, can reciprocate along the axis of wire tube placement platform to the outward circumference.This application also discloses a kind of based on fuzzy PID control's vibration unwinding device control method, using the vibration unwinding device based on fuzzy PID control described, accurately adjust the rotation angle of wire tube placement platform and the vibration frequency and vibration amplitude of vibration mechanism module.This application has the characteristics of improving unwinding strength and promoting overall operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of equipment technology for wire reel accessories, and more specifically, to a vibration unwinding device and its control method based on fuzzy PID control. Background Technology

[0002] Cable reels are widely used in electromechanical products. For example, in vacuum cleaners, the power cord is wound around a cable reel, and in automotive high-pressure water guns, the water hose is wound around a cable reel for easy storage and operation.

[0003] Manufacturers rely heavily on conduit reels for assembling these products. Most of the conduits mounted on these reels are purchased directly from other manufacturers. During transportation, these conduits often become tangled due to bumps and other factors. This forces manufacturers to manually straighten the tangled conduits before putting them into subsequent production, severely impacting efficiency and hindering the development of automated production lines. Therefore, it is necessary to design an untangling device to optimize this manual untangling process, enabling automated production and improving efficiency.

[0004] The existing unwinding device has an overly complicated control process, which leads to an excessively long time to complete a full workflow. Moreover, the force transmitted by the two-link structure is not large enough, and the unwinding failure is easily caused by insufficient impact force during operation due to vibration. Summary of the Invention

[0005] The purpose of this invention is to design and develop a vibration unwinding device based on fuzzy PID control. By combining multiple linkages and a power storage mechanism, the mechanical structure is optimized, ensuring that the impact force during vibration in the unwinding process is sufficient to guarantee the stable execution of the workflow and increase the impact force on the conduit.

[0006] The present invention also designed and developed a control method for a vibration unwinding device based on fuzzy PID control. According to the different degrees of winding of the wire, the vibration amplitude and vibration frequency are adjusted to optimize the control process and improve the working efficiency.

[0007] The technical solution provided by this invention is as follows:

[0008] A vibration unwinding device based on fuzzy PID control, comprising:

[0009] Support device; and

[0010] A conduit placement platform is rotatably mounted on the upper part of the support device;

[0011] A transmission disc, which is movable up and down, is located at the axis of the conduit placement platform;

[0012] The top plate is coaxially spaced above the conduit placement platform;

[0013] Multiple collision plates are slidably arranged between the axis and the outer circumference of the top plate;

[0014] Multiple first links, one end of which is respectively hinged to the transmission disk at intervals;

[0015] Multiple second links, one end of which is respectively hinged to the other end of the multiple first links, and the other end is respectively hinged at the axis of the top plate at intervals.

[0016] Multiple third links, one end of which is respectively hinged to one end of the multiple second links, and the other end of which is respectively hinged to the multiple collision plates, and each of the multiple third links is provided with a limit groove along its axial direction.

[0017] Multiple energy storage mechanisms, one end of which is hinged to the multiple second connecting rods respectively, and the other end of which is slidably disposed in the limiting groove respectively.

[0018] When the transmission disc and the top disc are in their initial positions, the plurality of energy storage mechanisms are in a compressed state; when the gap between the transmission disc and the top disc decreases, the plurality of energy storage mechanisms are in a depressurized state.

[0019] Preferably, the support device includes:

[0020] Support plate; and

[0021] A support frame, which is detachably mounted on the lower part of the support plate.

[0022] Preferably, it also includes:

[0023] The outer ring of the bearing is fixed to the support plate;

[0024] The bearing inner ring is rotatably disposed inside the bearing outer ring, and the bearing inner ring is fixed to the lower part of the conduit placement platform. The inner side of the bearing inner ring is an internal gear ring structure.

[0025] The servo motor is detachably mounted on the lower part of the support plate;

[0026] The drive wheel is rotatably mounted on the upper part of the support plate, and the drive wheel is connected to the output shaft of the servo motor. The drive wheel meshes with the inner ring of the bearing.

[0027] The drive wheel rotates 360°, and the inner ring of the bearing rotates 120°.

[0028] Preferably, it also includes:

[0029] A cylinder is detachably mounted on the support frame, and the output end of the cylinder is connected to the transmission disc;

[0030] Multiple support rods are arranged between the support plate and the top plate.

[0031] Preferably, it also includes:

[0032] Multiple slide rails are spaced apart on the lower part of the top plate, and all of the slide rails extend outward circumferentially along the axis of the top plate.

[0033] Multiple sliders are slidably mounted on the multiple slide rails, one for each slider.

[0034] Multiple limiting mechanisms are fixed one-to-one with each of the multiple slide rails at one end near the center of the top plate axis;

[0035] The multiple collision plates are fixed one-to-one on multiple sliders.

[0036] Preferably, the energy storage mechanism includes:

[0037] The first connector is hinged to the second link;

[0038] The second connector is slidably disposed in the limiting groove;

[0039] A sleeve, one end of which is fixedly connected to the first connector;

[0040] A connecting rod, one end of which is fixedly connected to the second connecting head, and the other end of which is slidably disposed inside the other end of the sleeve;

[0041] A compression spring is disposed between the first connector and the second connector, and the compression spring is sleeved on the outside of the sleeve and the connecting rod.

[0042] Preferably, it also includes:

[0043] A first magnetic switch is disposed inside the cylinder and is used to control the piston's stroke.

[0044] The second magnetic switch is disposed at a distance from the first magnetic switch inside the cylinder and is used to control the piston's stroke.

[0045] A third magnetic switch, which is disposed at a distance from the second magnetic switch inside the cylinder, is used to control the piston's stroke.

[0046] A proportional directional valve is disposed between the cylinder and the air pump, and the proportional directional valve can selectively connect both ends of the cylinder to the air pump.

[0047] Multiple pressure sensors are respectively and correspondingly arranged between multiple sliders and multiple collision plates;

[0048] The controller, which is connected to the proportional directional valve, the first magnetic switch, the second magnetic switch, the third magnetic switch and a plurality of pressure sensors, is used for receiving and transmitting signals.

[0049] When the cylinder is in the retracted state, the intervals between the first magnetic switch, the second magnetic switch, and the third magnetic switch and the cylinder piston increase sequentially.

[0050] A control method for a vibration unwinding device based on fuzzy PID control, using the aforementioned vibration unwinding device based on fuzzy PID control, includes the following steps:

[0051] Step 1: Collect the pressure when the vibration mechanism comes into contact with the flexible conduit;

[0052] Step 2: While starting the cylinder to reciprocate, adjust the cylinder's movement frequency. The cylinder should remain in the starting state for 5 seconds.

[0053] Where, if P init ≤P unite If so, the flexible conduit has been successfully untangled;

[0054] If P init >P unite And P init >P L Then the first magnetic switch is activated, causing the cylinder to perform low-amplitude reciprocating motion;

[0055] If P init >P unite And P init >P M Then the second magnetic switch is activated, causing the cylinder to perform a medium-amplitude reciprocating motion;

[0056] If P init >P unite And P init >P S Then the third magnetic switch is activated, causing the cylinder to perform high-amplitude reciprocating motion;

[0057] Among them, P init P is the average pressure when the vibration mechanism comes into contact with the flexible conduit. unite To predict the pressure required to untangle the conduit, P L P is the resistance when the conduit is lightly wound. M P is the resistance when the conduit is moderately wound. S Resistance when the conduit is heavily wound;

[0058] Step 3: If the cylinder starts 5 times, rotate the cable placement platform 120°. If the cable placement platform rotates 360°, the cable unwinding is considered a failure.

[0059] Preferably, the predicted unwinding pressure of the conduit is 2N, the resistance is 4N when the conduit is lightly wound, the resistance is 10N when the conduit is moderately wound, and the resistance is 18N when the conduit is heavily wound.

[0060] Preferably, step two further includes a fuzzy controller and a fuzzy PID controller;

[0061] The fuzzy controller includes:

[0062] The inputs are the difference e1 between the average pressure when the vibration mechanism contacts the flexible conduit and the predicted pressure when the conduit is released, and the differential of the difference ec1. The output is the opening degree of the proportional directional valve.

[0063] The fuzzy subsets of the difference e1 and the difference differential ec1 are both {NB, NM, NS, ZO, PS, PM, PB};

[0064] The universes of discourse for both the difference e1 and the differential difference ec1 are {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6};

[0065] The domain of discussion for the opening degree of the proportional directional valve is {12,13,14,15,16,17,18}.

[0066] The membership degrees of the difference e1 and the differential difference ec1 on the fuzzy subset are both Gaussian membership functions;

[0067] The membership degree of the proportional directional valve on the fuzzy subset is a trigonometric function;

[0068] The fuzzy PID control specifically includes:

[0069] The inputs are the deviation e2 and the rate of change of deviation ec2 between the two outputs of the fuzzy controller. The outputs are the proportional coefficient, proportional-integral coefficient and derivative coefficient of the PID controller. The proportional coefficient, proportional-integral coefficient and derivative coefficient of the PID controller are input to the PID controller for error compensation control of the proportional directional valve.

[0070] The fuzzy subsets of the deviation e2 and the deviation change rate ec2 are both {NB, NM, NS, ZO, PS, PM, PB}.

[0071] The universe of discourse for both the deviation e2 and the rate of change of deviation ec2 is {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6};

[0072] PID proportional coefficient K pThe domain of discourse is {1, 2, 3, 4, 5, 6};

[0073] PID proportional-integral coefficient K i The universe of discourse is {0.8, 1, 1.2, 1.4, 1.6, 1.8, 2.0};

[0074] The differential coefficient K of the PID d The domain of discourse is {5, 7, 9, 11, 13, 15, 17, 19, 21};

[0075] The membership degrees of the deviation e2 and the deviation change rate ec2 on the fuzzy subset are both Gaussian membership functions.

[0076] PID proportional coefficient K p The proportional-integral coefficient K of the PID controller i The differential coefficient K of PID d The membership degrees on fuzzy subsets are all calculated using trigonometric functions.

[0077] The beneficial effects of this invention are as follows:

[0078] (1) The present invention designs and develops a vibration unwinding device based on fuzzy PID control, optimizes the mechanical structure so that the impact force during vibration during the unwinding process is sufficient to ensure the stable execution of the workflow, increases the impact force on the tube, and uses the unwinding device to replace the manual unwinding part, thereby improving production efficiency and realizing the automation of the production line.

[0079] (2) The control method of the vibration unwinding device based on fuzzy PID control designed and developed in this invention optimizes the control process, making the time required to complete one workflow shorter; it uses intelligent control algorithm, making the output results more accurate and improving work efficiency. Attached Figure Description

[0080] Figure 1 This is a schematic diagram of the overall structure of the vibration unwinding device based on fuzzy PID control described in this invention.

[0081] Figure 2 This is a schematic diagram of the installation structure of the cylinder described in this invention.

[0082] Figure 3 This is a schematic diagram of the assembly structure of the vibration mechanism module and the rotation mechanism module described in this invention.

[0083] Figure 4 This is a schematic diagram of the conduit placement platform described in this invention.

[0084] Figure 5 This is a structural schematic diagram of the vibration mechanism module described in this invention.

[0085] Figure 6 This is a schematic diagram of the structure of the multiple connecting rods described in this invention.

[0086] Figure 7 This is a schematic diagram of the assembly structure of the energy storage mechanism described in this invention.

[0087] Figure 8 This is a schematic diagram of the energy storage mechanism described in this invention.

[0088] Figure 9 This is a schematic diagram of the internal structure of the cylinder described in this invention.

[0089] Figure 10 This is a schematic diagram of the assembly structure of the proportional directional valve described in this invention.

[0090] Figure 11 This is a schematic flowchart of the control method for the vibration unwinding device based on fuzzy PID control described in this invention.

[0091] Figure 12 This is a schematic diagram illustrating the activation of the plurality of magnetic switches described in this invention.

[0092] Figure 13 This is a schematic diagram of the structure of the cylinder with short stroke vibration according to the present invention.

[0093] Figure 14 This is a schematic diagram of the cylinder stroke vibration structure described in this invention.

[0094] Figure 15 This is a schematic diagram of the structure of the cylinder with large stroke vibration according to the present invention.

[0095] Figure 16 This is a schematic diagram of the control principle of the fuzzy PID controller described in this invention. Detailed Implementation

[0096] The present invention will now be described in further detail so that those skilled in the art can implement it based on the description.

[0097] like Figure 1 , Figure 2 As shown, the vibration unwinding device based on fuzzy PID control provided by the present invention includes:

[0098] Support device, rotating mechanism module and vibration mechanism module 140.

[0099] The support device includes a support frame 101 and a support plate 102. The support frame 101 is detachably mounted on the lower part of the support plate 102 by bolts, and is used to raise the overall height of the device. The conduit placement platform 120 is coaxially spaced on the upper part of the support plate 102, and the conduit placement platform 120 is rotatably mounted on the upper part of the support plate 102 by a rotating mechanism module, and is used to place conduits and can change the position of the vibration mechanism module 140 hitting the conduit when the conduit vibrates. The vibration mechanism module 140 is located at the axial center of the conduit placement platform 120 and can vibrate to generate a thrust on the conduit to untangle the conduit.

[0100] In this embodiment, the support frame 101 is an aluminum profile.

[0101] like Figure 3 , Figure 4 As shown, the rotating mechanism module includes: an outer bearing ring 111, an inner bearing ring 112, a servo motor 113, and a drive wheel 114. The servo motor 113 is detachably mounted on the lower part of the support plate 102, and the output shaft of the servo motor 113 passes through the support plate 102. The drive wheel 114 is rotatably mounted on the upper part of the support plate 102, and the drive wheel 114 is fixedly connected to the output shaft of the servo motor 113, driving the drive wheel 114 to rotate. The outer bearing ring 111 is fixed to the support plate 102; the inner bearing ring 112... 12 is disposed within the outer ring 111 of the bearing, and the inner ring 112 of the bearing and the outer ring 111 of the bearing are connected by ball bearings, so that the inner ring 112 of the bearing can rotate within the outer ring 111 of the bearing; the inner side of the inner ring 112 of the bearing has an internal gear ring structure, which is used to mesh with the drive wheel 114 for transmission, so that the drive wheel 114 rotates and drives the inner ring 112 of the bearing to rotate; a plurality of copper pillars 115 are spaced apart on the inner ring 112 of the bearing, and the plurality of copper pillars 115 are fixed to the lower part of the conduit placement platform 120, thereby driving the rotation of the conduit placement platform 120.

[0102] In this embodiment, the servo motor 113 drives the drive wheel 114 to rotate 360°, and the inner ring of the bearing 112 rotates 120°.

[0103] Both the support plate 102 and the conduit placement platform 120 have a central through hole at their axial positions.

[0104] like Figure 5 , Figure 6 , Figure 7As shown, the vibration mechanism module 140 includes a top plate 130, three supporting rods 131, three slide rails 133, a cylinder 142, a transmission plate 143, three first connecting rods 144, three second connecting rods 145, three third connecting rods 146, three sliders 147, three collision plates 148, three limiting mechanisms 149, and three energy storage mechanisms 150. The top plate 130 is spaced above the axis of the conduit placement platform 120 by the three supporting rods 131, and the three supporting rods 131 are fixed by connecting holes 132 on the supporting plate 102. The cylinder 142 is detachable by a fixing bracket 141. The cylinder 142 is fixed to the support frame 101, and its output end is connected to the transmission plate 143 to drive the transmission plate 143 to move up and down in the central through hole of the support plate 102 and the conduit placement platform 120. Three slide rails 133 are evenly spaced on the lower part of the top plate 130, and each slide rail 133 extends outward circumferentially along the axis of the top plate 130. Three sliders 147 are slidably mounted on the three slide rails 133. Three limiting mechanisms 149 are fixed to the ends of the three slide rails 133 near the axis of the top plate 130 to prevent the sliders 147 from retracting. The slide rail 133 is slid out; the three collision plates 148 are fixed one-to-one with the three sliders 147, and the movement of the collision plates 148 is driven by the sliding of the sliders 147; one end of each of the three first connecting rods 144 is hinged at intervals to the axis of the transmission disk 143 through the first fixed seat 161; one end of each of the three second connecting rods 145 is hinged to the other end of each of the three first connecting rods 144 through the pin 163 and the snap ring 164, and the other end is hinged at intervals to the axis of the top plate 130 through the second fixed seat 162; one end of each of the three third connecting rods 146 is connected to the plurality of second connecting rods. One end of each of the three second links 145 is hinged to the other, and the other end is hinged to the plurality of collision plates 148 respectively. Each of the plurality of third links 146 is provided with a limiting groove along its axial direction. One end of each of the three energy storage mechanisms 150 is hinged to the position of each of the three second links 145 near the second fixed seat 162, and the other end is slidably disposed in the limiting groove respectively. This allows the plurality of energy storage mechanisms 150 to be in a compressed state when the transmission disk 143 and the top disk 130 are in the initial position, and to be in a depressurized state when the gap between the transmission disk 143 and the top disk 130 decreases.

[0105] like Figure 8As shown, the power storage mechanism includes: a first connector 151, a second connector 152, a sleeve 153, a connecting rod 154, and a compression spring 155. The first connector 151 is hinged to the second connecting rod 145; the second connector 152 is slidably disposed in the limiting groove; one end of the sleeve 153 is fixedly connected to the first connector 151; one end of the connecting rod 154 is fixedly connected to the second connector 152, and the other end is slidably disposed inside the other end of the sleeve 153; the compression spring 155 is disposed between the first connector 151 and the second connector 152, and the compression spring 155 is sleeved on the outside of the sleeve 153 and the connecting rod 154.

[0106] like Figure 9 As shown, the cylinder 142 is also provided with a first magnetic switch L, a second magnetic switch M and a third magnetic switch S at intervals. When the cylinder 142 is in the retracted state, the intervals between the first magnetic switch L, the second magnetic switch M and the third magnetic switch S and the cylinder piston increase sequentially, which is used to control the different strokes of the cylinder piston.

[0107] like Figure 10 As shown, it also includes a proportional directional valve 170, which is disposed between the cylinder 142 and the air pump 200. The proportional directional valve 170 can selectively connect both ends of the cylinder 142 to the air pump 200 through a pneumatic triplet to control the vibration frequency of the cylinder 142.

[0108] In this embodiment, the proportional directional valve 170 is a two-position four-way electric valve.

[0109] The vibration unwinding device of the present invention also includes three pressure sensors (not shown in the figure), which are respectively arranged between the three sliders and the three collision plates to detect the pressure of the collision plates colliding with the conduit in real time.

[0110] The working process of the vibration unwinding device based on fuzzy PID control described in this invention is as follows:

[0111] The cylinder 142 pushes the transmission disc 143 upward, thereby causing the first connecting rod 144, the second connecting rod 145 and the third connecting rod 146 to move, which causes the slider 147 to move outward along the slide rail 133, driving the collision plate 148 to move outward and impact the flexible conduit. The energy storage mechanism 150 selects the compression spring 155, which is in a compressed state when the cylinder 142 is not pushed. When the cylinder 142 is ventilated and moves upward, the compression spring 155 is released, which makes the impact force of the collision plate 148 on the conduit greater.

[0112] This invention designs and develops a vibration unwinding device based on fuzzy PID control. The optimized mechanical structure ensures that the impact force during vibration in the unwinding process is sufficient to guarantee the stable execution of the workflow, increases the impact force on the conduit, and replaces the manual unwinding part with the unwinding device, thereby improving production efficiency and realizing the automation of the production line.

[0113] like Figure 11 As shown, the present invention also provides a control method for a vibration unwinding device based on fuzzy PID control, specifically including:

[0114] Step 1: Collect the pressure P when the vibration mechanism contacts the flexible conduit. init ;

[0115] Step 2, as follows Figures 12-15 As shown, while the cylinder is reciprocating, the cylinder's movement frequency is adjusted, and the cylinder remains in the starting state for 5 seconds.

[0116] Where, if P init ≤P unite If so, the flexible conduit has been successfully untangled;

[0117] If P init >P unite And P init >P S If the conduit is severely tangled, the third magnetic switch is activated, causing the cylinder to perform high-amplitude reciprocating motion. This involves sending signals 0 0 1 to the first, second, and third magnetic switches. When the cylinder is fully extended to its longest position, the controller sends a signal to the proportional directional valve, causing the cylinder to retract. When the magnetic switch L is triggered, the proportional directional valve is triggered to switch, causing the cylinder to extend again to complete the short-stroke high-frequency vibration.

[0118] If P init >P unite And P init >P M Then the second magnetic switch is activated, causing the cylinder to perform medium-amplitude reciprocating motion. That is, the signal 0 1 0 is sent to the first magnetic switch, the second magnetic switch and the third magnetic switch, causing the cylinder to perform medium-stroke medium-frequency vibration.

[0119] If P init >P unite And P init >P L Then, the first magnetic switch is activated, causing the cylinder to perform low-amplitude reciprocating motion. That is, a signal 1 0 0 is sent to the first, second, and third magnetic switches, causing the cylinder to perform long-stroke low-frequency vibration.

[0120] Among them, P init P is the average pressure when the vibration mechanism comes into contact with the flexible conduit.unite To predict the pressure required to untangle the conduit, P L P is the resistance when the conduit is heavily wound. M P is the resistance when the conduit is moderately wound. S The resistance when the conduit is lightly wound;

[0121] In this embodiment, the predicted unwinding pressure of the conduit is 2N, the resistance is 4N when the conduit is lightly wound, the resistance is 10N when the conduit is moderately wound, and the resistance is 18N when the conduit is heavily wound.

[0122] Step 3: The pressure sensor collects the pressure when the vibration mechanism contacts the flexible tube in real time and continues to adjust as in Step 2. If the cylinder starts 5 times (Renew), the tube placement platform is rotated 120°. If the tube placement platform rotates 3 times (360°), the tube unwinding is determined to have failed.

[0123] In this embodiment, the servo motor is set to rotate the drive wheel 360° once and return to zero after rotating 3 times by setting the PWM duty cycle.

[0124] like Figure 16 As shown, step two also includes a fuzzy controller and a fuzzy PID controller;

[0125] The fuzzy controller includes:

[0126] The inputs are the difference e1 between the average pressure when the vibration mechanism contacts the flexible conduit and the predicted pressure when the conduit is released, and the differential of the difference ec1. The output is the opening degree of the proportional directional valve.

[0127] The fuzzy subsets of the difference e1 and the difference differential ec1 are both {NB, NM, NS, ZO, PS, PM, PB};

[0128] The universes of discourse for both the difference e1 and the differential difference ec1 are {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6};

[0129] The domain of discussion for the opening degree of the proportional directional valve is {12,13,14,15,16,17,18}.

[0130] The membership degrees of the difference e1 and the differential difference ec1 on the fuzzy subset are both Gaussian membership functions;

[0131] The membership degree of the proportional directional valve on the fuzzy subset is a trigonometric function;

[0132] The control rules of the fuzzy controller are as follows:

[0133] (1) The difference e1 between the average pressure when the vibration mechanism contacts the flexible conduit and the predicted pressure when the conduit is unwound indicates that the winding is very light, so a smaller ratio of the opening of the directional valve should be selected for output (low frequency).

[0134] (2) When the average pressure when the vibration mechanism comes into contact with the flexible conduit is equal to the difference e1 between the predicted pressure when the conduit is unwound, it indicates that there is entanglement but it is not serious. Select an appropriate proportional directional valve opening (medium frequency).

[0135] (3) When the average pressure when the vibration mechanism comes into contact with the flexible conduit is large, the difference e1 between the predicted pressure for the conduit to untangle indicates severe entanglement. Therefore, a larger proportional directional valve opening should be selected for output (high frequency).

[0136] The specific control rules for fuzzy control are detailed in Table 1.

[0137] Table 1. Fuzzy Control Table for Proportional Directional Control Valve Opening

[0138]

[0139] To ensure smoother adjustment of the proportional directional valve, a fuzzy PID controller was added to prevent excessive changes in the valve's opening and the resulting large errors.

[0140] The fuzzy PID control specifically includes:

[0141] The inputs are the deviation e2 and the rate of change of deviation ec2 between the two outputs of the fuzzy controller. The outputs are the proportional coefficient, proportional-integral coefficient and derivative coefficient of the PID controller. The proportional coefficient, proportional-integral coefficient and derivative coefficient of the PID controller are input to the PID controller for error compensation control of the proportional directional valve.

[0142] The fuzzy subsets of the deviation e2 and the deviation change rate ec2 are both {NB, NM, NS, ZO, PS, PM, PB}.

[0143] The universe of discourse for both the deviation e2 and the rate of change of deviation ec2 is {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6};

[0144] PID proportional coefficient K p The domain of discourse is {1, 2, 3, 4, 5, 6};

[0145] PID proportional-integral coefficient K i The universe of discourse is {0.8, 1, 1.2, 1.4, 1.6, 1.8, 2.0};

[0146] The differential coefficient K of the PID d The domain of discourse is {5, 7, 9, 11, 13, 15, 17, 19, 21};

[0147] The membership degrees of the deviation e2 and the deviation change rate ec2 on the fuzzy subset are both Gaussian membership functions.

[0148] PID proportional coefficient K p The proportional-integral coefficient K of the PID controller i The differential coefficient K of PID d The membership degrees on fuzzy subsets are all calculated using trigonometric functions.

[0149] PID proportional coefficient K p The proportional-integral coefficient K of the PID controller i The differential coefficient K of PID d For details of the fuzzy control rules, please refer to Tables 2, 3 and 4.

[0150] Table 2. Proportional coefficient K of PID p Fuzzy control table

[0151]

[0152] Table 3. Proportional-Integral Coefficient K of PID i Fuzzy control table

[0153]

[0154]

[0155] Table 4. Differential coefficients K of PID d Fuzzy control table

[0156]

[0157] The control method for the vibration unwinding device based on fuzzy PID control provided by this invention optimizes the control process, reducing the time required to complete one workflow; it uses an intelligent control algorithm, making the output results more accurate and improving work efficiency.

[0158] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A vibration unwinding device based on fuzzy PID control, characterized in that, include: Support device; as well as A conduit placement platform is rotatably mounted on the upper part of the support device; A transmission disc, which is movable up and down, is located at the axis of the conduit placement platform; The top plate is coaxially spaced above the conduit placement platform; Multiple collision plates are slidably arranged between the axis and the outer circumference of the top plate; Multiple first links, one end of which is respectively hinged to the transmission disk at intervals; Multiple second links, one end of which is respectively hinged to the other end of the multiple first links, and the other end is respectively hinged at the axis of the top plate at intervals. Multiple third links, one end of which is respectively hinged to one end of the multiple second links, and the other end of which is respectively hinged to the multiple collision plates, and each of the multiple third links is provided with a limit groove along its axial direction. Multiple energy storage mechanisms, one end of which is hinged to the multiple second connecting rods respectively, and the other end of which is slidably disposed in the limiting groove respectively. The energy storage mechanism includes: The first connector is hinged to the second link; The second connector is slidably disposed in the limiting groove; A sleeve, one end of which is fixedly connected to the first connector; A connecting rod, one end of which is fixedly connected to the second connecting head, and the other end of which is slidably disposed inside the other end of the sleeve; A compression spring is disposed between the first connector and the second connector, and the compression spring is sleeved on the outside of the sleeve and the connecting rod; When the transmission disc and the top disc are in their initial positions, the plurality of energy storage mechanisms are in a compressed state; when the gap between the transmission disc and the top disc decreases, the plurality of energy storage mechanisms are in a depressurized state.

2. The vibration unwinding device based on fuzzy PID control as described in claim 1, characterized in that, The support device includes: Support plate; and A support frame, which is detachably mounted on the lower part of the support plate.

3. The vibration unwinding device based on fuzzy PID control as described in claim 2, characterized in that, Also includes: The outer ring of the bearing is fixed to the support plate; The bearing inner ring is rotatably disposed inside the bearing outer ring, and the bearing inner ring is fixed to the lower part of the conduit placement platform. The inner side of the bearing inner ring is an internal gear ring structure. The servo motor is detachably mounted on the lower part of the support plate; The drive wheel is rotatably mounted on the upper part of the support plate, and the drive wheel is connected to the output shaft of the servo motor. The drive wheel meshes with the inner ring of the bearing. The drive wheel rotates 360°, and the inner ring of the bearing rotates 120°.

4. The vibration unwinding device based on fuzzy PID control as described in claim 3, characterized in that, Also includes: A cylinder is detachably mounted on the support frame, and the output end of the cylinder is connected to the transmission disc; Multiple support rods are arranged between the support plate and the top plate.

5. The vibration unwinding device based on fuzzy PID control as described in claim 4, characterized in that, Also includes: Multiple slide rails are spaced apart on the lower part of the top plate, and all of the slide rails extend outward circumferentially along the axis of the top plate. Multiple sliders are slidably mounted on the multiple slide rails, one for each slider. Multiple limiting mechanisms are fixed one-to-one with each of the multiple slide rails at one end near the center of the top plate axis; The multiple collision plates are fixed one-to-one on multiple sliders.

6. The vibration unwinding device based on fuzzy PID control as described in claim 5, characterized in that, Also includes: A first magnetic switch is disposed inside the cylinder and is used to control the piston's stroke. The second magnetic switch is disposed at a distance from the first magnetic switch inside the cylinder and is used to control the piston's stroke. A third magnetic switch, which is disposed at a distance from the second magnetic switch inside the cylinder, is used to control the piston's stroke. A proportional directional valve is disposed between the cylinder and the air pump, and the proportional directional valve can selectively connect both ends of the cylinder to the air pump. Multiple pressure sensors are respectively and one-to-one arranged between multiple sliders and multiple collision plates; The controller, which is connected to the proportional directional valve, the first magnetic switch, the second magnetic switch, the third magnetic switch and a plurality of pressure sensors, is used for receiving and transmitting signals. When the cylinder is in the retracted state, the intervals between the first magnetic switch, the second magnetic switch, and the third magnetic switch and the cylinder piston increase sequentially.

7. A control method for a vibration unwinding device based on fuzzy PID control, using the vibration unwinding device based on fuzzy PID control as described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Collect the pressure when the vibration mechanism comes into contact with the flexible conduit; Step 2: While starting the cylinder to reciprocate, adjust the cylinder's movement frequency. The cylinder should remain in the starting state for 5 seconds. Among them, if If so, the flexible conduit has been successfully untangled; like and Then the first magnetic switch is activated, causing the cylinder to perform low-amplitude reciprocating motion; like and Then the second magnetic switch is activated, causing the cylinder to perform a medium-amplitude reciprocating motion; like and Then the third magnetic switch is activated, causing the cylinder to perform high-amplitude reciprocating motion; in, This represents the average pressure when the vibration mechanism comes into contact with the flexible conduit. To predict the pressure required to untangle the conduit, For the resistance when the conduit is lightly wound, The resistance when the conduit is wound moderately. Resistance when the conduit is heavily wound; Step 3: If the cylinder starts 5 times, rotate the cable placement platform 120°. If the cable placement platform rotates 360°, the cable unwinding is considered a failure.

8. The control method for the vibration unwinding device based on fuzzy PID control as described in claim 7, characterized in that, The predicted unwinding pressure of the conduit is 2N, the resistance is 4N when the conduit is lightly wound, 10N when the conduit is moderately wound, and 18N when the conduit is heavily wound.

9. The control method for the vibration unwinding device based on fuzzy PID control as described in claim 8, characterized in that, Step two also includes a fuzzy controller and a fuzzy PID controller; The fuzzy controller includes: The input is the difference between the average pressure when the vibration mechanism contacts the flexible conduit and the predicted pressure at which the conduit disengages. Differential The output is the opening degree of the proportional directional valve; The difference Sum and difference derivatives The fuzzy subsets are all {NB, NM, NS, ZO, PS, PM, PB}; The difference Sum and difference derivatives The universe of discourse is {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}; The domain of discourse for the opening degree of the proportional directional valve is {12,13,14,15,16,17,18}; The difference Sum and difference derivatives The membership degree on the fuzzy subset is a Gaussian membership function. The membership degree of the proportional directional valve on the fuzzy subset is a trigonometric function; The fuzzy PID control specifically includes: The input is the deviation between the two outputs of the fuzzy controller. Deviation change rate The output is the proportional coefficient, proportional-integral coefficient, and derivative coefficient of the PID controller. The proportional coefficient, proportional-integral coefficient, and derivative coefficient of the PID controller are input to the PID controller for error compensation control of the proportional directional valve. The deviation and rate of change of deviation The fuzzy subsets are all {NB, NM, NS, ZO, PS, PM, PB}; The deviation and rate of change of deviation The universe of discourse is {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}; PID proportional coefficient The domain of discourse is {1, 2, 3, 4, 5, 6}; PID proportional-integral coefficient The universe of discourse is {0.8, 1, 1.2, 1.4, 1.6, 1.8, 2.0}; PID derivative coefficients The domain of discourse is {5, 7, 9, 11, 13, 15, 17, 19, 21}; The deviation and rate of change of deviation The membership degree on the fuzzy subset is a Gaussian membership function. PID proportional coefficient PID proportional-integral coefficient PID differential coefficients The membership degrees on fuzzy subsets are all calculated using trigonometric functions.

Images