Tension control method and device based on torque, electronic equipment and storage medium

Abstract

The invention provides a tension control method and device based on torque, electronic equipment and a storage medium. The method comprises the steps that the current angular acceleration alpha of a winding and unwinding motor is obtained; according to the current angular acceleration alpha, the current rotational inertia compensation coefficient of the winding and unwinding motor is determined; the current total rotational inertia of the winding and unwinding motor is obtained; and obtaining the current inertia compensation torque of the winding and unwinding motor according to the current total rotational inertia, the current angular acceleration alpha and the current rotational inertia compensation coefficient of the winding and unwinding motor.

Description

Technical Field

[0001] The present application relates to the technical field of tension control, and in particular to a torque-based tension control method, device, electronic device and storage medium. Background Art

[0002] In various continuous production lines, such as rolling, drawing, embossing, coating, printing and dyeing, cleaning and winding processes, various strips, wires, profiles and their re-products often need tension control to ensure that the materials can be transported smoothly and continuously during the processing process, and to avoid problems such as material breakage and machine damage caused by excessive or insufficient tension. At present, tension control mainly relies on two methods: open-loop tension control and closed-loop tension control. The system structure of open-loop tension control is simple but the control accuracy is not high. It is suitable for occasions where the tension accuracy requirements are not high, such as some simple winding, stretching and other processes. The closed-loop tension control has high control accuracy, but the system structure is relatively complex, and it is necessary to install sensors such as tension detection mechanisms and encoders, which increases the cost to a certain extent. Summary of the invention

[0003] In view of this, the torque-based tension control solution provided in the present application can improve the control accuracy of the tension without increasing the hardware cost.

[0004] In a first aspect, the present application provides a method comprising the following steps:

[0005] Get the current angular acceleration α of the rewinding and unwinding motor;

[0006] Determining a current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the current angular acceleration α;

[0007] Get the current total moment of inertia of the rewinding and unwinding motor;

[0008] The current inertia compensation torque of the rewinding and unwinding motor is obtained according to the current total moment of inertia of the rewinding and unwinding motor, the current angular acceleration α and the current moment of inertia compensation coefficient.

[0009] Optionally, the total moment of inertia includes non-material inertia J 非材料 And material inertia J 材料 , the step of obtaining the current total moment of inertia of the rewinding and unwinding motor comprises:

[0010] Get the non-material inertia J of the rewinding and unwinding motor 非材料 ;

[0011] Get the current material inertia J of the rewinding and unwinding motor 材料 .

[0012] Optionally, the non-material inertia J of the roller 非材料It is obtained according to the following method:

[0013] When the reel is not loaded, the reeling and unwinding motor is controlled to accelerate from 0 speed to a given speed n1, and the torque T1 of the reeling and unwinding motor in the acceleration phase, the torque T2 of the reeling and unwinding motor in the uniform speed phase, and the acceleration time t1 are obtained;

[0014] The non-material inertia J of the retractable and unretractable motor is obtained according to the given torque n1, the acceleration time t1, the torque T1 of the retractable and unretractable motor in the acceleration phase, and the torque T2 of the retractable and unretractable motor in the uniform speed phase. 非材料 .

[0015] Optionally, according to the given torque n1, the acceleration time t1, the torque T1 of the reeling and unwinding motor in the acceleration phase, and the torque T2 of the reeling and unwinding motor in the uniform speed phase, the non-material inertia J of the reeling and unwinding motor is obtained based on the first relationship: 非材料 , where the first relation is:

[0016] J 非材料 =(T1-T2) / (n1 / 60*2π / t1).

[0017] Optionally, obtain the current material inertia J of the roller 材料 The steps further include:

[0018] Acquiring material parameters of the coil, wherein the material parameters at least include coil density, coil width, and inner diameter of the coil;

[0019] Get the current outer diameter of the coil in real time;

[0020] According to the material parameters of the coil and the current outer diameter of the coil, the current material inertia J of the rewinding and unwinding motor is obtained. 材料 .

[0021] Optionally, the step of determining the current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the current angular acceleration α is implemented as follows:

[0022] The current angular acceleration α is compared with 0, and the current rotational inertia compensation coefficient of the rewinding and unwinding motor is determined according to the comparison result.

[0023] Optionally, comparing the current angular acceleration α with 0, and determining the current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the comparison result further includes:

[0024] When the current angular acceleration α is greater than or equal to 0, determining the acceleration compensation coefficient in the preset coefficient group as the current rotational inertia compensation coefficient of the rewinding and unwinding motor;

[0025] Otherwise, determine the deceleration compensation coefficient in the preset coefficient group as the current rotational inertia compensation coefficient of the rewinding and unwinding motor; or,

[0026] When the current angular acceleration α of the reel roller is greater than 0, the acceleration compensation coefficient in the preset coefficient group is determined to be the current rotational inertia compensation coefficient of the rewinding and unwinding motor;

[0027] Otherwise, the deceleration compensation coefficient in the preset coefficient group is determined to be the current rotational inertia compensation coefficient of the rewinding and unwinding motor.

[0028] In a second aspect, the present application provides a torque-based tension control device, comprising:

[0029] The first acquisition module is used to acquire the current angular acceleration α of the rewinding and unwinding motor;

[0030] A determination module, used to determine a current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the current angular acceleration α;

[0031] The second acquisition module is used to obtain the current total moment of inertia of the rewinding and unwinding motor;

[0032] The compensation module is used to obtain the current inertia compensation torque of the rewinding and unwinding motor according to the current total rotational inertia of the rewinding and unwinding motor, the current angular acceleration α and the current rotational inertia compensation coefficient.

[0033] In a third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other through the bus;

[0034] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to any method described in any torque-based control method.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon, and when the computer instructions are executed by a processor, the processor executes a method such as any one of the torque-based control methods.

[0036] In a fifth aspect, the present application provides a computer program product, comprising computer instructions, wherein the computer instructions instruct a computing device to perform operations corresponding to a torque-based control method.

[0037] It can be seen from the above technical solution that this application does not rely on any external sensors, nor does it need to add additional hardware equipment or upgrade hardware configuration. By determining the compensation coefficient that matches the current angular acceleration α, it can respond to the change in angular acceleration in real time and compensate the output torque of the motor in real time. This dynamic compensation method can minimize the tension fluctuation during acceleration and deceleration, and keep the material tension stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Flowchart of a torque-based tension control method according to an exemplary embodiment of the present application.

[0039] Figure 2 The non-material inertia J of the rewinding and unwinding motor is obtained in the exemplary embodiment of the present application. 非材料 Flowchart of the method.

[0040] Figure 3 Flow chart of method 300 according to an exemplary embodiment of the present application.

[0041] Figure 4 It is a schematic diagram of an electronic device according to an exemplary embodiment of the present application.

[0042] Figure 5 This is an equipment process diagram of an aluminum foil slitting machine.

[0043] List of reference numerals:

[0044] 11: Loading trolley;

[0045] 12: Unwinding mechanism;

[0046] 13: Cutter;

[0047] 14: upper winding roller;

[0048] 15: lower winding roller;

[0049] 16: Unloading platform;

[0050] 17: Traction mechanism;

[0051] 700: Electronic equipment;

[0052] 702: processor;

[0053] 704: communication interface;

[0054] 706: memory;

[0055] 708: bus;

[0056] 710: Procedure; DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0058] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the case where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other. The steps in the following method embodiments are only used for exemplary description and are not intended to limit the present invention.

[0059] In various continuous production lines, such as rolling, drawing, embossing, coating, printing and dyeing, cleaning and winding processes, various strips, wires, profiles and their re-products often need tension control to ensure that the materials can be transported smoothly and continuously during the processing process, and to avoid problems such as material breakage and machine damage caused by excessive or insufficient tension. At present, tension control mainly relies on two methods: open-loop tension control and closed-loop tension control. The system structure of open-loop tension control is simple but the control accuracy is not high. It is suitable for occasions where the tension accuracy requirements are not high, such as some simple winding, stretching and other processes. The closed-loop tension control has high control accuracy, but the system structure is relatively complex, and it is necessary to install sensors such as tension detection mechanisms and encoders, which increases the cost to a certain extent.

[0060] Based on the various problems in the prior art described above, each embodiment of the present application provides a torque-based tension control solution.

[0061] The solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0062] Example 1

[0063] Embodiment 1 provides a torque-based tension control method, such as Figure 1 As shown, the following steps are included:

[0064] S101: Obtain the current angular acceleration α of the rewinding and unwinding motor.

[0065] The unwinding and rewinding motor includes an unwinding motor for driving an unwinding roller and a winding motor for driving a winding roller. It is understandable that in a unwinding and rewinding mechanism, at the same time, the angular accelerations of the winding motors and the unwinding motors may be different.

[0066] In some embodiments, the motion parameters of the reeling and unreeling motor may be periodically collected by a host computer, so as to obtain the current angular acceleration α of the winding motor of the winding roller in real time, but the present invention is not limited thereto.

[0067] S103: Determine the current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the current angular acceleration α.

[0068] In the non-uniform motion state, that is, during acceleration and deceleration, the output torque of the rewinding and unwinding motor is not only used to maintain the material tension, but also needs to drive the load to achieve speed changes. Therefore, in order to maintain the stability of the tension on the material, the output torque of the rewinding and unwinding motor needs to be compensated during the acceleration and deceleration process of the winder. The moment of inertia compensation coefficient reflects the additional torque ratio that the rewinding and unwinding motor needs to output in order to keep the material tension constant under the current acceleration.

[0069] The present application determines the compensation coefficient that matches the current angular acceleration α, so that the output torque of the motor can be compensated in real time in response to the change in angular acceleration. This dynamic compensation method can minimize the tension fluctuation during acceleration and deceleration, and keep the material tension stable.

[0070] S105: Obtain the current total moment of inertia of the rewinding and unwinding motor;

[0071] According to whether it is variable or not, the total rotational inertia of the motor can be divided into material inertia J 材料 and non-material inertia J 非材料 , the current total moment of inertia of the rewinding and unwinding motor is non-material inertia J 非材料 and the current material inertia J 材料 The material inertia is the inertia of the material wound on the reel. During the process of winding and unwinding, the material inertia changes in real time due to the continuous increase or decrease of the material. The non-material inertia of the roll is a constant, which includes the rotational inertia of the motor, transmission device, and mechanical device such as the reel, and has nothing to do with the material wound on the reel.

[0072] Step S105 further includes:

[0073] S1051: Get the non-material inertia J of the rewinding and unwinding motor 非材料 ;

[0074] In some embodiments, the non-material inertia J of the roller 非材料 is obtained according to method 200, but is not limited thereto. Figure 2 As shown, the method 200 includes the following steps:

[0075] S201: When the reel is not loaded, the reel-up and unreel-motor is controlled to accelerate from 0 speed to a given speed n1, and the torque T1 of the reel-up and unreel-motor in the acceleration phase, the torque T2 of the reel-up and unreel-motor in the uniform speed phase, and the acceleration time t1 are obtained.

[0076] For example, the upper computer can obtain the operating parameters of the motor in real time, thereby obtaining the torque T1 of the roller drive motor in the acceleration phase, the torque T2 of the roller drive motor in the uniform speed phase, and the acceleration time t1.

[0077] S202: Obtain the non-material inertia J of the retractable and unretractable motor according to the given torque n1, the acceleration time t1, the torque T1 of the retractable and unretractable motor in the acceleration phase, and the torque T2 of the retractable and unretractable motor in the uniform speed phase. 非材料 .

[0078] The method is simple to operate and easy to implement, and can easily and accurately obtain the non-material inertia J of the roller. 非材料 .

[0079] In a specific embodiment, the non-material inertia J of the rewinding and unwinding motor can be obtained based on the first relational equation 1-1: 非材料 , where the first relation is:

[0080] J 非材料 =(T1-T2) / (n1 / 60*2π / t1) 1-1

[0081] S1052: Get the current material inertia J of the rewinding and unwinding motor 材料 .

[0082] In one implementation, S1052 further includes:

[0083] S10521: Obtain material parameters of the coil, where the material parameters include at least coil density, coil width, and inner diameter of the coil.

[0084] The coil is wound on a reel, and the inner diameter of the coil is equal to the outer diameter of the reel.

[0085] S10522: Obtain the current outer diameter of the coil.

[0086] For example, the current outer diameter of the coil can be obtained in real time by periodically collecting data, or the current outer diameter of the coil can be calculated based on data collected circumferentially, but is not limited thereto.

[0087] S10523: Obtain the current material inertia J of the rewinding and unwinding motor according to the material parameters of the coil and the current outer diameter of the coil 材料 .

[0088] For example, the current material inertia J of the rewinding and unwinding motor can be obtained according to Formula 2-1: 材料 .

[0089]

[0090] In formula 2-1, J 材料 Used to indicate the current material inertia of the unwinding motor, p 密度 Used to characterize the density of the coil, r 实时 Used to characterize the current outer diameter of the coil, r min Used to characterize the inner diameter of the coil, w 宽度Used to characterize the width of the coil.

[0091] In formula 2-1, there is only one variable that changes in real time, that is, the outer diameter of the coil, while other parameters (such as the density, inner diameter and width of the coil) are all given fixed values. This method greatly simplifies the calculation process, reduces the resources and time required for calculation, and is easier to integrate into existing control systems. Since there are fewer variables involved, system maintenance and debugging will also be easier.

[0092] S107: Obtain the current inertia compensation torque of the rewinding and unwinding motor according to the current total moment of inertia of the rewinding and unwinding motor, the current angular acceleration α and the current moment of inertia compensation coefficient.

[0093] For example, the current inertia compensation torque M of the rewinding and unwinding motor can be obtained according to formula 3-1: 惯量 .

[0094] M 惯量 = k*(J 材料 +J 非材料 )*α 3-1

[0095] In formula 3-1, k is used to represent the current rotational inertia compensation coefficient; α is used to represent the current angular acceleration of the unwinding motor. In the acceleration stage, α is a positive value, and in the deceleration stage, α is a negative value; J 材料 Used for the current material inertia; J 非材料 Used to characterize non-material inertia.

[0096] In one implementation, step S103 is further implemented as follows:

[0097] The current angular acceleration α is compared with 0, and the current rotational inertia compensation coefficient of the rewinding and unwinding motor is determined according to the comparison result.

[0098] Angular acceleration α can reflect the current motion state of the motor: α>0 indicates that the motor is in the acceleration stage; α<0 indicates that the motor is in the deceleration stage; α=0 indicates that the motor is in the uniform motion stage. By real-time monitoring of the angular acceleration α of the roller and comparing it with 0, the system can quickly identify the acceleration, deceleration or uniform speed state of the roller. This instant feedback mechanism enables the system to quickly adjust the torque compensation, thereby achieving a rapid response to tension changes. By directly comparing the angular acceleration α with 0, the system can avoid complex calculation and analysis processes. This simple and direct comparison method makes the system more reliable and easy to maintain and debug.

[0099] In some implementations, step S103 further includes:

[0100] S103a: When the current angular acceleration α is greater than or equal to 0, determining the acceleration compensation coefficient in the preset coefficient group as the current rotational inertia compensation coefficient of the rewinding and unwinding motor;

[0101] Otherwise, the deceleration compensation coefficient in the preset coefficient group is determined to be the current rotational inertia compensation coefficient of the rewinding and unwinding motor;

[0102] In another implementation, step S103 further includes:

[0103] S1031b: When the current angular acceleration α of the reel roller is greater than 0, determining the acceleration compensation coefficient in the preset coefficient group as the current rotational inertia compensation coefficient of the rewinding and unwinding motor;

[0104] Otherwise, the deceleration compensation coefficient in the preset coefficient group is determined to be the current rotational inertia compensation coefficient of the rewinding and unwinding motor.

[0105] Each rewinding and unwinding motor is predefined with a preset coefficient group, and the preset coefficient group includes a preset acceleration compensation coefficient and a preset deceleration compensation coefficient.

[0106] In some embodiments, the torque-based tension control method further includes a step S300 of determining a preset coefficient group of the rewinding and unwinding motor, which includes:

[0107] S301: Determine the initial acceleration compensation coefficient and the initial deceleration compensation coefficient of each rewinding and unwinding motor of the rewinding and unwinding mechanism according to the first corresponding relationship, wherein the first corresponding relationship is the corresponding relationship between the type of the rewinding and unwinding motor and the motion state and the rotational inertia compensation coefficient interval.

[0108] Table 1 exemplarily shows a first corresponding relationship.

[0109] Motor Type Running status Compensation coefficient range Winding motor accelerate k1 Unwinding motor accelerate k2 Winding motor slow down k3 Unwinding motor slow down k4

[0110] Table 1

[0111] In the first corresponding relationship, k1, k2, k3, and k4 are a numerical interval.

[0112] In some implementations, the value range of k1 is between 1 and 2, the value range of k2 is between 0.8 and 1, the value range of k3 is between 0.8 and 1, and the value range of k4 is between 1 and 2.

[0113] Based on the first corresponding relationship in Table 1, the initial acceleration compensation coefficient and the initial deceleration compensation coefficient of each rewinding and unwinding motor of the rewinding and unwinding mechanism can be obtained according to experience, historical test records or preset coefficient groups of similar equipment.

[0114] S302: According to the initial acceleration compensation coefficient of each rewinding and unwinding motor of the rewinding and unwinding mechanism, use the method of steps S101 to S107 to test the material tension of the rewinding and unwinding mechanism in the accelerated state, and determine the preset acceleration compensation coefficient of each rewinding and unwinding motor of the rewinding and unwinding mechanism according to the test results.

[0115] S303: According to the initial deceleration compensation coefficient of each rewinding and unwinding motor of the rewinding and unwinding mechanism, use the method of steps S101 to S107 to test the material tension of the rewinding and unwinding mechanism in the deceleration state, and determine the preset deceleration compensation coefficient of each rewinding and unwinding motor of the rewinding and unwinding mechanism according to the test results.

[0116] Specifically, Figure 3 As shown, step S302 is further implemented as follows:

[0117] If the material tension in the accelerated state meets the requirements, the initial acceleration compensation coefficient of each rewinding and unwinding motor is used as the preset acceleration compensation coefficient;

[0118] If the material tension does not meet the requirement, methods S301 and S302 are repeatedly executed until the material tension meets the requirement.

[0119] Specifically, step S303 is further implemented as follows:

[0120] If the material tension in the deceleration state meets the requirements, the initial deceleration compensation coefficient of each rewinding and unwinding motor is used as the preset deceleration compensation coefficient;

[0121] If the material tension does not meet the requirement, methods S301 and S303 are repeatedly executed until the material tension meets the requirement.

[0122] For unwinding and rewinding equipment of the same specifications applied to the same load, the preset coefficient group obtained based on the test of one equipment can be directly applied to other equipment.

[0123] In some embodiments, the method of the present application further comprises:

[0124] When the preset conditions are met, the preset coefficient group of the rewinding and unwinding motor is corrected according to method 300, and the preset conditions include one of the following: the equipment has been running for a preset time, the material tension does not meet the preset requirements, and the parts affecting non-material inertia are repaired or replaced.

[0125] In some embodiments, the method of the present application further comprises the following steps:

[0126] S108: Obtain the current tension torque and the current friction torque.

[0127] The given torque of the rewinding and unwinding motor acts on three parts: tension torque, friction torque and inertia compensation torque in the acceleration and deceleration stages. Tension torque is the torque required to generate and maintain the tension on the material. Friction torque is the torque used to compensate for the friction during the operation of the system.

[0128] S109: According to the current tension torque, the current friction torque and the current inertia compensation torque, the current given torque of the unwinding and rewinding motor is obtained according to the preset formula of the unwinding and rewinding motor, and the given torque is used to output to the unwinding and rewinding motor as a torque limiter.

[0129] The preset formula for the winding motor is shown in Formula 4-1, and the preset formula for the unwinding motor is shown in Formula 4-2.

[0130] M 收卷电机 =M 张力 +M 摩擦 +M 惯量 4-1

[0131] M 放卷电机 =M 张力 -M 摩擦 -M 惯量 4-2

[0132] In formulas 4-1 and 4-2, M 收卷电机 Used to represent the given torque of the winding motor, M 放卷电机 Used to characterize the given torque of the unwinding motor, M 张力 Used to characterize tension torque, M 摩擦 Used to characterize the friction torque, M 惯量 The torque used to characterize the inertia compensation in the acceleration and deceleration stages (obtained through step S105).

[0133] Compared with outputting the current tension torque, the current friction torque and the current inertia compensation torque to the driver of the rewinding and unwinding motor respectively, and performing addition operation in the current loop of the driver, the method of the present application can directly obtain the given torque for torque limiting. This tension control method is more stable and greatly reduces the risk of runaway racing.

[0134] To facilitate understanding of the solution of the present application, the present application is applied to an aluminum foil slitting machine for introduction. First, a typical structure of an aluminum foil slitting machine is introduced, such as Figure 5As shown. The aluminum foil slitting machine mainly includes a loading trolley 11, an unwinding mechanism 12, a cutter 13, a traction mechanism 17, a rewinding mechanism 14, 15, a flattening roller, and a discharge platform 16. The coil moves from the loading trolley 11 to the unwinding mechanism 12, and the cylinder of the unwinding mechanism 12 takes over the aluminum coil. Then the operator passes the foil through the passive roller to the rewinding position through the automatic threading structure, and then sticks the material to the rewinding roller through the low-speed rewinding to complete the threading preparation before operation. The unwinding foil is a double-layer aluminum foil, which is rewound up and down respectively after passing through the traction main shaft. Each rewinding roller 14, 15 usually has four rollers to collect the slit aluminum foil. When the aluminum foil reaches the set coil diameter, the equipment stops, and then the slit aluminum foil roll is placed on the unloading platform for inspection through the unloading structure. In the production process, tension control is very important. Too loose tension will cause material wrinkles and affect the rewinding effect; while too high tension will cause the material to deform or even break.

[0135] The calculation of the total inertia of the rewinding and unwinding motor is indeed a complex process, which is affected by many factors. Therefore, there is always a certain deviation between the calculated value and the actual value. Taking the rewinding motor as an example, when the total rotational inertia of the rewinding motor is less than the actual value, the motor given torque M during the acceleration stage of the rewinding shaft 收卷电机_加速 will be too small, causing the aluminum foil to become loose when it is rolled up; the angular acceleration α of the reel deceleration stage is negative, and the motor given torque M during the reel deceleration stage 收卷电机_减速 If the total moment of inertia of the winding motor is greater than the actual moment of inertia, the motor torque M is set during the acceleration phase of the winding shaft. 收卷电机_加速 will be too small, which may cause the aluminum foil to be too tight when it is rolled up; the angular acceleration α of the winding shaft during the deceleration stage is negative, and the motor given torque M during the deceleration stage of the winding shaft 收卷电机_减速 Otherwise, it will be too small, causing the aluminum foil to be loose when rolled up.

[0136] To ensure the winding effect, the tension needs to be slightly tight during the operation of the aluminum foil slitting machine. Slightly tight tension can ensure that the aluminum foil remains flat and tight during the winding process, thereby improving the winding effect and product quality. It should be noted that the tension should not be too tight. Excessive tension may cause the aluminum foil to be stretched excessively, deformed, broken or damaged. Therefore, in actual operation, it is necessary to find a suitable tension balance point to ensure the flatness and tightness of the aluminum foil while avoiding excessive stretching and damage. The method of the present application can meet the above-mentioned tension control requirements.

[0137] Assume that at a certain moment in the acceleration phase, M 张力 =10N,M 摩擦 =5N, M without compensation factor correction 惯量_未修正 =1N, then the uncorrected winding motor given torque M收卷电机_加速_未修正 =(10+5+1)N=16N, uncorrected unwinding motor given torque M 放卷电机_加速_未修正 =(10-5-1)N=4N. Assume that the acceleration compensation coefficient K of the winding motor is 收卷电机_加速 =2, then the corrected winding motor given torque M 收卷电机_加速_修正 =(10+5+2)=17N, which meets the slightly tight requirement; assuming that the acceleration compensation coefficient of the unwinding motor is K 放卷电机_加速 =0.8, then M 放卷电机_加速_修正 =(10-5-0.8)=4.2N, which also meets the slightly tight requirement.

[0138] Assume that at a certain moment in the deceleration phase, M 张力 =10N,M 摩擦 =5N, M without compensation factor correction 惯量_未修正 =-1N, then the uncorrected winding motor given torque M 收卷电机_减速_未修正 =(10+5-1)N=14N, uncorrected unwinding motor given torque M 放卷电机_减速_未修正 =(10-5+1)N=6N. Assume that the deceleration compensation coefficient of the winding motor is K 收卷电机_减速 =0.8, then the corrected winding motor given torque M 收卷电机_减速_修正 =(10+5-0.8)=14.2N, which meets the slightly tight requirement; assuming that the deceleration compensation coefficient of the unwinding motor is K 放卷电机_减速 =2, then M 放卷电机_减速_修正 =(10-5+2)=7N, which meets the slightly tight requirement;

[0139] This application distinguishes the inertia compensation in the acceleration and deceleration stages and increases the corresponding inertia coefficient, so that the tension can meet the requirements regardless of winding or unwinding, acceleration or deceleration.

[0140] Example 2

[0141] Embodiment 2 provides a torque-based tension control device, comprising:

[0142] The first acquisition module is used to acquire the current angular acceleration α of the rewinding and unwinding motor;

[0143] A determination module, used to determine a current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the current angular acceleration α;

[0144] The second acquisition module is used to obtain the current total moment of inertia of the rewinding and unwinding motor;

[0145] The compensation module is used to obtain the current inertia compensation torque of the rewinding and unwinding motor according to the current total rotational inertia of the rewinding and unwinding motor, the current angular acceleration α and the current rotational inertia compensation coefficient.

[0146] In some embodiments, the second acquisition module includes a first acquisition unit and a second acquisition unit, wherein the first acquisition unit is used to acquire the non-material inertia J of the rewinding and unwinding motor. 非材料 The second acquisition unit is used to obtain the current material inertia J of the rewinding and unwinding motor. 材料 .

[0147] In some implementations, the compensation module obtains the current inertia compensation torque of the rewinding and unwinding motor based on Formula 3-1 according to the current total moment of inertia of the rewinding and unwinding motor, the current angular acceleration α, and the current moment of inertia compensation coefficient.

[0148] In some embodiments, the determination module includes a comparison unit and a determination unit. The comparison unit compares the current angular acceleration α with 0 and outputs the comparison result to the determination unit. The determination unit determines the current rotation inertia compensation coefficient according to the received comparison result.

[0149] For example, when the current angular acceleration α is greater than or equal to 0, the determination unit determines that the acceleration compensation coefficient in the preset coefficient group is the current rotational inertia compensation coefficient of the rewinding and unwinding motor; otherwise, the deceleration compensation coefficient in the preset coefficient group is determined as the current rotational inertia compensation coefficient of the rewinding and unwinding motor.

[0150] For another example, when the current angular acceleration α is greater than 0, the determination unit determines the acceleration compensation coefficient in the preset coefficient group as the current rotational inertia compensation coefficient of the rewinding and unwinding motor; otherwise, the deceleration compensation coefficient in the preset coefficient group is determined as the current rotational inertia compensation coefficient of the rewinding and unwinding motor.

[0151] In some embodiments, the torque-based tension control further includes a third acquisition module, a fourth acquisition module, and a given torque module. The third acquisition module is used to acquire the current tension torque, and the fourth acquisition module is used to acquire the current friction torque. The tension module is used to receive the current tension torque, the current friction torque, and the current inertia compensation torque, and obtain the current given torque of the rewinding and unwinding motor according to a preset formula of the rewinding and unwinding motor, and output the given torque to the driving device of the rewinding and unwinding motor as a torque limit value.

[0152] See equation 4-1 for the preset formula of the winding motor and 4-2 for the preset formula of the unwinding motor.

[0153] It can be understood that since the device of this embodiment is a corresponding device to the tension control method of Example 1, all technical details in the method of the aforementioned embodiment are applicable to the device of this embodiment. For the sake of simplicity, some details that are the same as those in the method of the aforementioned embodiment are omitted here.

[0154] Example 3

[0155] Embodiment 3 provides an electronic device.

[0156] Figure 4 3 is a schematic diagram of an electronic device provided in Example 3 of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device. Figure 4 The electronic device 700 provided in the embodiment of the present application includes: a processor 702, a communication interface 704, a memory 706, and a bus 708. Among them:

[0157] The processor 702 , the communication interface 704 , and the memory 706 communicate with each other via a bus 708 .

[0158] The communication interface 704 is used to communicate with other electronic devices or servers.

[0159] The processor 702 is used to execute the program 710, and specifically can execute the relevant steps in the above-mentioned multi-axis collaborative control method embodiment.

[0160] Specifically, the program 710 may include program codes, which include computer operation instructions.

[0161] The processor 702 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0162] The memory 706 is used to store the program 710. The memory 706 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0163] The program 710 can be specifically used to enable the processor 702 to execute the multi-axis collaborative control method in any of the aforementioned embodiments.

[0164] The specific implementation of each step in program 710 can refer to the corresponding description of the corresponding steps and units in the above-mentioned multi-axis collaborative control method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0165] Example 4

[0166] Embodiment 4 provides a computer-readable storage medium storing instructions for causing a machine to execute the torque-based tension control method as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0167] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0168] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0169] Example 5

[0170] Embodiment 5 also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0171] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0172] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0173] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0174] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0175] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0176] The present invention has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the protection scope of the present invention.

Claims

1. A torque-based tension control method, characterized in that: The following steps are involved: Get the current angular acceleration α of the rewinding and unwinding motor; Determining a current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the current angular acceleration α; Get the current total moment of inertia of the rewinding and unwinding motor; The current inertia compensation torque of the rewinding and unwinding motor is obtained according to the current total moment of inertia of the rewinding and unwinding motor, the current angular acceleration α and the current moment of inertia compensation coefficient.

2. The torque-based tension control method according to claim 1, characterized in that: The total moment of inertia includes non-material inertia J 非材料 And material inertia J 材料 , the step of obtaining the current total moment of inertia of the rewinding and unwinding motor comprises: Get the non-material inertia J of the rewinding and unwinding motor 非材料 ; Get the current material inertia J of the rewinding and unwinding motor 材料 .

3. The torque-based tension control method according to claim 2, characterized in that: Non-material inertia of the roller J 非材料 It is obtained according to the following method: When the reel is not loaded, the reeling and unwinding motor is controlled to accelerate from 0 speed to a given speed n1, and the torque T1 of the reeling and unwinding motor in the acceleration phase, the torque T2 of the reeling and unwinding motor in the uniform speed phase, and the acceleration time t1 are obtained; The non-material inertia J of the retractable and unretractable motor is obtained according to the given torque n1, the acceleration time t1, the torque T1 of the retractable and unretractable motor in the acceleration phase, and the torque T2 of the retractable and unretractable motor in the uniform speed phase. 非材料 .

4. The torque-based tension control method according to claim 3, characterized in that: According to the given torque n1, acceleration time t1, the torque T1 of the reeling and unwinding motor in the acceleration phase, and the torque T2 of the reeling and unwinding motor in the uniform speed phase, the non-material inertia J of the reeling and unwinding motor is obtained based on the first relationship. 非材料 , where the first relation is: J 非材料 =(T1-T2) / (n1 / 60*2π / t1)。 5. The torque-based tension control method according to claim 2, characterized in that: Get the current material inertia J of the roller 材料 The steps further include: Acquiring material parameters of the coil, wherein the material parameters at least include coil density, coil width, and inner diameter of the coil; Get the current outer diameter of the coil in real time; According to the material parameters of the coil and the current outer diameter of the coil, the current material inertia J of the rewinding and unwinding motor is obtained. 材料 .

6. The torque-based tension control method according to claim 1, characterized in that: According to the current angular acceleration α, the step of determining the current rotational inertia compensation coefficient of the rewinding and unwinding motor is implemented as follows: The current angular acceleration α is compared with 0, and the current rotational inertia compensation coefficient of the rewinding and unwinding motor is determined according to the comparison result.

7. The torque-based tension control method according to claim 6, characterized in that: The step of comparing the current angular acceleration α with 0 and determining the current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the comparison result further includes: When the current angular acceleration α is greater than or equal to 0, determining the acceleration compensation coefficient in the preset coefficient group as the current rotational inertia compensation coefficient of the rewinding and unwinding motor; Otherwise, determine the deceleration compensation coefficient in the preset coefficient group as the current rotational inertia compensation coefficient of the rewinding and unwinding motor; or, When the current angular acceleration α of the reel roller is greater than 0, the acceleration compensation coefficient in the preset coefficient group is determined to be the current rotational inertia compensation coefficient of the rewinding and unwinding motor; Otherwise, the deceleration compensation coefficient in the preset coefficient group is determined to be the current rotational inertia compensation coefficient of the rewinding and unwinding motor.

8. A torque-based tension control device, characterized in that: include: The first acquisition module is used to acquire the current angular acceleration α of the rewinding and unwinding motor; A determination module, used to determine a current rotational inertia compensation coefficient of the rewinding and unwinding motor according to the current angular acceleration α; The second acquisition module is used to obtain the current total moment of inertia of the rewinding and unwinding motor; The compensation module is used to obtain the current inertia compensation torque of the rewinding and unwinding motor according to the current total rotational inertia of the rewinding and unwinding motor, the current angular acceleration α and the current rotational inertia compensation coefficient.

9. An electronic device, comprising: A processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as claimed in any one of claims 1 to 7. 10 . A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to execute the method according to claim 1 .

11. A computer program product, comprising computer instructions, wherein the computer instructions instruct a computing device to perform operations corresponding to the method according to any one of claims 1 to 7.

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