Press-fit gluing line arrangement equipment, tension control method thereof and computer storage medium

Abstract

The invention discloses press-fit gluing line arrangement equipment, a tension control method thereof and a computer storage medium. The method comprises the steps that in the unwinding process, the unwinding angle analog quantity transmitted by an unwinding dance wheel angle sensor is acquired; carrying out unwinding PID operation on the unwinding angle analog quantity based on a fuzzy PID algorithm, and outputting an unwinding speed control analog quantity; an unwinding servo is controlled to perform speed operation according to the unwinding speed control analog quantity, an unwinding dance wheel is driven to rotate, and the unwinding dance wheel is made to be located at the preset unwinding dance wheel balance point position all the time; in the winding process, the winding angle analog quantity transmitted by a winding dance wheel angle sensor is obtained; carrying out rolling PID operation on the rolling angle analog quantity based on a fuzzy PID algorithm, and outputting a rolling speed control analog quantity; and the winding servo is controlled to perform speed operation according to the winding speed control analog quantity, and the winding dance wheel is driven to rotate, so that the winding dance wheel is always located at the preset winding dance wheel balance point position. Therefore, the tension of unwinding and winding can be accurately controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of laminating and gluing equipment, and in particular to a laminating and gluing whole-line equipment and a tension control method thereof, and a computer storage medium. Background Art

[0002] In many industrial production processes, such as papermaking, textiles, printing, etc., stable control of the tension of the whole lamination and gluing line equipment is crucial to product quality and production efficiency. The existing traditional tension control method of the whole lamination and gluing line equipment has problems such as difficult tension control, low control accuracy, slow response speed, poor adaptability, difficulty in debugging and repeated debugging when the reel swings left and right, which reduces product quality and production efficiency, making the whole lamination and gluing line equipment unable to adapt to different working conditions and load changes. Summary of the invention

[0003] The embodiments of the present invention aim to provide a lamination and gluing line equipment and its tension control method and computer storage medium, aiming to solve the problems of the existing tension control method of the lamination and gluing line equipment when the reel is swung left and right, such as difficult tension control, low control accuracy, slow response speed, poor adaptability, great difficulty in debugging and the need for repeated debugging.

[0004] In order to solve the above technical problems, the first embodiment of the present invention provides a tension control method, which is applied to a lamination and gluing line equipment, wherein the lamination and gluing line equipment includes a controller, an unwinder and a rewinder, and the tension control method includes:

[0005] During the unwinding process, the controller obtains the unwinding angle analog value transmitted by the unwinding dancing wheel angle sensor in the unwinding machine;

[0006] The controller performs unwinding PID calculation on the unwinding angle analog quantity based on a fuzzy PID algorithm, and outputs an unwinding speed control analog quantity to transmit to the unwinding servo in the unwinding machine;

[0007] The controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog value, so that the unwinding servo synchronously drives the unwinding dancing wheel in the unwinding machine to rotate, so that the unwinding dancing wheel is always at a preset unwinding dancing wheel balance point position;

[0008] During the winding process, the controller obtains the winding angle analog value transmitted by the winding dancer wheel angle sensor in the winding machine;

[0009] The controller performs winding PID calculation on the winding angle analog quantity based on fuzzy PID algorithm, and outputs the winding speed control analog quantity to transmit to the winding servo in the winding machine;

[0010] The controller controls the winding servo to operate at a speed according to the winding speed control analog value, so that the winding servo synchronously drives the winding dancer in the winding machine to rotate, so that the winding dancer is always at a preset winding dancer balance point position.

[0011] Optionally, before the controller obtains the unwinding angle analog value transmitted from the unwinding dancer wheel angle sensor in the unwinding machine, the tension control method further includes: before unwinding, matching a number of the unwinding dancer wheel counterweights in the unwinding machine so that the gravity of the unwinding dancer wheel and the unwinding dancer wheel counterweights forms an unwinding balance with the pulling force generated by the traction machine.

[0012] Optionally, the unwinding angle analog value is obtained by detecting the angle change of the unwinding dancing wheel when the unwinding dancing wheel angle sensor swings up and down as the unwinding dancing wheel rotates during the unwinding process, and converting the angle change into an analog value.

[0013] Optionally, the controller performs unwinding PID calculation on the unwinding angle analog quantity based on a fuzzy PID algorithm, and outputs an unwinding speed control analog quantity to transmit to an unwinding servo in the unwinding machine, including:

[0014] The fuzzy PID algorithm combines PID control and fuzzy control, uses fuzzy logic to adjust the PID parameters, and changes the controller parameters in real time according to the system error of the lamination and gluing line equipment, specifically including:

[0015] Introducing a fuzzy neural network into the controller, the fuzzy neural network includes a tension feedback neuron and a speed feedback neuron, wherein the tension feedback neuron has a secondary feedback;

[0016] The controller decomposes the unwinding angle analog quantity into tension feedback and speed feedback, and inputs the tension feedback and the speed feedback into the tension feedback neuron and the speed feedback neuron respectively;

[0017] The tension feedback neuron obtains a tension feedback neuron output based on an error in the tension feedback;

[0018] The speed feedback neuron obtains a speed feedback neuron output based on the speed feedback error;

[0019] Based on the tension feedback neuron output and the speed feedback neuron output, a comprehensive control signal is obtained, and the comprehensive control signal is the unwinding speed control analog quantity.

[0020] Optionally, the preset unwinding dancing wheel balance point position is obtained according to the following method: when matching a number of the unwinding dancing wheel counterweights so that the gravity of the unwinding dancing wheel and the unwinding dancing wheel counterweights and the pulling force generated by the traction machine form an unwinding balance, the position of the unwinding dancing wheel relative to the cross bar of the unwinding dancing wheel counterweights is the preset unwinding dancing wheel balance point position.

[0021] Optionally, before the controller obtains the winding angle analog value transmitted from the winding dancer wheel angle sensor in the winding machine, the tension control method also includes: before winding, matching a number of the winding dancer wheel counterweights in the winding machine so that the gravity of the winding dancer wheel and the winding dancer wheel counterweights are combined with the tension generated by the winding drum in the winding machine during the winding process and the left and right lateral movement modules to bring about swinging to form a winding balance.

[0022] Optionally, the winding angle analog value is obtained by detecting the angle change of the winding dancing wheel when the winding dancing wheel angle sensor swings up and down as the winding dancing wheel rotates during the winding process, and converting the angle change into an analog value.

[0023] Optionally, the preset winding dancing wheel balance point position is obtained according to the following method: when matching a number of the winding dancing wheel counterweights so that the gravity of the winding dancing wheel and the winding dancing wheel counterweights cooperates with the tension generated by the winding drum in the winding machine during the winding process and the swing brought by the winding left and right transverse movement module to form a winding balance, the position of the winding dancing wheel relative to the cross bar of the winding dancing wheel counterweight is the preset winding dancing wheel balance point position.

[0024] Correspondingly, the second aspect of the present invention provides a lamination and gluing line equipment, comprising: a memory, a controller, and a computer program stored in the memory and running on the controller, and when the computer program is executed by the controller, it implements the tension control method described in the first aspect of the present invention.

[0025] Correspondingly, the third aspect of the present invention provides a computer storage medium, on which a program of a tension control method is stored. When the program of the tension control method is executed by a controller, the tension control method described in the first aspect of the present invention is implemented.

[0026] Compared with the prior art, the embodiments of the present invention provide a lamination and gluing line equipment and a tension control method thereof, and a computer storage medium. The tension control method comprises: during the unwinding process, the controller obtains the unwinding angle analog quantity transmitted by the unwinding dancer wheel angle sensor; the controller performs unwinding PID calculation on the unwinding angle analog quantity transmitted by the unwinding dancer wheel angle sensor based on the fuzzy PID algorithm, and outputs the unwinding speed control analog quantity to transmit to the unwinding servo; the controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog quantity, so that the unwinding servo synchronously drives the unwinding dancer wheel to rotate, so that the unwinding dancer wheel is always at a preset unwinding dancer wheel balance point position, thereby controlling the unwinding tension of the unwinding machine, ensuring that the middle section of the film is stable and the tightness is moderate, and solving the unwinding tension problem of the unwinding machine; during the rewinding process, the controller obtains the rewinding angle analog quantity transmitted by the rewinding dancer wheel angle sensor; the controller performs unwinding PID calculation on the re ... rewinding dancer wheel angle sensor based on the fuzz The ID algorithm performs a winding PID operation on the winding angle analog quantity transmitted from the winding dancer wheel angle sensor, and outputs a winding speed control analog quantity to be transmitted to the winding servo; the controller controls the winding servo to operate at a speed according to the winding speed control analog quantity, so that the winding servo synchronously drives the winding dancer wheel to rotate, so that the winding dancer wheel is always in the preset winding dancer wheel balance point position, thereby controlling the winding tension of the winding machine, ensuring that the middle section of the film is stable and the tightness is moderate, and solving the winding tension problem of the winding machine. Thus, the control accuracy of unwinding and rewinding of the whole line of lamination and gluing can be improved, the tension of unwinding and rewinding can be controlled more accurately, the tension of unwinding and rewinding can be effectively and smoothly controlled when the unwinding and rewinding swing left and right, the tension fluctuation of unwinding and rewinding can be reduced, and the product quality can be improved; the response speed can be accelerated, the tension change of unwinding and rewinding can be responded quickly, the control amount of unwinding and rewinding can be adjusted in time, and the delay in the production process can be reduced; the adaptability can be enhanced, so that the whole line of lamination and gluing can adapt to different working conditions and load changes, and the robustness of the whole line of lamination and gluing equipment system can be improved; the debugging difficulty can be reduced, and the secondary feedback fuzzy PID algorithm based on fuzzy neural network can reduce the repeated debugging of PID parameters, improve the performance of tension control, and improve the development efficiency of the whole line of lamination and gluing equipment system. Thus, the existing tension control method of the whole line of lamination and gluing can solve the problems of difficult tension control, low control accuracy, slow response speed, poor adaptability, great debugging difficulty and repeated debugging when the unwinding and rewinding swing left and right. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0028] Figure 1It is a structural schematic diagram of a lamination and gluing line equipment provided by the present invention;

[0029] Figure 2 It is a structural schematic diagram of an unwinding machine in a lamination and gluing line equipment provided by the present invention;

[0030] Figure 3 It is a front structural schematic diagram of an unwinding machine including an unwinding dancing wheel in a laminating and gluing complete line equipment provided by the present invention;

[0031] Figure 4 It is a schematic diagram of the back structure of an unwinding machine including an unwinding dancing wheel in a laminating and gluing complete line equipment provided by the present invention;

[0032] Figure 5 It is a structural schematic diagram of a winding machine in a lamination and gluing line equipment provided by the present invention;

[0033] Figure 6 It is a front structural schematic diagram of a winding machine including a winding dancing wheel in a laminating and gluing whole line equipment provided by the present invention;

[0034] Figure 7 It is a schematic diagram of the back structure of a winding machine including a winding dancing wheel in a laminating and gluing whole line equipment provided by the present invention;

[0035] Figure 8 It is a flow chart of a tension control method applied to a lamination and gluing line equipment provided by the present invention;

[0036] Fig. 9 It is a structural schematic diagram of a laminating and gluing line equipment provided by the present invention. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element, or there can be one or more centered elements therebetween. When an element is described as "electrically connected" to another element, it can be directly connected to another element, or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "bottom" and the like used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0038] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0039] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] like Figures 1 to 7 , Fig. 9 The figure shows a schematic diagram of the structure of a laminating and gluing line equipment provided by the present invention. The laminating and gluing line equipment 900 includes: an unwinding machine 910, a corona machine 920, a CCD detector 930, a gluing machine 940, a release film unwinding machine 950, a traction machine 960 and a winding machine 970, wherein:

[0041] like Figures 2 to 4 As shown, the unwinding machine 910 is used to release the product to be glued. The unwinding machine includes an unwinding roller 911, an unwinding servo 912, an unwinding fixed roller 913, an unwinding dancing wheel 914, a plurality of winding dancing wheel counterweights 973915, an unwinding dancing wheel counterweight crossbar 915A, an unwinding dancing wheel angle sensor 916, an unwinding servo bracket 917, an unwinding dancing wheel bracket 918 and an unwinding workbench 919.

[0042] The unwinding servo 912 and the unwinding roller 911 are both arranged on the unwinding servo bracket 917, and the unwinding servo bracket 917 is fixedly mounted on the plane of the unwinding workbench 919. The unwinding roller 911 is used to wind the product to be coated with glue. The unwinding servo 912 drives the unwinding roller 911 to rotate, and the operation speed of the unwinding servo 912 is controlled by the controller 901. The controller 901 performs unwinding PID calculation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor 916 based on the fuzzy PID algorithm, outputs an unwinding speed control analog quantity and transmits it to the unwinding servo 912, and controls the unwinding servo 912 to operate at a speed according to the unwinding speed control analog quantity.

[0043] The unwinding fixed roller 913, the unwinding dancing wheel 914, a plurality of unwinding dancing wheel counterweights 915 and the unwinding dancing wheel angle sensor 916 are all arranged on the unwinding dancing wheel bracket 918. The unwinding dancing wheel bracket 918 and the unwinding servo bracket 917 are separated by a distance. The unwinding dancing wheel bracket 918 and the unwinding servo bracket 917 are fixedly installed side by side on the plane of the unwinding workbench 919.

[0044] The unwinding fixed roller 913 and the unwinding dancing wheel 914 are staggered and fixedly installed on the unwinding dancing wheel bracket 918, respectively. The unwinding dancing wheel 914 is arranged below the unwinding fixed roller 913. Both the unwinding fixed roller 913 and the unwinding dancing wheel 914 can rotate on the unwinding dancing wheel bracket 918. The unwinding fixed roller 913 is sleeved with the unwinding dancing wheel 914 through a wheel belt, and the unwinding fixed roller 913 can drive the unwinding dancing wheel 914 to rotate. The unwinding fixed roller 913 rotates synchronously with the unwinding drum 911 through the tape formed by the product to be coated, and the unwinding drum 911 drives the unwinding fixed roller 913 to rotate synchronously. When the operating speed of the unwinding servo 912 changes, the operating speed of the unwinding drum 911 also changes, and the unwinding drum 911 also drives the unwinding fixed drum 913 to change synchronously, and the unwinding fixed drum 913 also drives the unwinding dancing wheel 914 to rotate synchronously, so that when the unwinding servo 912 drives the unwinding drum 911 to rotate, it can drive the unwinding dancing wheel 914 to rotate synchronously accordingly.

[0045] A plurality of unwinding dancing wheel counterweights 915 are mounted on the unwinding dancing wheel counterweight cross bar 915A, one end of which is connected to the unwinding dancing wheel 914, an angle is formed between the unwinding dancing wheel counterweight cross bar 915A and the unwinding dancing wheel 914, the unwinding dancing wheel counterweight cross bar 915A swings up and down with the rotation of the unwinding dancing wheel, causing the angle between the unwinding dancing wheel counterweight cross bar 915A and the unwinding dancing wheel 914 to change accordingly.

[0046] The unwinding dancing wheel angle sensor 916 is arranged on the unwinding dancing wheel bracket 918, and its setting position is opposite to the setting position of the unwinding dancing wheel counterweight cross bar 195A. The unwinding dancing wheel counterweight cross bar 915A is arranged on the front of the unwinding dancing wheel bracket 918, and the unwinding dancing wheel angle sensor 916 is arranged on the back of the unwinding dancing wheel bracket 918, and is fixedly connected to a certain position in the middle of the unwinding dancing wheel counterweight cross bar 915A. The unwinding dancing wheel counterweight cross bar 915A swings up and down with the rotation of the unwinding dancing wheel 914, and the unwinding dancing wheel angle sensor 916 also swings up and down with the rotation of the unwinding dancing wheel 914, so that the unwinding dancing wheel angle sensor 916 is also driven to swing up and down with the unwinding dancing wheel 914, so that the unwinding dancing wheel angle sensor 916 can detect the angle change between the unwinding dancing wheel 914 and the unwinding dancing wheel counterweight cross bar 915A.

[0047] Corona machine 920 is used for corona treatment. Corona treatment is an electric shock treatment to make the surface of the product have higher adhesion.

[0048] The CCD inspection machine 930 is an instrument for inspecting the appearance of a product through a display using a CCD component.

[0049] The glue coating machine 940 is used to spray liquid glue onto the required product surface through air pressure.

[0050] The release film machine 950 is used to increase the release force of the plastic film. The plastic film is subjected to plasma treatment, fluorine coating, or silicone release agent coating on the surface of the film material, so that the plastic film can exhibit extremely light and stable release force for various organic pressure-sensitive adhesives.

[0051] The traction machine 960 is used to generate traction force to drive the glue-coated product to move.

[0052] like Figures 5 to 7 As shown, the winding machine 970 is used to collect and roll up the glued products. The winding machine 970 includes a winding fixed roller 971, a winding dancing wheel 972, a plurality of winding dancing wheel counterweights 973, a winding dancing wheel counterweight crossbar 974, a winding dancing wheel angle sensor 975, a winding dancing wheel bracket 976, a winding support mechanism 977, a winding left and right transverse movement module 978A, a winding left and right transverse movement servo 978B, a winding servo 978C, a winding roller 978D and a winding workbench 979.

[0053] The winding fixed roller 971 , the winding dancing wheel 972 , a plurality of winding dancing wheel counterweights 973 and a winding dancing wheel angle sensor 975 are all arranged on a winding dancing wheel bracket 976 , and the winding dancing wheel bracket 976 is fixedly mounted on the plane of a winding workbench 979 .

[0054] The winding fixed roller 971 and the winding dancing wheel 972 are staggered and fixedly installed on the winding dancing wheel bracket 976, respectively. The winding dancing wheel 972 is arranged below the winding fixed roller 971. The winding fixed roller 971 and the winding dancing wheel 972 can both rotate on the winding dancing wheel bracket 976. The winding fixed roller 971 is sleeved with the winding dancing wheel 972 through a wheel belt, and the winding fixed roller 971 can drive the winding dancing wheel 972 to rotate. The winding fixed roller 971 rotates synchronously with the winding drum 978D through the winding belt formed by the glued product, and the winding drum 978D drives the winding fixed roller 971 to rotate synchronously. When the operating speed of the winding servo 978C changes, the operating speed of the winding roller 978D also changes, and the winding roller 978D also drives the winding fixed roller 971 to change synchronously. The winding fixed roller 971 also drives the winding dancing wheel 972 to rotate synchronously. Therefore, when the winding servo 978C drives the winding roller 978D to rotate, it can drive the winding dancing wheel 972 to rotate synchronously accordingly.

[0055] A number of winding dance wheel counterweights 973 are mounted on a winding dance wheel counterweight cross bar 974, one end of which is connected to the winding dance wheel 972, forming an angle between the winding dance wheel counterweight cross bar 974 and the winding dance wheel 972. The winding dance wheel counterweight cross bar 974 swings up and down as the winding dance wheel 972 rotates, causing the angle between the winding dance wheel counterweight cross bar 974 and the winding dance wheel 972 to change accordingly.

[0056] The winding dance wheel angle sensor 975 is arranged on the winding dance wheel bracket 976, and its setting position is opposite to the setting position of the winding dance wheel counterweight cross bar 974. The winding dance wheel counterweight cross bar 974 is arranged on the front of the winding dance wheel bracket 976, and the winding dance wheel angle sensor 975 is arranged on the back of the winding dance wheel bracket 976, and is fixedly connected to a certain position in the middle of the winding dance wheel counterweight cross bar 974. When the winding dance wheel counterweight cross bar 974 swings up and down with the rotation of the winding dance wheel 972, the winding dance wheel angle sensor 975 also swings up and down with the rotation of the winding dance wheel 972, so that as the winding dance wheel 972 rotates, the winding dance wheel angle sensor 975 is also driven to swing up and down, so that the winding dance wheel angle sensor 975 can detect the angle change between the winding dance wheel 972 and the winding dance wheel counterweight cross bar 974.

[0057] The winding support mechanism 977 and the winding dancing wheel bracket 976 are separated by a distance. The winding support mechanism 977 and the winding dancing wheel bracket 976 are fixedly installed side by side on the plane of the winding workbench 979, and are used to support the glued products after being glued by the gluing machine. The height supported by the winding support mechanism 977 is close to the height of the roller of the traction machine 960.

[0058] The winding servo 978C and the winding roller 978D are both arranged on the winding left and right lateral movement module 978A, and the winding left and right lateral movement module 978A is fixedly mounted on the winding left and right lateral movement servo 978B. The winding roller 978D is used to wind the glued product after being glued by the glue coating machine. The winding servo 978C drives the winding roller 978D to rotate, and the operation speed of the winding servo 978C is controlled by the controller 901. The controller 901 performs winding PID calculation on the winding angle analog quantity transmitted from the winding dancing wheel angle sensor 975 based on the fuzzy PID algorithm, outputs a winding speed control analog quantity and transmits it to the winding servo 978C, and controls the winding servo 978C to operate at a speed according to the winding speed control analog quantity.

[0059] The winding left and right lateral shift servo 978B is separated from the winding support mechanism 977 by a distance and is fixedly installed side by side with the winding support mechanism 977 on the plane of the winding workbench 979. The winding left and right lateral shift servo 978B can drive the winding left and right lateral shift module 978A to move left and right, thereby driving the winding servo 978C and the winding roller 978D to move left and right.

[0060] The winding dancing wheel bracket 976, the winding support mechanism 977 and the winding left and right lateral movement servo 978B are respectively separated by a certain distance and fixedly installed side by side on the plane of the winding workbench 979.

[0061] In one embodiment, Figure 8 As shown, the present invention provides a tension control method, which is applied to the above-mentioned lamination and gluing line equipment 900, the lamination and gluing line equipment 900 includes a controller, an unwinder and a rewinder, the unwinder includes an unwinding servo, an unwinding fixed roller, an unwinding dancing wheel, a plurality of rewinding dancing wheel counterweights and an unwinding dancing wheel angle sensor, the rewinder includes a rewinding dancing wheel, a plurality of rewinding dancing wheel counterweights, a rewinding dancing wheel angle sensor, a rewinding left and right lateral movement module and a rewinding servo, the execution body of the tension control method is the controller in the lamination and gluing line equipment, and the tension control method includes:

[0062] S1. During the unwinding process, the controller obtains the unwinding angle analog value transmitted by the unwinding dancing wheel angle sensor;

[0063] S2, the controller performs unwinding PID calculation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor based on the fuzzy PID algorithm, and outputs the unwinding speed control analog quantity to be transmitted to the unwinding servo;

[0064] S3, the controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog value, so that the unwinding servo synchronously drives the unwinding dancing wheel to rotate, so that the unwinding dancing wheel is always at a preset unwinding dancing wheel balance point position;

[0065] S4. During the reeling process, the controller obtains the reeling angle analog value transmitted by the reeling dancing wheel angle sensor;

[0066] S5, the controller performs winding PID calculation on the winding angle analog quantity transmitted from the winding dancing wheel angle sensor based on the fuzzy PID algorithm, and outputs the winding speed control analog quantity to be transmitted to the winding servo;

[0067] S6. The controller controls the winding servo to operate at a speed according to the winding speed control analog value, so that the winding servo synchronously drives the winding dancing wheel to rotate, so that the winding dancing wheel is always at a preset winding dancing wheel balance point position.

[0068] In this embodiment, a tension control method for a lamination and gluing line equipment is provided, including: during the unwinding process, the controller obtains the unwinding angle analog quantity transmitted by the unwinding dancer wheel angle sensor; the controller performs unwinding PID operation on the unwinding angle analog quantity transmitted by the unwinding dancer wheel angle sensor based on the fuzzy PID algorithm, and outputs the unwinding speed control analog quantity to transmit to the unwinding servo; the controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog quantity, so that the unwinding servo synchronously drives the unwinding dancer wheel to rotate, so that the unwinding dancer wheel is always at a preset unwinding dancer wheel balance point position, thereby controlling the unwinding tension of the unwinding machine to ensure that the middle section of the film is stable and the tightness is appropriate In the process, the unwinding tension problem of the unwinding machine is solved; in the rewinding process, the controller obtains the rewinding angle analog value transmitted by the rewinding dancer wheel angle sensor; the controller performs rewinding PID operation on the rewinding angle analog value transmitted by the rewinding dancer wheel angle sensor based on the fuzzy PID algorithm, and outputs a rewinding speed control analog value to transmit to the rewinding servo; the controller controls the rewinding servo to operate at a speed according to the rewinding speed control analog value, so that the rewinding servo synchronously drives the rewinding dancer wheel to rotate, so that the rewinding dancer wheel is always at the preset rewinding dancer wheel balance point position, thereby controlling the rewinding tension of the rewinding machine, ensuring that the middle section of the film is stable and the tightness is moderate, and solving the rewinding tension problem of the rewinding machine. Thus, the control accuracy of unwinding and rewinding of the whole line of lamination and gluing can be improved, the tension of unwinding and rewinding can be controlled more accurately, the tension of unwinding and rewinding can be effectively and smoothly controlled when the unwinding and rewinding swing left and right, the tension fluctuation of unwinding and rewinding can be reduced, and the product quality can be improved; the response speed can be accelerated, the tension change of unwinding and rewinding can be responded quickly, the control amount of unwinding and rewinding can be adjusted in time, and the delay in the production process can be reduced; the adaptability can be enhanced, so that the whole line of lamination and gluing can adapt to different working conditions and load changes, and the robustness of the whole line of lamination and gluing equipment system can be improved; the debugging difficulty can be reduced, and the secondary feedback fuzzy PID algorithm based on fuzzy neural network can reduce the repeated debugging of PID parameters, improve the performance of tension control, and improve the development efficiency of the whole line of lamination and gluing equipment system. Thus, the existing tension control method of the whole line of lamination and gluing can solve the problems of difficult tension control, low control accuracy, slow response speed, poor adaptability, great debugging difficulty and repeated debugging when the unwinding and rewinding swing left and right.

[0069] In one embodiment, before step S1, the tension control method of the lamination and gluing line equipment also includes: before unwinding, matching a number of unwinding dancer wheel counterweights in the unwinding machine so that the gravity of the unwinding dancer wheel and the unwinding dancer wheel counterweights forms an unwinding balance with the pulling force generated by the traction machine, so as to reduce the complexity of the unwinding machine and reduce the difficulty of the unwinding tension of the unwinding machine.

[0070] In one embodiment, in step S1, during the unwinding process, the controller obtains the unwinding angle analog value transmitted by the unwinding dancing wheel angle sensor.

[0071] The unwinding angle analog quantity is obtained by detecting the angle change of the unwinding dancing wheel when the unwinding dancing wheel swings up and down as the unwinding dancing wheel rotates during the unwinding process, and converting the angle change into an analog quantity.

[0072] Because several unwinding dancing wheel counterweights are mounted on the unwinding dancing wheel counterweight cross bar, one end of the unwinding dancing wheel counterweight cross bar is connected to the unwinding dancing wheel, an angle is formed between the unwinding dancing wheel counterweight cross bar and the unwinding dancing wheel, and the unwinding dancing wheel counterweight cross bar swings up and down with the rotation of the unwinding dancing wheel, causing the angle between the unwinding dancing wheel counterweight cross bar and the unwinding dancing wheel to change accordingly.

[0073] The unwinding dancing wheel angle sensor is arranged on the unwinding dancing wheel bracket, the unwinding dancing wheel counterweight cross bar is arranged on the front side of the unwinding dancing wheel bracket, and the unwinding dancing wheel angle sensor is arranged on the back side of the unwinding dancing wheel bracket and fixedly connected to a certain position in the middle of the unwinding dancing wheel counterweight cross bar. The unwinding dancing wheel counterweight cross bar swings up and down with the rotation of the unwinding dancing wheel, and the unwinding dancing wheel angle sensor also swings up and down with the rotation of the unwinding dancing wheel. Therefore, as the unwinding dancing wheel rotates, the unwinding dancing wheel angle sensor is also driven to swing up and down, so that the unwinding dancing wheel angle sensor can detect the angle change between the unwinding dancing wheel and the unwinding dancing wheel counterweight cross bar, and then the unwinding dancing wheel angle sensor can detect the angle change of the unwinding dancing wheel when it swings up and down with the rotation of the unwinding dancing wheel during the unwinding process, and converts the angle change into an analog quantity to obtain an unwinding angle analog quantity, and transmits the unwinding angle analog quantity to a controller.

[0074] In one embodiment, in step S2, the controller performs unwinding PID calculation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor based on the fuzzy PID algorithm, and outputs an unwinding speed control analog quantity to be transmitted to the unwinding servo.

[0075] PID control is composed of three parts: proportional (P), integral (I) and differential (D). The control quantity is calculated by performing proportional, integral and differential operations on the error signal to adjust the output of the system. PID control is performed by a controller. For example, the controller can be a PID controller.

[0076] Fuzzy control is an intelligent control method based on fuzzy logic. It fuzzifies input variables, makes inferences based on fuzzy rules, and finally obtains fuzzy outputs. It also obtains precise control quantities through defuzzification. Fuzzy neural networks are the product of the combination of fuzzy control theory and neural networks. It brings together the advantages of neural networks and fuzzy control theory, integrating learning, association, recognition, and information processing.

[0077] The fuzzy PID algorithm combines PID control and fuzzy control, uses fuzzy logic to adjust the PID parameters, and changes the parameters of the controller (for example, PID controller) in real time according to the operating status and error conditions of the entire lamination and gluing line equipment system to achieve better control effects. In the present invention, a fuzzy neural network is combined with PID control to form a fuzzy PID algorithm, and the parameters of the controller (for example, PID controller) are changed in real time to achieve better control effects.

[0078] In the present invention, a fuzzy neural network is introduced into a controller (e.g., a PID controller), so that the controller (e.g., a PID controller) can be designed as an adaptive controller (e.g., a PID controller), and the adaptive controller (e.g., a PID controller) can perform an unwinding PID operation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor based on the fuzzy PID algorithm, and output an unwinding speed control analog quantity. Thus, through the secondary feedback fuzzy PID algorithm based on the fuzzy neural network, the debugging difficulty of the system can be reduced, the repeated debugging of the PID parameters can be reduced, the performance of the tension control can be improved, and the development efficiency of the lamination and gluing line equipment system can be improved.

[0079] Specifically, the fuzzy neural network includes tension feedback neurons and speed feedback neurons, wherein the tension feedback neurons have secondary feedback.

[0080] The adaptive controller decomposes the unwinding angle analog quantity transmitted by the unwinding dancing wheel angle sensor into tension feedback and speed feedback, and inputs the tension feedback and speed feedback into the tension feedback neuron and speed feedback neuron of the fuzzy neural network respectively.

[0081] In the tension feedback neuron, the tension feedback error eT(t) is assumed to be:

[0082] eT(t)=T set -T(t) Formula 1.1

[0083] Among them, Tset is the set tension and T(t) is the actual tension.

[0084] The output uT(t) of the tension feedback neuron is:

[0085]

[0086] The first term on the right side of the equal sign is w T1 is the weighted proportional term (P), and the second term is w T2 is the weighted integral term (I), and the third term is w T3 is the weighted differential term (D), and the fourth term is w T4 The fourth term is a quadratic tension feedback term with a weight, and its function is to respond quickly when the feedback is far from the target, and to reduce quickly when it is close to the target to reduce system oscillation.

[0087] In the velocity feedback neuron, the velocity feedback error eV(t) is assumed to be:

[0088] eV(t)=V set -V(t) Formula 1.3

[0089] Among them, Vset is the set speed and V(t) is the actual speed.

[0090] The speed feedback neuron output uV(t) is:

[0091]

[0092] The first term on the right side of the equal sign is W V1 is the weighted proportional term (P), and the second term is W V2 is the weighted integral term (I), and the third term is w V3 is the differential term of the weight (D).

[0093] By integrating the control outputs of the two neurons, namely the tension feedback neuron output uT(t) and the velocity feedback neuron output uV(t), the comprehensive control signal u(t) is:

[0094] u(t)=uT(t)+uV(t) Formula 1.5

[0095] The integrated control signal u(t) is the unwinding speed control analog quantity output by the present invention.

[0096] In each weight of formula 1.2 of the tension feedback neuron output uT(t), each weight needs to be adjusted and updated according to a specific weight adjustment rule. In the present invention, the weight adjustment rule includes a gradient descent method, and each weight is adjusted and updated based on the gradient descent method.

[0097] Specifically, for the tension feedback neuron weight update in the above formula 1.2, the following formula 1.6 is used for adjustment and update:

[0098]

[0099] in, That is, the gradient term, so formula 1.6 is called the gradient descent method, and formula 1.6 is a recursive adjustment method for the parameters of formula 1.2. i = 1, 2, 3, 4, ηT is the learning rate of tension feedback, and eT is the tension error performance function.

[0100] Among them, the various parameters in formula 1.6 are calculated as follows:

[0101]

[0102]

[0103] Similarly, in the various weights of formula 1.4 of the above-mentioned speed feedback neuron output uV(t), it is necessary to adjust and update each weight according to a specific weight adjustment rule. In the present invention, the weight adjustment rule includes a gradient descent method, and each weight is adjusted and updated based on the gradient descent method.

[0104] Specifically, for the speed feedback neuron weight update in the above formula 1.2, the following formula 1.12 is used for adjustment and update:

[0105]

[0106] in, That is the gradient term, so formula 1.12 is called the gradient descent method. Formula 1.12 is a recursive adjustment method for the parameters of formula 1.4. i=1,2,3,4,η V is the learning rate of velocity feedback, and eV is the velocity error performance function.

[0107] Among them, the various parameters in formula 1.12 are calculated as follows:

[0108]

[0109] In one embodiment, in step S3, the controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog value, so that the unwinding servo synchronously drives the unwinding dancing wheel to rotate, so that the unwinding dancing wheel is always at a preset unwinding dancing wheel balance point position, thereby controlling the unwinding tension of the unwinding machine, ensuring that the middle section of the film is stable and the tightness is moderate, and solving the unwinding tension problem of the unwinding machine.

[0110] Specifically, the preset unwinding dancing wheel balance point position is obtained according to the following method: when matching a number of unwinding dancing wheel counterweights so that the gravity of the unwinding dancing wheel and the unwinding dancing wheel counterweights and the pulling force generated by the traction machine form an unwinding balance, the position of the unwinding dancing wheel relative to the cross bar of the unwinding dancing wheel counterweights is the preset unwinding dancing wheel balance point position.

[0111] The unwinding machine also includes an unwinding fixed roller and an unwinding drum. Since the unwinding fixed roller is sleeved with the unwinding dancing wheel through a wheel belt, the unwinding fixed roller can drive the unwinding dancing wheel to rotate. The unwinding fixed roller rotates synchronously with the unwinding drum through the tape formed by the product to be coated with glue, and the unwinding drum drives the unwinding fixed roller to rotate synchronously. When the operating speed of the unwinding servo changes, the operating speed of the unwinding drum also changes synchronously, and the unwinding fixed roller also drives the unwinding dancing wheel to rotate synchronously, so that when the unwinding servo drives the unwinding drum to rotate, the unwinding dancing wheel can be driven to rotate synchronously accordingly.

[0112] After the controller outputs an unwinding speed control analog quantity to the unwinding servo, the unwinding servo is controlled to operate at a speed according to the unwinding speed control analog quantity, so that the unwinding servo synchronously drives the unwinding roller to operate at a speed, the unwinding roller drives the unwinding fixed roller to operate at a speed, and the unwinding fixed roller drives the unwinding dancing wheel to operate at a speed synchronously, so that the unwinding servo operates at a speed and synchronously drives the unwinding dancing wheel to operate at a speed, so that the unwinding dancing wheel is always at the preset unwinding dancing wheel balance point position, thereby controlling the unwinding tension of the unwinding machine, ensuring that the middle section of the film is stable and the tightness is moderate, and solving the unwinding tension problem of the unwinding machine.

[0113] In one embodiment, before step S4, the tension control method of the lamination and gluing line equipment also includes: before winding, matching a number of winding dancer wheel counterweights in the winding machine, so that the gravity of the winding dancer wheel and the winding dancer wheel counterweights can cooperate with the tension generated by the winding process and the swing caused by the winding left and right lateral movement modules to form a winding balance, so as to reduce the complexity of control and reduce the difficulty of the winding tension of the winding machine.

[0114] In one embodiment, in step S4, during the winding process, the controller obtains the winding angle analog value transmitted by the winding dancer wheel angle sensor.

[0115] The winding angle analog quantity is obtained by detecting the angle change of the winding dancing wheel when the winding dancing wheel swings up and down as the winding dancing wheel rotates during the winding process, and converting the angle change into an analog quantity.

[0116] Because several winding dance wheel counterweights are mounted on the winding dance wheel counterweight cross bar, one end of the winding dance wheel counterweight cross bar is connected to the winding dance wheel, an angle is formed between the winding dance wheel counterweight cross bar and the winding dance wheel, and the winding dance wheel counterweight cross bar swings up and down with the rotation of the winding dance wheel, causing the angle between the winding dance wheel counterweight cross bar and the winding dance wheel to change accordingly.

[0117] The winding dance wheel angle sensor is arranged on the winding dance wheel bracket, the winding dance wheel counterweight cross bar is arranged on the front side of the winding dance wheel bracket, and the winding dance wheel angle sensor is arranged on the back side of the winding dance wheel bracket and fixedly connected to a certain position in the middle of the winding dance wheel counterweight cross bar. When the winding dance wheel counterweight cross bar swings up and down with the rotation of the winding dance wheel, the winding dance wheel angle sensor also swings up and down with the rotation of the winding dance wheel. Therefore, as the winding dance wheel rotates, the winding dance wheel angle sensor is also driven to swing up and down, so that the winding dance wheel angle sensor can detect the angle change between the winding dance wheel and the winding dance wheel counterweight cross bar. Then, when the winding dance wheel angle sensor swings up and down with the rotation of the winding dance wheel during the winding process, the angle change can be detected, and the winding angle analog quantity is obtained after the angle change is converted into an analog quantity, and the winding angle analog quantity is transmitted to the controller.

[0118] In one embodiment, in step S5, the controller performs a winding PID operation on the winding angle analog quantity transmitted from the winding dancer wheel angle sensor based on a fuzzy PID algorithm, and outputs a winding speed control analog quantity to be transmitted to the winding servo.

[0119] Specifically, in step S5, a winding PID operation is performed on the winding angle analog quantity transmitted from the winding dancing wheel angle sensor based on the fuzzy PID algorithm, and a winding speed control analog quantity is output and transmitted to the winding servo. The specific implementation process is similar to the specific implementation process of performing an unwinding PID operation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor based on the fuzzy PID algorithm in the above-mentioned step S2, and outputting an unwinding speed control analog quantity is transmitted to the unwinding servo. The difference lies in the input. In step S2, the unwinding angle analog quantity is input for the unwinding PID operation, while in step S5, the winding angle analog quantity is input for the winding PID operation. The process of using the fuzzy PID algorithm to perform PID operation is similar. The specific implementation process can refer to the detailed description of the above-mentioned step S2, which will not be repeated here.

[0120] In one embodiment, in step S6, the controller controls the winding servo to operate at a speed according to the winding speed control analog value, so that the winding servo synchronously drives the winding dancer wheel to rotate, so that the winding dancer wheel is always at a preset winding dancer wheel balance point position, thereby controlling the winding tension of the winding machine, ensuring that the middle section of the film is stable and the tightness is moderate, and solving the winding tension problem of the winding machine.

[0121] Specifically, the preset balance point position of the winding dancing wheel is obtained according to the following method: when matching a number of winding dancing wheel counterweights so that the gravity of the winding dancing wheel and the winding dancing wheel counterweights cooperates with the pulling force generated by the winding drum during the winding process and the swing brought by the winding left and right lateral movement module to form a winding balance, the position of the winding dancing wheel relative to the cross bar of the winding dancing wheel counterweights is the preset balance point position of the winding dancing wheel.

[0122] The winding machine also includes a winding fixed roller and a winding drum. Since the winding fixed roller is sleeved with the winding dancing wheel through a wheel belt, the winding fixed roller can drive the winding dancing wheel to rotate. The winding fixed roller rotates synchronously with the winding drum through the winding belt formed by the glue-coated product, and the winding drum drives the winding fixed roller to rotate synchronously. When the operating speed of the winding servo changes, the operating speed of the winding drum also changes, and the winding fixed roller also changes synchronously. The winding fixed roller also drives the winding dancing wheel to rotate synchronously, so that when the winding servo drives the winding drum to rotate, the winding dancing wheel can be driven to rotate synchronously accordingly.

[0123] After the controller outputs a winding speed control analog quantity to the winding servo, the winding servo is controlled to operate at a speed according to the winding speed control analog quantity, so that the winding servo synchronously drives the winding drum to operate at a speed, the winding drum drives the winding fixed drum to operate at a speed, and the winding fixed drum drives the winding dancing wheel to operate at a speed synchronously, so that the winding servo operates at a speed, and the winding dancing wheel is synchronously driven to operate at a speed, so that the winding dancing wheel is always at the preset winding dancing wheel balance point position, so that the winding tension of the winding machine can be controlled, and the middle section of the film is guaranteed to be stable and the tightness is moderate, thereby solving the winding tension problem of the winding machine.

[0124] The present invention provides a lamination glue coating line equipment. When working, the traction machine is first started to generate tension. In the unwinding machine, before the unwinding work, a certain number of unwinding dancer wheel counterweights are matched first, so that the gravity of the unwinding dancer wheel and the unwinding dancer wheel counterweights form an unwinding balance with the tension generated by the traction machine, so as to reduce the complexity of the unwinding machine and the difficulty of reducing the unwinding tension of the unwinding machine. The product to be coated with glue is wound on the unwinding drum, and the unwinding servo drives the unwinding drum to rotate under the control of the controller. If the unwinding dancing wheel rotates during the unwinding process, it will drive the unwinding dancing wheel angle sensor to swing up and down. During the swinging process, the unwinding dancing wheel angle sensor detects the angle change of the unwinding dancing wheel, and converts the angle change into an unwinding angle analog quantity, and transmits the unwinding angle analog quantity to the controller; the controller performs unwinding PID operation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor based on the fuzzy PID algorithm, outputs an unwinding speed control analog quantity and transmits it to the unwinding servo, controls the unwinding servo to operate at a speed according to the unwinding speed control analog quantity, so that the unwinding servo synchronously drives the unwinding roller to operate at a speed, the unwinding roller drives the unwinding fixed roller to operate at a speed, and the unwinding fixed roller drives the unwinding dancing wheel to operate at a speed synchronously, so that the unwinding servo operates at a speed, and the unwinding dancing wheel is synchronously driven to operate at a speed, so that the unwinding dancing wheel is always at the preset unwinding dancing wheel balance point position, so that the unwinding tension of the unwinding machine can be controlled, and the middle section coating is guaranteed to be stable and the tightness is moderate, thereby solving the unwinding tension problem of the unwinding machine.

[0125] After the glued product is processed by the corona machine and CCD detector, it is coated with glue by the glue coating machine to obtain the glued product. After the glued product is processed by the release film machine, it reaches the winder.

[0126] In the winding machine, before the winding work, a certain number of winding dancer counterweights are matched first, so that the gravity of the winding dancer and the winding dancer counterweights can form a winding balance with the tension generated by itself during the winding process and the swing caused by the left and right lateral movement modules of the winding, so as to reduce the complexity of control and the difficulty of the winding tension of the winding machine. The winding servo drives the winding drum to rotate under the control of the controller, and the glued product that has reached the winding drum is wound on the winding drum. If the winding dancing wheel rotates during the winding process, it will drive the winding dancing wheel angle sensor to swing up and down. During the swinging process, the winding dancing wheel angle sensor detects the angle change of the winding dancing wheel, and converts the angle change into a winding angle analog quantity, and transmits the winding angle analog quantity to the controller; the controller performs winding PID calculation on the winding angle analog quantity transmitted from the winding dancing wheel angle sensor based on the fuzzy PID algorithm, outputs a winding speed control analog quantity and transmits it to the winding servo, controls the winding servo to operate at a speed according to the winding speed control analog quantity, so that the winding servo synchronously drives the winding drum to operate at a speed, the winding drum drives the winding fixed drum to operate at a speed, and the winding fixed drum drives the winding dancing wheel to operate at a speed synchronously, so that the winding servo operates at a speed, and the winding dancing wheel is synchronously driven to operate at a speed, so that the winding dancing wheel is always in the preset winding dancing wheel balance point position, so that the winding tension of the winding machine can be controlled, and the middle section coating is guaranteed to be stable and the tightness is moderate, thereby solving the unwinding tension problem of the winding machine. Thereby, the control accuracy of unwinding and rewinding of the whole line equipment for lamination and gluing can be improved, the tension of unwinding and rewinding can be controlled more accurately, the tension of unwinding and rewinding can be effectively and smoothly controlled when the unwinding and rewinding swing left and right, the tension fluctuation of unwinding and rewinding can be reduced, and the product quality can be improved; the response speed can be accelerated, and the unwinding and rewinding tension changes can be responded quickly, and the unwinding and rewinding control amount can be adjusted in time to reduce delays in the production process; the adaptability can be enhanced, so that the whole line equipment for lamination and gluing can adapt to different working conditions and load changes, and the robustness of the whole line equipment system for lamination and gluing can be improved; the debugging difficulty can be reduced, and the secondary feedback fuzzy PID algorithm based on fuzzy neural network can be used to reduce the repeated debugging of PID parameters, improve the performance of tension control, and improve the development efficiency of the whole line equipment system for lamination and gluing.

[0127] Based on the same concept, in one embodiment, the present invention also provides a lamination glue coating line equipment, such as Fig. 9 As shown, the lamination and gluing line equipment 900 includes: a memory 902, a controller 901, and one or more computer programs stored in the memory 902 and executable on the controller 901. The memory 902 and the controller 901 are coupled together via a bus system 903. When the one or more computer programs are executed by the controller 901, the following steps of a tension control method provided in an embodiment of the present invention are implemented:

[0128] S1. During the unwinding process, the controller obtains the unwinding angle analog value transmitted by the unwinding dancing wheel angle sensor;

[0129] S2, the controller performs unwinding PID calculation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor based on the fuzzy PID algorithm, and outputs the unwinding speed control analog quantity to be transmitted to the unwinding servo;

[0130] S3, the controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog value, so that the unwinding servo synchronously drives the unwinding dancing wheel to rotate, so that the unwinding dancing wheel is always at a preset unwinding dancing wheel balance point position;

[0131] S4. During the reeling process, the controller obtains the reeling angle analog value transmitted by the reeling dancing wheel angle sensor;

[0132] S5, the controller performs winding PID calculation on the winding angle analog quantity transmitted from the winding dancing wheel angle sensor based on the fuzzy PID algorithm, and outputs the winding speed control analog quantity to be transmitted to the winding servo;

[0133] S6. The controller controls the winding servo to operate at a speed according to the winding speed control analog value, so that the winding servo synchronously drives the winding dancing wheel to rotate, so that the winding dancing wheel is always at a preset winding dancing wheel balance point position.

[0134] The method disclosed in the above embodiment of the present invention can be applied to the controller 901, or implemented by the controller 901. The controller 901 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the controller 901. The controller 901 can be a general processor, DSP (Digital Signal Processor), MCU (Micro Control Unit) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The controller 901 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or a combination of hardware and software modules in the decoding processor to execute. The software module can be located in a storage medium, which is located in the memory 902. The controller 901 reads the information in the memory 902 and completes the steps of the above method in combination with its hardware.

[0135] It can be understood that the memory 902 in the embodiment of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory or other memory technology, a compact disk read-only memory (CD-ROM), a digital versatile disk (DVD) or other optical disk storage, a magnetic cassette, a magnetic tape, a magnetic disk storage or other magnetic storage device; the volatile memory can be a random access memory (RAM), and by way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM Memory), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0136] It should be noted that the above-mentioned lamination and gluing line equipment embodiment and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the lamination and gluing line equipment embodiment, which will not be repeated here.

[0137] In addition, in an exemplary embodiment, the embodiment of the present invention further provides a computer storage medium, specifically a computer-readable storage medium, for example, including a memory 902 storing a computer program, wherein the computer storage medium stores one or more programs of a method for coating glue using local solidification to construct a dam, and when the one or more programs of the method for coating glue using local solidification to construct a dam are executed by the controller 901, the following steps of a tension control method provided in the embodiment of the present invention are implemented:

[0138] S1. During the unwinding process, the controller obtains the unwinding angle analog value transmitted by the unwinding dancing wheel angle sensor;

[0139] S2, the controller performs unwinding PID calculation on the unwinding angle analog quantity transmitted from the unwinding dancing wheel angle sensor based on the fuzzy PID algorithm, and outputs the unwinding speed control analog quantity to be transmitted to the unwinding servo;

[0140] S3, the controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog value, so that the unwinding servo synchronously drives the unwinding dancing wheel to rotate, so that the unwinding dancing wheel is always at a preset unwinding dancing wheel balance point position;

[0141] S4. During the reeling process, the controller obtains the reeling angle analog value transmitted by the reeling dancing wheel angle sensor;

[0142] S5, the controller performs winding PID calculation on the winding angle analog quantity transmitted from the winding dancing wheel angle sensor based on the fuzzy PID algorithm, and outputs the winding speed control analog quantity to be transmitted to the winding servo;

[0143] S6. The controller controls the winding servo to operate at a speed according to the winding speed control analog value, so that the winding servo synchronously drives the winding dancing wheel to rotate, so that the winding dancing wheel is always at a preset winding dancing wheel balance point position.

[0144] It should be noted that the tension control method program embodiment on the above-mentioned computer-readable storage medium and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the embodiment of the above-mentioned computer-readable storage medium, which will not be repeated here.

[0145] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tension control method, characterized in that: Applied to a whole line equipment for laminating and gluing, the whole line equipment for laminating and gluing includes a controller, an unwinder and a rewinder, and the tension control method includes: During the unwinding process, the controller obtains the unwinding angle analog value transmitted by the unwinding dancing wheel angle sensor in the unwinding machine; The controller performs unwinding PID calculation on the unwinding angle analog quantity based on a fuzzy PID algorithm, and outputs an unwinding speed control analog quantity to transmit to the unwinding servo in the unwinding machine; The controller controls the unwinding servo to operate at a speed according to the unwinding speed control analog value, so that the unwinding servo synchronously drives the unwinding dancing wheel in the unwinding machine to rotate, so that the unwinding dancing wheel is always at a preset unwinding dancing wheel balance point position; During the winding process, the controller obtains the winding angle analog value transmitted by the winding dancer wheel angle sensor in the winding machine; The controller performs a winding PID operation on the winding angle analog quantity based on a fuzzy PID algorithm, and outputs a winding speed control analog quantity to transmit to the winding servo in the winding machine; The controller controls the winding servo to operate at a speed according to the winding speed control analog value, so that the winding servo synchronously drives the winding dancer in the winding machine to rotate, so that the winding dancer is always at a preset winding dancer balance point position.

2. The tension control method according to claim 1, characterized in that: Before the controller obtains the unwinding angle analog value transmitted from the unwinding dancer wheel angle sensor in the unwinding machine, the tension control method also includes: before unwinding, matching a number of the unwinding dancer wheel counterweights in the unwinding machine so that the gravity of the unwinding dancer wheel and the unwinding dancer wheel counterweights forms an unwinding balance with the pulling force generated by the traction machine.

3. The tension control method according to claim 1, characterized in that: The unwinding angle analog quantity is obtained by detecting the angle change of the unwinding dancing wheel when the unwinding dancing wheel rotates and swings up and down during the unwinding process, and converting the angle change into an analog quantity.

4. The tension control method according to claim 1, characterized in that: The controller performs unwinding PID calculation on the unwinding angle analog quantity based on a fuzzy PID algorithm, and outputs an unwinding speed control analog quantity to transmit to the unwinding servo in the unwinding machine, including: The fuzzy PID algorithm combines PID control and fuzzy control, uses fuzzy logic to adjust PID parameters, and changes the controller parameters in real time according to the system error of the lamination and gluing line equipment, specifically including: Introducing a fuzzy neural network into the controller, the fuzzy neural network comprising a tension feedback neuron and a speed feedback neuron, wherein the tension feedback neuron has a secondary feedback; The controller decomposes the unwinding angle analog quantity into tension feedback and speed feedback, and inputs the tension feedback and the speed feedback into the tension feedback neuron and the speed feedback neuron respectively; The tension feedback neuron obtains a tension feedback neuron output based on the tension feedback error; The speed feedback neuron obtains a speed feedback neuron output based on the speed feedback error; Based on the tension feedback neuron output and the speed feedback neuron output, a comprehensive control signal is obtained, and the comprehensive control signal is the unwinding speed control analog quantity.

5. The tension control method according to claim 2, characterized in that: The preset unwinding dancing wheel balance point position is obtained according to the following method: when a number of the unwinding dancing wheel counterweights are matched so that the gravity of the unwinding dancing wheel and the unwinding dancing wheel counterweights and the pulling force generated by the traction machine form an unwinding balance, the position of the unwinding dancing wheel relative to the cross bar of the unwinding dancing wheel counterweights is the preset unwinding dancing wheel balance point position.

6. The tension control method according to claim 1, characterized in that: Before the controller obtains the winding angle analog value transmitted from the winding dancer wheel angle sensor in the winding machine, the tension control method also includes: before winding, matching a number of the winding dancer wheel counterweights in the winding machine so that the gravity of the winding dancer wheel and the winding dancer wheel counterweights cooperates with the tension generated by the winding drum in the winding machine during the winding process and the swing brought by the winding left and right lateral movement module to form a winding balance.

7. The tension control method according to claim 1, characterized in that: The winding angle analog quantity is obtained by detecting the angle change of the winding dancing wheel when the winding dancing wheel rotates and swings up and down during the winding process, and converting the angle change into an analog quantity.

8. The tension control method according to claim 6, characterized in that: The preset winding dancing wheel balance point position is obtained according to the following method: when a number of the winding dancing wheel counterweights are matched so that the gravity of the winding dancing wheel and the winding dancing wheel counterweights cooperate with the tension generated by the winding drum in the winding machine during the winding process and the swing brought by the winding left and right lateral movement module to form a winding balance, the position of the winding dancing wheel relative to the cross bar of the winding dancing wheel counterweight is the preset winding dancing wheel balance point position.

9. A lamination and gluing line equipment, characterized in that: include: A memory, a controller, and a computer program stored in the memory and running on the controller, wherein the computer program, when executed by the controller, implements the tension control method according to any one of claims 1 to 8.

10. A computer storage medium, characterized in that: The computer storage medium stores a program of the tension control method, and when the program of the tension control method is executed by the controller, the tension control method according to any one of claims 1 to 8 is implemented.

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