Full-automatic taping machine

Abstract

The invention belongs to the technical field of high-end equipment manufacturing, particularly relates to the field of spinning, and particularly relates to a full-automatic tape coiling machine which comprises a control module, a tape releasing module, a damping module, a tape arranging module and a tape coiling module, the control module is used for controlling overall operation and stop of the tape coiling machine, the tape releasing module is used for placing a to-be-coiled spinning tape, and the damping module is used for damping the to-be-coiled spinning tape. The belt releasing module is further provided with a damping disc. The damping module comprises a vertical damping module and a horizontal damping module, a tape arranging module is arranged between the vertical damping module and the horizontal damping module, the tape arranging module is used for arranging a textile tape and arranging the motion direction of the textile tape from the vertical direction to the horizontal direction, and the tape winding module comprises a motor, a pasting and sealing system and a pressing air cylinder. According to the full-automatic taping machine, the damping device and the control system which are designed uniquely are adopted, so that the full-automatic taping machine which is free of winding and damage to spinning belts and long in service life is achieved, and the idea of full automation is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-end equipment manufacturing, in particular to the textile field, and specifically is a fully automatic tape reeling machine. Background Art

[0002] Ribbon products need to be coiled into a pancake shape when in transit or shipped as finished products. The working principle of the tape reeling machine is similar to that of a traditional winding machine. It uses a motor to drive the turntable and the tape winding core installed on the turntable to rotate to achieve the winding and reeling of the tape. The existing tape reeling machine lacks the function of fast tape reeling, and during the reeling process, it is very easy to cause uneven pulling of the spinning disk due to the start-stop control, which affects the subsequent reeling work and the winding problem caused by inertia after stopping, which cannot truly meet the needs of automation. Summary of the invention

[0003] The invention discloses a fully automatic tape reeling machine, which can avoid winding, damage the spinning tape and has a long service life by means of a uniquely designed damping device and control system, and completely solves the problems in the background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a fully automatic tape reeling machine disclosed in the present invention comprises a control module, a tape unwinding module, a damping module, a tape straightening module and a tape winding module, wherein the control module is used to control the overall operation and stop of the tape reeling machine, the tape unwinding module is used to place the textile tape to be reeled, and the tape unwinding module is also provided with a damping disk; the damping module comprises a vertical damping module and a horizontal damping module, a tape straightening module is provided between the vertical damping module and the horizontal damping module, the tape straightening module is used to straighten the textile tape and change the movement direction of the textile tape from the vertical direction to the horizontal movement direction, and the tape winding module The belt module includes a motor, a sealing system, and a clamping cylinder; the vertical damping module includes several groups of downward-changing rollers that can be limited in movement up and down, and several upward-changing rollers. Anti-slip rollers are also arranged between the vertical damping module and the belt-releasing module, and between the vertical damping module and the whole belt module. At least one of the several groups of downward-changing rollers that can be limited in movement up and down is provided with a pressure block group with adjustable weight, and the pressure block group is used to adjust the size of the damping force; the horizontal damping module includes several horizontal direction-changing pulleys, and a sensor is arranged on one side of the horizontal direction-changing pulley, and there is a gap between the horizontal direction-changing pulley and the sensor.

[0005] The tape winding module also includes a pre-tensioning cylinder, which includes a support frame and rollers located at both ends of the support frame, wherein the travel direction of one of the rollers and the cylinder is located on the same straight line as the center of the reel of the tape winding module; the sensor is a linear velocity sensor or an angular velocity sensor, and this setting can control the rotation speed of the motor in cooperation with the control module according to the speed length or time control, so as to achieve the problem of tape accumulation caused by different linear speeds at the same rotation speed due to the change in the tape diameter when the motor rotates.

[0006] For textile belts of different thicknesses, the thickness of the textile belt can also be adjusted by adjusting the parameters of the control module. By adjusting the thickness parameters of the textile belt, the motor speed can be controlled to change, so as to prevent the problem of belt accumulation, improve the adaptability of the equipment, adapt to the functions of different textile belts, and improve the use scenarios of the equipment.

[0007] The horizontal direction-changing pulleys can adjust their positions in a fixed direction.

[0008] The plurality of horizontal direction-changing pulleys of the horizontal damping module include at least two, and a cutting module is arranged between the horizontal direction-changing pulleys.

[0009] The control module also includes an anti-winding control module, which includes a motor control module, and the motor control module includes a length control module and a speed control module, and the length control module and the speed control module verify each other. The length control module adopts a closed-loop control method to compare the feedback value of the length measurement sensor with the set length to obtain a length deviation signal. According to the size and change trend of the length deviation, the controller calculates the speed adjustment of the motor through the PID (proportional-integral-differential) control algorithm to achieve accurate control of the length of the tape. The parameters of the PID controller (proportional coefficient, integral time constant and differential time constant) can be adjusted through experimental debugging or empirical formulas to obtain the best control effect. When the tape length is close to the set length (for example, reaching 95%-98% of the set length), the controller begins to gradually reduce the speed of the motor and starts the stop time calculation program at the same time. At this time, the length control algorithm switches to a more sophisticated control mode, predicts the stop position of the tape machine according to the remaining length and the current speed, and adjusts the speed of the motor and the braking time of the brake device to ensure that the tape machine can stop accurately when the set length is reached, and will not exceed the set length due to inertia.

[0010] Specifically, the length control module includes a normal operation phase control module based on PID control that changes with time, and a stop phase control module after approaching a set length, wherein the motor speed automatic control of the normal operation phase control module based on PID control that changes with time is automatically implemented using the following method:

[0011]

[0012] Among them, u(t) is the motor speed control quantity, e(t) is the length deviation, and e(t)=L set -L current (t), where L set is the preset length, L current (t) is the current length and is a function of time t, with a proportionality factor of K p , the integral coefficient is K i , the differential coefficient is K d , the sampling period is T s , P t is the proportional term: P t =K p ×e(t); I(t) is the integral term: I(t)=I(tT s )+K i ×e(t)×T s , where the initial value I(0) = 0, t is each sampling time; D(t) is the differential term: Where e(t) is the rate of change of length deviation and

[0013] The automatic control of the motor stop time of the control module in the stop phase after approaching the set length is automatically achieved in the following manner:

[0014] T b (t+Δt)=T b (t)+k adj ×(T actual (t)-T stop (t))

[0015] Among them, T continue (t) is the theoretical continuous running time, L remain (t) is the remaining length, then

[0016] Where v0 is the current speed; let T brake (t) is the time required for braking, then Where a is the braking deceleration;

[0017] T actual (t) is the actual remaining time, and where t start is the starting time of entering the stop phase;

[0018] T stop (t) is the predicted stop time, T b (t) is the braking time, Δt is the adjustment time interval, k adj is the adjustment factor.

[0019] According to the predicted stop time t stop , adjust the braking time and force of the brake device. Assuming that there is a certain functional relationship between the braking torque of the brake device and the braking time and force (such as a linear relationship or a nonlinear relationship, depending on the characteristics of the brake device), it can be adjusted according to t stop The size of the belt can be used to determine the appropriate braking parameters to ensure that the belt can stop accurately when it reaches the set length, avoiding winding due to inertia or stopping prematurely before reaching the set length.

[0020] For example, if the predicted stop time t stop If t is greater than a certain expected stopping time threshold, the braking force is appropriately increased (by increasing the control signal of the braking device or adjusting its working parameters); stop If the stopping time is less than the expected stopping time threshold, the braking force is appropriately reduced.

[0021] The speed control adopts closed-loop feedback control, and the feedback signal of the speed measurement sensor is compared with the set speed to obtain the speed deviation signal. Through the PID control algorithm, the controller adjusts the output frequency or voltage of the motor driver to achieve precise control of the running speed of the tape machine. During the start and stop of the tape machine, the ramp acceleration and ramp deceleration control methods are adopted to avoid the impact and excessive inertia caused by the instantaneous start or stop of the motor. According to the mechanical characteristics and load conditions of the tape machine, the time parameters of the ramp acceleration and deceleration are reasonably set to ensure the smooth operation and stop of the tape machine.

[0022] Specifically, the speed control module includes a start speed control module and a stop deceleration control module. The start speed control module automatically controls the speed as follows:

[0023]

[0024] Among them, the proportional term Kpe(k) is used to quickly respond to the current speed deviation, so that the control amount changes proportionally to the deviation to speed up the response speed of the system. The larger the deviation, the larger the output of the proportional term, so that the drive voltage or frequency of the motor can be adjusted quickly to reduce the speed deviation.

[0025] Integral Item It is mainly used to eliminate the steady-state error of the system. When the speed deviation exists, the integral term will continue to accumulate the deviation value. Even if the deviation is small, the output of the integral term will gradually increase with the accumulation of time, so that the output of the motor is further adjusted until the speed deviation is zero and the set speed is reached.

[0026] Differential term K d(e(k)-e(k-1)): Adjusting the control amount according to the rate of change of the speed deviation can predict the speed change trend and control the motor in advance to improve the stability and rapid response of the system. For example, when the rate of change of the speed deviation is large, it means that the speed changes quickly. The differential term will output a large control amount, so that the motor drive can be adjusted quickly, suppressing the rapid change of speed and avoiding overshoot or oscillation of the system.

[0027] The limited control quantity u(k) is output to the motor driver, and the motor driver adjusts the voltage or frequency of the motor according to the control quantity, thereby changing the speed of the motor and realizing the control of the running speed of the tape machine.

[0028] Among them, u(k) is the real-time running speed of the motor, k is the serial number of the sampling time, and v set is the set speed, e(k) is the speed deviation and e(k)=v set -v(k),K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, v set (k) is the speed of each sampling period, and

[0029]

[0030] v final is the normal setting speed, Δt is the sampling period, T start is the start-up time, v start is the starting speed. Set the calculated speed setting value v set (k) Substitute into the above speed closed-loop control algorithm to achieve smooth acceleration of the tape machine during startup.

[0031] The stop and deceleration control module automatically controls the speed as follows:

[0032]

[0033] Among them, v set (k) is the speed setting value for each sampling period, v(k) is the current speed when the stop command is issued, and Tstop is the set stop time. set (k) Substitute it into the speed closed-loop control algorithm and combine it with the control of the brake device (brake action is performed according to the real-time setting of the stop time) to achieve smooth deceleration of the tape machine during the stopping process, ensuring that the tape machine stops accurately at the set position and does not exceed the speed limit due to inertia.

[0034] During the actual operation of the tape machine, the speed control performance of the system is tested and observed. By monitoring the speed response curve, overshoot, steady-state error and other performance indicators, the PID parameters and ramp time parameters are adjusted and optimized.

[0035] For example, if the speed response is found to be too slow, the proportional coefficient K can be appropriately increased. p ; If a large overshoot occurs, the proportional coefficient can be appropriately reduced or the differential coefficient K can be increased. d ; If there is a steady-state error, the integral coefficient K can be appropriately increased i At the same time, according to the actual situation during the start and stop process, the ramp time parameters are fine-tuned to ensure smooth start and accurate stop.

[0036] Beneficial effects of the present invention: Through the coordination of the damping module disclosed in the present invention, especially the vertical damping module and the control system, the automatic operation requirements of the equipment can be fully realized, and various problems caused by improper start and stop can be completely avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0038] Figure 1 and Figure 2 It is an overall overview diagram of the present invention;

[0039] Figure 3 It is a top view of the overall structure of the present invention;

[0040] Figure 4 It is a structural schematic diagram of the pre-compression cylinder of the present invention;

[0041] Figure 5 It is a schematic diagram of the vertical damping module structure of the present invention. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] See also Figures 1 to 5 , the present invention provides a technical solution:

[0044] A fully automatic tape reeling machine comprises a control module, a tape unwinding module, a damping module, a tape straightening module and a tape winding module, wherein the control module is used to control the overall operation and stop of the tape reeling machine, the tape unwinding module is used to place the textile tape to be reeled, and the tape unwinding module is also provided with a damping disk; the damping module comprises a vertical damping module and a horizontal damping module, a tape straightening module is provided between the vertical damping module and the horizontal damping module, the tape straightening module is used to straighten the textile tape and change the movement direction of the textile tape from the vertical direction to the horizontal movement direction, the tape winding module comprises a motor, a sealing system, a compression air Cylinder; the vertical damping module includes several groups of downward-changing rollers that can be limited in movement up and down, and several upward-changing rollers. Anti-slip rollers are also arranged between the vertical damping module and the belt-releasing module, and between the vertical damping module and the whole belt module. At least one of the several groups of downward-changing rollers that can be limited in movement up and down is provided with a pressure block group with adjustable weight, and the pressure block group is used to adjust the size of the damping force; the horizontal damping module includes several horizontal change-of-direction pulleys, and a sensor is arranged on one side of the horizontal change-of-direction pulley, and there is a gap between the horizontal change-of-direction pulley and the sensor.

[0045] More specifically, the tape module further includes a pre-pressing cylinder, which includes a support frame and rollers located at both ends of the support frame, wherein the travel direction of one of the rollers and the cylinder is located on the same straight line as the center of the reel of the tape module.

[0046] As a better technical solution, the sensor is a linear velocity sensor or an angular velocity sensor.

[0047] As a better technical solution, the horizontal direction-changing pulley can adjust its position in a fixed direction.

[0048] As a better technical solution, the horizontal damping module includes at least two horizontal direction-changing pulleys, and a cutting module is provided between the horizontal direction-changing pulleys.

[0049] As a better technical solution, the control module also includes an anti-winding control module, which includes a motor control module, and the motor control module includes a length control module and a speed control module, and the length control module and the speed control module verify each other. The length control module adopts a closed-loop control method to compare the feedback value of the length measurement sensor with the set length to obtain a length deviation signal. According to the size and change trend of the length deviation, the controller calculates the speed adjustment of the motor through a PID (proportional-integral-differential) control algorithm to achieve precise control of the length of the tape. The parameters of the PID controller (proportional coefficient, integral time constant and differential time constant) can be adjusted through experimental debugging or empirical formulas to obtain the best control effect. When the tape length approaches the set length (for example, reaching 95%-98% of the set length), the controller begins to gradually reduce the speed of the motor and starts the stop time calculation program at the same time. At this time, the length control algorithm switches to a more sophisticated control mode. According to the remaining length and current speed, the stopping position of the tape reel is predicted, and by adjusting the motor speed and the braking time of the brake device, it ensures that the tape reel can stop accurately when it reaches the set length and will not exceed the set length due to inertia.

[0050] Specifically, the length control module includes a normal operation phase control module based on PID control that changes with time, and a stop phase control module after approaching a set length, wherein the motor speed automatic control of the normal operation phase control module based on PID control that changes with time is automatically implemented using the following method:

[0051]

[0052] Among them, u(t) is the motor speed control quantity, e(t) is the length deviation, and e(t)=L set -L current (t), where L set is the preset length, L current (t) is the current length and is a function of time t, with a proportionality factor of K p , the integral coefficient is K i , the differential coefficient is K d , the sampling period is T s , P t is the proportional term: P t =K p ×e(t); I(t) is the integral term: I(t)=I(tT s )+K i ×e(t)×T s , where the initial value I(0) = 0, t is each sampling time; D(t) is the differential term: Where e(t) is the rate of change of length deviation and

[0053] The automatic control of the motor stop time of the control module in the stop phase after approaching the set length is automatically achieved in the following manner:

[0054] T b (t+Δt)=T b (t)+k adj ×(T actual (t)-T stop (t))

[0055] Among them, T continue (t) is the theoretical continuous running time, L remain (t) is the remaining length, then Where v0 is the current speed; let T brake (t) is the time required for braking, then Where a is the braking deceleration;

[0056] T actual (t) is the actual remaining time, and where t start is the starting time of entering the stop phase;

[0057] T stop (t) is the predicted stop time, T b (t) is the braking time, Δt is the adjustment time interval, k adj is the adjustment factor.

[0058] According to the predicted stop time t stop , adjust the braking time and force of the brake device. Assuming that there is a certain functional relationship between the braking torque of the brake device and the braking time and force (such as a linear relationship or a nonlinear relationship, depending on the characteristics of the brake device), it can be adjusted according to t stop The size of the belt can be used to determine the appropriate braking parameters to ensure that the belt can stop accurately when it reaches the set length, avoiding winding due to inertia or stopping prematurely before reaching the set length.

[0059] For example, if the predicted stop time t stop If t is greater than a certain expected stopping time threshold, the braking force is appropriately increased (by increasing the control signal of the braking device or adjusting its working parameters); stop If the stopping time is less than the expected stopping time threshold, the braking force is appropriately reduced.

[0060] The speed control adopts closed-loop feedback control, and the feedback signal of the speed measurement sensor is compared with the set speed to obtain the speed deviation signal. Through the PID control algorithm, the controller adjusts the output frequency or voltage of the motor driver to achieve precise control of the running speed of the tape machine. During the start and stop of the tape machine, the ramp acceleration and ramp deceleration control methods are adopted to avoid the impact and excessive inertia caused by the instantaneous start or stop of the motor. According to the mechanical characteristics and load conditions of the tape machine, the time parameters of the ramp acceleration and deceleration are reasonably set to ensure the smooth operation and stop of the tape machine.

[0061] Specifically, the speed control module includes a start speed control module and a stop deceleration control module. The start speed control module automatically controls the speed as follows:

[0062]

[0063] Among them, the proportional term Kpe(k) is used to quickly respond to the current speed deviation, so that the control amount changes proportionally to the deviation to speed up the response speed of the system. The larger the deviation, the larger the output of the proportional term, so that the drive voltage or frequency of the motor can be adjusted quickly to reduce the speed deviation.

[0064] Integral Item It is mainly used to eliminate the steady-state error of the system. When the speed deviation exists, the integral term will continue to accumulate the deviation value. Even if the deviation is small, the output of the integral term will gradually increase with the accumulation of time, so that the output of the motor is further adjusted until the speed deviation is zero and the set speed is reached.

[0065] Differential term K d (e(k)-e(k-1)): Adjusting the control amount according to the rate of change of the speed deviation can predict the speed change trend and control the motor in advance to improve the stability and rapid response of the system. For example, when the rate of change of the speed deviation is large, it means that the speed changes quickly. The differential term will output a large control amount, so that the motor drive can be adjusted quickly, suppressing the rapid change of speed and avoiding overshoot or oscillation of the system.

[0066] The limited control quantity u(k) is output to the motor driver, and the motor driver adjusts the voltage or frequency of the motor according to the control quantity, thereby changing the speed of the motor and realizing the control of the running speed of the tape machine.

[0067] Among them, u(k) is the real-time running speed of the motor, k is the serial number of the sampling time, and v set is the set speed, e(k) is the speed deviation and e(k)=v set -v(k),K p is the proportionality coefficient, K i is the integration coefficient, Kd is the differential coefficient, v set (k) is the speed of each sampling period, and

[0068]

[0069] v final is the normal setting speed, Δt is the sampling period, T start is the start-up time, v start is the starting speed. Set the calculated speed setting value v set (k) Substitute into the above speed closed-loop control algorithm to achieve smooth acceleration of the tape machine during startup.

[0070] The stop and deceleration control module automatically controls the speed as follows:

[0071]

[0072] Among them, v set (k) is the speed setting value for each sampling period, v(k) is the current speed when the stop command is issued, and Tstop is the set stop time. set (k) Substitute it into the speed closed-loop control algorithm and combine it with the control of the brake device (brake action is performed according to the real-time setting of the stop time) to achieve smooth deceleration of the tape machine during the stopping process, ensuring that the tape machine stops accurately at the set position and does not exceed the speed limit due to inertia.

[0073] During the actual operation of the tape machine, the speed control performance of the system is tested and observed. By monitoring the speed response curve, overshoot, steady-state error and other performance indicators, the PID parameters and ramp time parameters are adjusted and optimized.

[0074] For example, if the speed response is found to be too slow, the proportional coefficient K can be appropriately increased. p ; If a large overshoot occurs, the proportional coefficient can be appropriately reduced or the differential coefficient K can be increased. d ; If there is a steady-state error, the integral coefficient K can be appropriately increased i At the same time, according to the actual situation during the start and stop process, the ramp time parameters are fine-tuned to ensure smooth start and accurate stop.

[0075] The above are preferred implementation modes of the present invention. Those skilled in the art to which the present invention belongs can also change and modify the above implementation modes. Therefore, the present invention is not limited to the above specific implementation modes. Any obvious improvements, substitutions or modifications made by those skilled in the art on the basis of the present invention belong to the protection scope of the present invention.

Claims

1. A fully automatic tape reeling machine, comprising a control module, a tape unwinding module, a damping module, a tape straightening module, and a tape winding module, wherein the control module is used to control the overall operation and stop of the tape reeling machine, the tape unwinding module is used to place the textile tape to be reeled, and the tape unwinding module is also provided with a damping disk; the damping module comprises a vertical damping module and a horizontal damping module, a tape straightening module is provided between the vertical damping module and the horizontal damping module, the tape straightening module is used to straighten the textile tape, and change the movement direction of the textile tape from the vertical direction to the horizontal movement direction, and the tape winding module comprises a motor, a sealing system, and a pressing cylinder; characterized in that, The vertical damping module includes several groups of downward-changing rollers that can be limited in upward and downward movement, and several upward-changing rollers. Anti-slip rollers are also arranged between the vertical damping module and the belt-releasing module, and between the vertical damping module and the whole belt module. At least one of the several groups of downward-changing rollers that can be limited in upward and downward movement is provided with a pressure block group with adjustable weight, and the pressure block group is used to adjust the magnitude of the damping force; the horizontal damping module includes several horizontal direction-changing pulleys, and a sensor is arranged on one side of the horizontal direction-changing pulley, and there is a gap between the horizontal direction-changing pulley and the sensor.

2. A fully automatic tape reeling machine according to claim 1, characterized in that: The tape winding module also includes a pre-pressing cylinder, which includes a support frame and rollers located at both ends of the support frame, wherein the travel direction of one roller and the cylinder is located on the same straight line as the center of the reel of the tape winding module.

3. A fully automatic tape reeling machine according to claim 1, characterized in that: The sensor is a linear velocity sensor or an angular velocity sensor.

4. A fully automatic tape reeling machine according to claim 1, characterized in that: The horizontal direction-changing pulleys can adjust their positions in a fixed direction.

5. The fully automatic tape reeling machine according to claim 1, characterized in that: The plurality of horizontal direction-changing pulleys of the horizontal damping module include at least two, and a cutting module is arranged between the horizontal direction-changing pulleys.

6. A fully automatic tape reeling machine according to claim 1, characterized in that: The control module further includes an anti-winding control module, the anti-winding control module includes a motor control module, the motor control module includes a length control module and a speed control module, and the length control module and the speed control module verify each other.

7. A fully automatic tape reeling machine according to claim 6, characterized in that: The length control module includes a normal operation phase control module based on PID control that changes with time, and a stop phase control module after approaching a set length, wherein the motor speed automatic control of the normal operation phase control module based on PID control that changes with time is automatically implemented using the following method: Among them, u(t) is the motor speed control quantity, e(t) is the length deviation, and e(t)=L set -L current (t), where L set is the preset length, L current (t) is the current length and is a function of time t, with a proportionality factor of K p , the integral coefficient is K i , the differential coefficient is K d , the sampling period is T s , P t is the proportional term: P t =K p ×e(t); I(t) is the integral term: I(t)=I(tT s )+K i ×e(t)×T s , where the initial value I(0) = 0, t is each sampling time; D(t) is the differential term: Where e(t) is the rate of change of length deviation and 8. A fully automatic tape reeling machine according to claim 7, characterized in that: The automatic control of the motor stop time of the control module in the stop phase after approaching the set length is automatically achieved in the following manner: T b (t+Δt)=T b (t)+k adj ×(T actual (t)-T stop (t)) Among them, T continue (t) is the theoretical continuous running time, L remain (t) is the remaining length, then Where v0 is the current speed; let T brake (t) is the time required for braking, So Where a is the braking deceleration; T actual (t) is the actual remaining time, and where t start is the starting time of entering the stop phase; T stop (t) is the predicted stop time, T b (t) is the braking time, Δt is the adjustment time interval, k adj is the adjustment factor.

9. A fully automatic tape reeling machine according to claim 6, characterized in that: The speed control module includes a start speed control module and a stop deceleration control module. The start speed control module automatically controls the speed as follows: Among them, u(k) is the real-time running speed of the motor, k is the serial number of the sampling time, and v set is the set speed, e(k) is the speed deviation and e(k)=v set -v(k),K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, v set (k) is the speed of each sampling period, and v final is the normal setting speed, Δt is the sampling period, T start is the start-up time, v start is the starting speed.

10. A fully automatic tape reeling machine according to claim 9, characterized in that: The stop and deceleration control module automatically controls the speed as follows: Among them, v set (k) is the speed setting value for each sampling period, v(k) is the current speed when the stop command is issued, T stop To set the stop time.

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