Winding and unwinding control method of reel, winding diameter system, device and medium

Abstract

The invention discloses a winding and unwinding control method of a reel, a winding diameter system, a device and a medium, and relates to the technical field of industrial automation control. According to the method, the position deviation information of the floating stick is obtained to carry out nonlinear gain function processing to obtain the reel speed compensation value, so that a basis for reel diameter correction is provided in subsequent feedback, and meanwhile, the nonlinear gain improves the gain and the response speed when facing a relatively large error. By determining the reel speed compensation value, the function of compensating the reel angular speed through the position deviation information of the floating stick is achieved, and the phenomenon that the floating stick swing rod is insufficient in buffering is avoided. The rolling diameter value of the current period is determined based on the reel speed compensation value and the rolling diameter of the previous period, and compared with a traditional PID control mode, the control precision and stability are improved. And finally, according to the rolling diameter value, the traction speed and the rolling shaft speed compensation value of the current period, the rolling and unrolling speed of the rolling shaft is determined, and dynamic rolling and unrolling control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation control, and in particular to a reel reeling and unreeling control method, a reel diameter system, a device and a medium. Background Art

[0002] Traditional unwinding and rewinding control is based on a proportional-integral-derivative (PID) controller, in which the control system output parameters are directly used to adjust the unwinding and rewinding speed.

[0003] As the reel diameter changes, the PID controller has a fixed gain and is difficult to respond quickly when there are large corresponding errors, resulting in insufficient buffering of the floating rod and swing arm, affecting the accuracy and stability of the control system.

[0004] Therefore, how to improve the accuracy and stability of the control system is an urgent problem that technical personnel in this field need to solve. Summary of the invention

[0005] The object of the present invention is to provide a reel reeling and unreeling control method, reel diameter system, device and medium to solve the problem of insufficient buffering of a floating rod rocker arm leading to reduced accuracy and stability of the control system.

[0006] In order to solve the above technical problems, the present invention provides a reel winding and unwinding control method, comprising:

[0007] Obtaining position deviation information of a floating roller in a reeling system; wherein the position deviation information is determined by current actual position information and preset position information of the floating roller;

[0008] Processing the position deviation information according to a nonlinear gain function to obtain a reel speed compensation value of the reel diameter system;

[0009] Determining a reel diameter value of a current cycle based on the reel speed compensation value and a reel diameter value of a previous cycle;

[0010] The winding and unwinding speed of the reel is determined according to the coil diameter value of the current cycle, the pulling speed and the reel speed compensation value, so as to wind and unwind the coil according to the winding and unwinding speed.

[0011] On the one hand, the position deviation information is processed according to a nonlinear gain function to obtain a reel speed compensation value of the reel diameter system, including:

[0012] Obtaining a basic gain and adjusting an exponential growth rate corresponding to the angular velocity of the floating stick and the scroll;

[0013] replacing the gain coefficient corresponding to the nonlinear gain function according to the basic gain and the exponential growth rate;

[0014] The position deviation information is processed by the replaced nonlinear gain function to obtain the reel speed compensation value.

[0015] On the other hand, the replacing nonlinear gain function processes the position deviation information to obtain the reel speed compensation value, including:

[0016] The result of processing the position deviation information by the replaced nonlinear gain function is used as an initial reel speed compensation value;

[0017] The initial reel speed compensation value is multiplied by the position deviation information to obtain a final reel speed compensation value;

[0018] Alternatively, the initial reel speed compensation value is processed into an absolute value to obtain a final reel speed compensation value.

[0019] On the other hand, determining the reel diameter value of the current cycle based on the reel speed compensation value and the reel diameter value of the previous cycle includes:

[0020] Get the roll diameter correction coefficient;

[0021] Determine the value of the winding diameter to be corrected according to the winding shaft speed compensation value and the winding diameter correction coefficient;

[0022] The coiling diameter value of the current cycle is determined according to the coiling diameter value of the previous cycle and the coiling diameter value to be corrected.

[0023] On the other hand, determining the winding and unwinding speed of the winding diameter according to the winding diameter value of the current cycle, the pulling speed and the winding shaft speed compensation value includes:

[0024] Determine the spindle speed of the reel according to the reel diameter value of the current cycle and the pulling speed;

[0025] The reeling and unreeling speed is determined according to the spindle speed and the reel speed compensation value.

[0026] On the other hand, the reel speed compensation value is within the allowable speed correction range of the reel diameter; wherein the upper limit value of the allowable speed correction range of the reel diameter is the maximum value of the reel diameter unwinding; the lower limit value of the allowable speed correction range of the reel diameter is the maximum value of the reel diameter winding; the maximum value of the reel diameter unwinding and the minimum value of the reel diameter winding correspond to different directions;

[0027] The coil diameter value of the current cycle is within the physical range of the coil diameter.

[0028] On the other hand, after obtaining the reel speed compensation value, the method further includes:

[0029] Using the reel speed compensation value as the reel speed compensation value of the current cycle;

[0030] Get the filter coefficient and the scroll speed compensation value of the previous cycle;

[0031] The filtered reel speed compensation value of the current cycle is determined according to the filter coefficient, the reel speed compensation value of the current cycle and the reel speed compensation value of the previous cycle, and the step of determining the reel diameter value of the current cycle based on the reel speed compensation value and the reel diameter value of the previous cycle is entered.

[0032] In order to solve the above technical problems, the present invention further provides a reel diameter system, the reel diameter system comprising a reel, a reel motor, a traction shaft, a traction motor, a floating roller and a controller;

[0033] The traction shaft is connected to the traction motor by transmission; the reel is connected to the reel motor by transmission; the floating roller is located between the traction shaft and the reel and is placed on or under the reel of the reel; the reel motor and the traction motor are both connected to a controller;

[0034] The controller is used to execute the steps of the above-mentioned reel reeling and unreeling control method.

[0035] In order to solve the above technical problems, the present invention further provides a reel reeling and unreeling control device, comprising:

[0036] Memory for storing computer programs;

[0037] A processor is used to implement the steps of the reel winding and unwinding control method as described above when executing the computer program.

[0038] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the reel winding and unwinding control method as described above are implemented.

[0039] The present invention provides a reel winding and unwinding control method, which obtains the position deviation information of the floating rod to process the nonlinear gain function to obtain the reel speed compensation value, so as to provide the basis for the reel diameter correction in the subsequent feedback. At the same time, the nonlinear gain increases the gain and improves the response speed when facing a large error. By determining the reel speed compensation value, the function of compensating the reel angular velocity through the position deviation information of the floating rod is realized, so as to avoid the phenomenon of insufficient buffering of the floating rod swing rod. The reel diameter value of the current cycle is determined based on the reel speed compensation value and the reel diameter of the previous cycle. Compared with the traditional PID control method, it is not necessary to set the initial reel diameter, and it is not necessary to involve the integral and differential links of the PID link, which are easy to cause cumulative errors or system jitter in a noisy environment, thereby improving the control accuracy and stability. The reel diameter is updated in real time, with high accuracy and fast convergence. Finally, the reel winding and unwinding speed is determined according to the reel diameter value, traction speed and reel speed compensation value of the current cycle to realize dynamic rewinding and unwinding control.

[0040] In addition, the present invention also provides a winding diameter system, a reel winding and unwinding control device, and a medium, which have the same beneficial effects as the above-mentioned reel winding and unwinding control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A flow chart of a reel reeling and unreeling control method provided by an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of a function image of a nonlinear gain function provided by an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of the movement between a reel and a traction shaft in a reel diameter system provided by an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of a winding diameter system provided by an embodiment of the present invention;

[0046] Figure 5 A control principle diagram of a winding diameter system provided by an embodiment of the present invention;

[0047] Figure 6 A diagram showing the actual measurement effect of calculating the roll diameter value provided by an embodiment of the present invention;

[0048] Figure 7 This is the actual measurement effect diagram for the conventional roll diameter value calculation;

[0049] Figure 8 A structural diagram of a reel reeling and unreeling control device provided by an embodiment of the present invention;

[0050] Fig. 9 A structural diagram of a reel reeling and unreeling control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The core of the present invention is to provide a reel reeling and unreeling control method, reel diameter system, device and medium to solve the problem of insufficient buffering of the floating rod rocker arm leading to reduced accuracy and stability of the control system.

[0053] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0054] Traditional reeling and unwinding control is mainly based on PID controller, which is directly used to adjust the unwinding speed. The PID controller with fixed gain is difficult to respond quickly in the case of large errors, which may lead to insufficient swing arm buffering. In addition, the integral and differential environments of the PID controller are prone to cumulative errors or system jitter in a noisy environment, affecting control accuracy and stability. The reel reeling and unwinding control method provided by the present invention can solve the above technical problems.

[0055] Figure 1 A flowchart of a reel reeling and unreeling control method provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0056] S11: Obtaining position deviation information of the floating roller in the winding diameter system;

[0057] The position deviation information is determined by the current actual position information and the preset position information of the floating stick;

[0058] S12: Processing the position deviation information according to the nonlinear gain function to obtain a reel speed compensation value of the reel diameter system;

[0059] S13: determining the reel diameter value of the current cycle based on the reel speed compensation value and the reel diameter value of the previous cycle;

[0060] S14: Determine the winding and unwinding speed of the reel according to the coil diameter value, the pulling speed and the reel speed compensation value of the current cycle, so as to wind and unwind the coil according to the winding and unwinding speed.

[0061] Specifically, the floating rod in the winding diameter system is mainly used to detect and adjust the tension of the material. The tension state of the material can be fed back in real time through the position change of the floating rod. For example, when the material tension increases, the floating rod moves upward; when the material tension decreases, the floating rod moves downward. The position change of the floating rod is converted into an electrical signal by a sensor (such as a potentiometer) and fed back to the control system. The control system adjusts the motor speed or torque of the reel according to these signals to maintain a constant tension of the material. During the reeling and unreeling process, the linear speed of the material needs to be kept constant. Due to the change in the reel diameter, the speed of the reel needs to be adjusted accordingly. The position change of the floating rod can be used as a reference signal for speed regulation. The reel diameter can be indirectly calculated through the position change of the floating rod. Accurate calculation of the reel diameter is crucial for speed control. For example, the speed of the reel can be calculated through the linear speed and reel diameter of the material. The floating rod and the reel together form a closed-loop control system. The position feedback signal of the floating rod is used to adjust the motor speed or torque of the reel to ensure that the tension and speed of the material remain constant.

[0062] The position deviation information of the floating rod in the winding diameter system can be determined by the current position information and the preset position information of the floating rod, that is, the current position information of the floating rod can be measured by a potentiometer, and the preset position information is set by the user. The position deviation information can be the current position information of the floating rod minus the preset position information, or the preset position information minus the current position information, both of which can be realized.

[0063] In step S12, the position deviation information is processed according to the nonlinear gain function to obtain a reel speed compensation value, which is used to compensate for the reel diameter error and provide a basis for reel diameter correction in the subsequent feedback loop. Figure 2 A schematic diagram of a function image of a nonlinear gain function provided by an embodiment of the present invention, such as Figure 2 As shown, the horizontal axis is the position deviation information, and the vertical axis is the reel speed error. It should be noted that the gain function in this embodiment is a nonlinear gain function. Compared with the linear gain function, the gain is increased in the case of a large error to improve the response speed. The determination of the reel speed compensation value is to achieve the deviation of the reel angular velocity compensation value with the position deviation information of the floating roller.

[0064] In step S13, the reel diameter value of the current cycle is determined based on the reel speed compensation value and the reel diameter value of the previous cycle, that is, the reel diameter is adjusted dynamically based on the correction within the control cycle. It should be noted that the reel diameter value of the previous cycle here can be set as a starting reel diameter value when the reel diameter reeling and unwinding control is started for the first time. It is usually set to the middle value between the maximum reel diameter and the minimum reel diameter, and the starting reel diameter value of the first reel diameter is the reel diameter value of the current cycle corresponding to the first time, which is not limited here. The subsequent reel diameter value of the current cycle that is not corresponding to the first time needs to obtain the reel diameter value of the current cycle through the compensation value.

[0065] In step S14, the reel winding and unwinding speed is determined based on the reel diameter value, traction speed and reel speed compensation value of the current cycle to reel in and unwind the material on the reel. The traction speed here is the traction servo operating speed, combined with the correction of the nonlinear controller, to achieve reeling and unwinding speed control. Figure 3 A schematic diagram of the movement between a reel and a traction shaft in a reel diameter system provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown in the figure, the traction shaft is controlled by the traction servo, and the unwinding (rewinding) shaft guides the material through a floating rod to cache the material, and finally the traction shaft provides power to drive the material forward. The reel is the core component of the winding material, responsible for the winding and unwinding of the material. The speed and torque of the reel need to be adjusted in real time according to the change of the roll diameter to keep the linear speed and tension of the material constant. The speed and torque of the reel are driven by the motor, and the control signal of the motor is provided by the programmable logic controller (PLC) or the inverter, and adjusted according to the roll diameter calculation result and the tension feedback signal.

[0066] The roller is used to guide the material through the winding path to ensure that the material does not deviate or slip during the winding process. The position and angle of the roller need to be precisely adjusted to ensure smooth material transmission. The position of the roller is usually fixed by a mechanical structure, but in some advanced systems, the position of the roller can also be dynamically adjusted by sensors and control systems. The traction shaft is responsible for the traction of the material to ensure that the linear speed of the material is constant during the winding process. The speed and torque of the traction shaft need to be adjusted in real time according to the changes in the coil diameter to keep the linear speed and tension of the material constant. The speed and torque of the traction shaft are driven by a motor. The control signal of the motor is provided by a PLC or a frequency converter and adjusted according to the coil diameter calculation result and the tension feedback signal.

[0067] The motor is the core power source of the winding system, responsible for driving the winding shaft and the traction shaft. The motor speed and torque are controlled by the inverter or PLC, and are adjusted in real time according to the winding diameter calculation results and the tension feedback signal. The motor control signal is provided by the PLC or inverter. Through the PID control algorithm, the motor speed and torque are adjusted in real time according to the winding diameter calculation results and the tension feedback signal to ensure that the linear speed and tension of the material remain constant.

[0068] Figure 4 A schematic diagram of a winding system provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the controller is connected to the reel servo, traction servo and floating rod potentiometer. The controller collects the mechanical position of the floating rod through the analog module. The collected actual position of the floating rod is used for algorithm calculation, and finally the matching relationship between the actual reel diameter and the angular velocity of the reel and traction is obtained.

[0069] The embodiment of the present invention provides a reel winding and unwinding control method, which obtains the position deviation information of the floating rod to process the nonlinear gain function to obtain the reel speed compensation value, so as to provide the basis for the reel diameter correction in the subsequent feedback. At the same time, the nonlinear gain increases the gain and improves the response speed when facing a large error. By determining the reel speed compensation value, the function of compensating the reel angular velocity through the position deviation information of the floating rod is realized, so as to avoid the phenomenon of insufficient buffering of the floating rod swing arm. The reel diameter value of the current cycle is determined based on the reel speed compensation value and the reel diameter of the previous cycle. Compared with the traditional PID control method, it is not necessary to set the initial reel diameter. It does not involve the integral and differential links of the PID link, which are easy to cause cumulative errors or system jitter in a noisy environment, thereby improving the control accuracy and stability. The reel diameter is updated in real time, with high accuracy and fast convergence. Finally, the reel winding and unwinding speed is determined according to the reel diameter value, traction speed and reel speed compensation value of the current cycle to realize dynamic rewinding and unwinding control.

[0070] In some embodiments, the position deviation information is processed according to the nonlinear gain function to obtain the reel speed compensation value of the reel diameter system, including:

[0071] Get the base gain and adjust the exponential growth rate corresponding to the angular velocity of the floating stick and the scroll;

[0072] Replace the gain coefficient corresponding to the nonlinear gain function according to the basic gain and exponential growth rate;

[0073] The position deviation information is processed by the replaced nonlinear gain function to obtain a reel speed compensation value.

[0074] Specifically, the basic gain in this embodiment is set by the user, and is related to the reel diameter convergence speed and the position deviation degree of the floating rod jumping up and down. If the deviation between the initial value of the reel diameter and the true value is large, it is necessary to adjust the basic gain. When the step length of the basic gain adjustment is large, it corresponds to a faster up and down jump of the floating rod. Therefore, it is necessary to reduce the basic gain so that the floating rod jumps up and down more slowly. If the step length of the basic gain adjustment is small, although the up and down jump of the floating rod is slow, it takes a long time to reach the theoretical true value of the reel diameter. Therefore, the basic gain can be adjusted in real time or at a fixed time. It is not limited here and can be set according to actual conditions.

[0075] The exponential growth rate is used to adjust the strength of the nonlinear gain. Its parameters are set by the user. Considering the maximum and minimum reel diameters of the reel, the linear speed affected by the angular velocity, and the buffering capacity corresponding to the up and down jumping of the floating rod, the up and down jumping of the floating rod is at the corresponding jumping position between the maximum and minimum tension values. The exponential growth rate is adjusted within this range, which is the same as the basic gain adjustment method mentioned above and will not be repeated here.

[0076] It should be noted that the specific parameters corresponding to the original nonlinear gain function of the present invention are replaced with the basic gain and exponential growth rate corresponding to the present embodiment, so as to combine the reel diameter reeling and unreeling control scenario under the reel diameter system corresponding to the present invention, and the formula is as follows:

[0077] ;

[0078] in, is the basic gain, is an exponential growth rate, is the position deviation information, which corresponds to the absolute value. Considering that the current deviation has positive and negative values, the corresponding nonlinear gain function is a symmetric function.

[0079] The reel speed compensation value corresponding to the nonlinear gain function provided in this embodiment is used to repair the reel diameter, providing a basis for reel diameter correction in a subsequent feedback loop, thereby ensuring the accuracy of the reel diameter.

[0080] In some embodiments, the position deviation information is processed by the replaced nonlinear gain function to obtain a reel speed compensation value, including:

[0081] The result of the replaced nonlinear gain function processing the position deviation information is used as the initial scroll speed compensation value;

[0082] The initial reel speed compensation value is multiplied by the position deviation information to obtain a final reel speed compensation value;

[0083] Alternatively, the initial reel speed compensation value is processed into an absolute value to obtain a final reel speed compensation value.

[0084] Specifically, the result of the position deviation information processed by the replaced nonlinear gain function is first used as the initial reel speed compensation value. In the subsequent processing, since the initial reel speed compensation value is negative, it is ensured that the final reel speed compensation value is a positive number. Two implementation methods are adopted here, which can be multiplied with the position deviation information to obtain a negative-to-positive result, or absolute value processing can be performed based on the reel speed compensation value itself.

[0085] In the process of multiplying the position deviation information, the controller after the nonlinear gain is used to perform the angular velocity step of the reel, which compensates the angular velocity of the reel through the position deviation of the floating rod. It should be noted that the nonlinear P controller is a controller in the automatic control system, which is used to deal with the situation where there is a nonlinear relationship between the input and output of the system. There are many ways to design a nonlinear P controller, which can be designed using the Lyapunov function to ensure the stability of the system. It is also possible to convert the nonlinear system into a linear system by designing the control input, thereby simplifying the control design. Or dynamically adjust the gain of the controller according to the state or error of the system. For example, the nonlinear function Kp(e) can be designed as a proportional gain so that it has different gain values ​​within different error ranges, thereby improving the control accuracy and response speed. This embodiment chooses to use nonlinear gain scheduling as the proportional gain. The specific formula is as follows:

[0086] ;

[0087] in, is the position deviation information, is the reel speed error, It is the scroll speed compensation value.

[0088] Compared with the traditional linear P controller, the nonlinear P controller provided in this embodiment can better adapt to the dynamic characteristics of complex systems and improve the performance, stability and flexibility of the control system.

[0089] In some embodiments, determining the reel diameter value of the current cycle based on the reel speed compensation value and the reel diameter value of the previous cycle includes:

[0090] Get the roll diameter correction coefficient;

[0091] Determine the value of the winding diameter to be corrected according to the winding shaft speed compensation value and the winding diameter correction coefficient;

[0092] The coiling diameter value of the current cycle is determined according to the coiling diameter value of the previous cycle and the coiling diameter to be corrected value.

[0093] Specifically, the coil diameter correction coefficient is obtained, which is used to control the influence of the speed correction on the coil diameter. The coil diameter correction value to be corrected is obtained by multiplying the coil speed compensation value and the coil diameter correction coefficient. The coil diameter value of the current cycle is determined based on the coil diameter value of the previous cycle and the coil diameter correction value. It can be an addition process or a subtraction process, which is not limited here.

[0094] In addition, regarding the unwinding and winding conditions of the roll diameter, unwinding is the process of reducing the roll diameter, and winding is the process of increasing the roll diameter. Therefore, the roll diameter value corresponding to the current cycle can be determined according to the unwinding and winding conditions of the roll diameter. If it is unwinding, the roll diameter value of the current cycle is smaller than the roll diameter value of the previous cycle, that is, the roll diameter value of the previous cycle minus the roll diameter value to be corrected; if it is winding, the roll diameter value of the current cycle is larger than the roll diameter value of the previous cycle, that is, the roll diameter value of the previous cycle plus the roll diameter value to be corrected.

[0095] Taking winding as an example, the corresponding formula is:

[0096] ;

[0097] in, is the coil diameter value of the previous cycle, is the roll diameter correction factor, It is the scroll speed compensation value.

[0098] This embodiment provides a method for determining the coil diameter value of the current cycle based on the coil speed compensation value and the coil diameter value of the previous cycle, so as to ensure that the coil diameter is updated in real time with high precision and fast convergence.

[0099] In some embodiments, the reeling and unreeling speed of the reel diameter is determined according to the reel diameter value, the traction speed and the reel speed compensation value of the current cycle, including:

[0100] Determine the spindle speed of the reel according to the reel diameter value and the pulling speed of the current cycle;

[0101] The rewinding and unwinding speed is determined based on the spindle speed and the reel speed compensation value.

[0102] Specifically, the spindle speed of the reel is determined according to the reel diameter value and the traction speed of the current cycle, and the spindle speed of the traction speed is given and corrected by the nonlinear P controller to facilitate the subsequent control of the reeling and unwinding speed. The spindle speed here is obtained by multiplying the reel diameter value of the current cycle by the traction speed. The reeling and unwinding speed is determined based on the spindle speed and the reel speed compensation value. Specifically, the spindle speed and the reel speed compensation value can be added, or the spindle speed and the reel speed compensation value can be subtracted. It can be set according to the actual situation.

[0103] The formula is as follows:

[0104] ;

[0105] in, is the coil diameter value of the current cycle, is the pulling speed, is the spindle speed of the scroll, is the scroll speed compensation value, It is the rewinding and unwinding speed.

[0106] The process of determining the reeling and unwinding speed provided in this embodiment uses the traction servo operating speed as the main speed reference, combined with a nonlinear P controller correction, to achieve unwinding speed control.

[0107] In some embodiments, the reel speed compensation value is within the allowable speed correction range of the reel diameter; wherein the upper limit value of the allowable speed correction range of the reel diameter is the maximum value of the reel diameter unwinding; the lower limit value of the allowable speed correction range of the reel diameter is the maximum value of the reel diameter winding; the maximum value of the reel diameter unwinding and the minimum value of the reel diameter winding correspond to different directions;

[0108] The coil diameter value of the current cycle is within the physical range of the coil diameter.

[0109] Specifically, its It should be noted that The specific value of is the maximum speed correction range allowed by the coil diameter. The specific value of the maximum speed value corresponding to the coil diameter winding and the coil diameter unwinding is the same. The corresponding direction of the winding and unwinding is different. is the maximum value of the winding diameter. The maximum value of the unwinding diameter.

[0110] The coil diameter value of the current cycle , which is the physical range of the coil diameter, corresponding to the minimum and maximum coil diameters during the mechanical design process.

[0111] The limiting correction of the reel speed compensation value of the reel diameter and the limiting correction of the reel diameter value provided in this embodiment reduce noise interference and unnecessary oscillation, and improve the stability of the system.

[0112] In some embodiments, after obtaining the reel speed compensation value, the method further includes:

[0113] The scroll speed compensation value is used as the scroll speed compensation value of the current cycle;

[0114] Get the filter coefficient and the scroll speed compensation value of the previous cycle;

[0115] The filtered reel speed compensation value of the current cycle is determined according to the filter coefficient, the reel speed compensation value of the current cycle and the reel speed compensation value of the previous cycle, and the step of determining the reel diameter value of the current cycle based on the reel speed compensation value and the reel diameter value of the previous cycle is entered.

[0116] Specifically, considering the interference of the signal, that is, the analog quantity collection of the pendulum stick has high-frequency noise, the present embodiment performs filtering on the signal, mainly corresponding to the filtering processing of the reel speed compensation value, and uses the obtained reel speed compensation value as the reel speed compensation value of the current cycle, and determines the reel speed compensation value of the filtered current cycle according to the filtering coefficient, the reel speed compensation value of the current cycle and the reel speed compensation value of the previous cycle, and the formula is as follows:

[0117] ;

[0118] in, is the filter coefficient, The scroll speed compensation value of the current cycle. It is the scroll speed compensation value of the previous cycle.

[0119] The corresponding filter coefficient here is usually between 0.1 and 0.3 to balance the response speed and signal smoothness.

[0120] It should be noted that the filtering process can set the filtering mode according to the actual situation, and this embodiment provides a low-pass filtering mode.

[0121] The present embodiment provides filtering of the reel speed compensation value to filter the position deviation information of the floating roller, reduce noise interference, and improve the stability of the system.

[0122] Figure 5 A control principle diagram of a winding system provided by an embodiment of the present invention, such as Figure 5 As shown, it compares the position deviation information of the floating roller corresponding to the actual position and the set position of the floating roller, and obtains the reel speed compensation value Vp through the nonlinear gain function and the compensation value of the position deviation information. The reel diameter value Dnew of the current cycle is determined based on the reel speed compensation value and the reel diameter value of the previous cycle, and the reel diameter winding and unwinding speed Vunwind is determined according to the reel diameter value of the current cycle, the traction speed and the reel speed compensation value.

[0123] Figure 6 This is a diagram showing the actual measurement effect of calculating the roll diameter value provided by an embodiment of the present invention. Figure 7 This is a conventional roll diameter value calculation and measurement effect diagram. The horizontal axis is the time parameter and the vertical axis is the roll diameter value. Figure 6 , Figure 7 As shown, in the calculation process of the corresponding coil diameter, the signal interference of the present invention is small and the stability is high.

[0124] Furthermore, the present invention also provides a reeling system, which includes a reel, a reel motor, a traction shaft, a traction motor, a floating rod and a controller;

[0125] The traction shaft is connected to the traction motor by transmission; the reel is connected to the reel motor by transmission; the floating rod is located between the traction shaft and the reel and is placed on or under the reel of the reel; the reel motor and the traction motor are both connected to the controller;

[0126] The controller is used to execute the steps of the above-mentioned reel reeling and unreeling control method.

[0127] See the simple connection diagram of the specific winding system Figure 3 , the corresponding controller control schematic diagram Figure 4 The above-mentioned reel winding and unwinding control method is used to realize winding and unwinding control, improve the calculation accuracy and response speed of the roll diameter, and is suitable for a variety of industrial winding and unwinding control scenarios, such as printing, coating, slitting and other scenarios that require precise tension control.

[0128] For an introduction to a winding diameter system provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above reel winding and unwinding control method.

[0129] The above describes in detail various embodiments corresponding to the reel winding and unwinding control method. On this basis, the present invention also discloses a reel winding and unwinding control device corresponding to the above method. Figure 8 The structure diagram of a reel reeling and unreeling control device provided by an embodiment of the present invention. Figure 8 As shown, the reel reeling and unreeling control device includes:

[0130] The acquisition module 11 is used to acquire the position deviation information of the floating roller in the winding diameter system; wherein the position deviation information is determined by the current actual position information and the preset position information of the floating roller;

[0131] A first determination module 12 is used to process the position deviation information according to a nonlinear gain function to obtain a reel speed compensation value of the reel diameter system;

[0132] A second determination module 13, configured to determine a reel diameter value of a current cycle based on a reel speed compensation value and a reel diameter value of a previous cycle;

[0133] The third determination module 14 is used to determine the winding and unwinding speed of the reel according to the winding diameter value, the pulling speed and the reel speed compensation value of the current cycle, so as to wind and unwind the coil according to the winding and unwinding speed.

[0134] Since the embodiments of the device part correspond to the above embodiments, please refer to the description of the embodiments of the method part for the embodiments of the device part, and will not be repeated here.

[0135] For an introduction to a reel unwinding and winding control device provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above reel unwinding and winding control method.

[0136] Fig. 9 A structural diagram of a reel reeling and unreeling control device provided by an embodiment of the present invention, such as Fig. 9 As shown, the device comprises:

[0137] A memory 21, used for storing computer programs;

[0138] The processor 22 is used to implement the steps of the reel winding and unwinding control method when executing the computer program.

[0139] The reel reeling and unreeling control device provided in this embodiment may include but is not limited to a tablet computer, a laptop computer or a desktop computer.

[0140] Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 may be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0141] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used to store the following computer program 211, wherein, after the computer program is loaded and executed by the processor 22, it can implement the relevant steps of the reel winding and unwinding control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, data involved in the reel winding and unwinding control method, etc.

[0142] In some embodiments, the reel reeling and unreeling control device may further include a display screen 23 , an input and output interface 24 , a communication interface 25 , a power supply 26 , and a communication bus 27 .

[0143] Those skilled in the art can understand that Fig. 9 The structure shown in the figure does not constitute a limitation on the reel winding and unwinding control device, and may include more or fewer components than those shown in the figure.

[0144] The processor 22 implements the reel winding and unwinding control method provided by any of the above embodiments by calling the instructions stored in the memory 21.

[0145] For an introduction to a reel unwinding and winding control device provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above reel unwinding and winding control method.

[0146] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 22, the steps of the above-mentioned reel winding and unwinding control method are implemented.

[0147] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0148] For an introduction to a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above reel winding and unwinding control method.

[0149] The above is a detailed introduction to a reel reeling and unwinding control method, reel diameter system, device and medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

[0150] It should also be noted that, in this specification, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants 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 "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for controlling the winding and unwinding of a reel, characterized in that: include: Obtaining position deviation information of a floating roller in a reeling system; wherein the position deviation information is determined by current actual position information and preset position information of the floating roller; Processing the position deviation information according to a nonlinear gain function to obtain a reel speed compensation value of the reel diameter system; Determining a reel diameter value of a current cycle based on the reel speed compensation value and a reel diameter value of a previous cycle; The winding and unwinding speed of the reel is determined according to the coil diameter value of the current cycle, the pulling speed and the reel speed compensation value, so as to wind and unwind the coil according to the winding and unwinding speed.

2. The reel reeling and unreeling control method according to claim 1, characterized in that: The position deviation information is processed according to a nonlinear gain function to obtain a reel speed compensation value of the reel diameter system, including: Obtaining a basic gain and adjusting an exponential growth rate corresponding to the angular velocity of the floating stick and the scroll; replacing the gain coefficient corresponding to the nonlinear gain function according to the basic gain and the exponential growth rate; The position deviation information is processed by the replaced nonlinear gain function to obtain the reel speed compensation value.

3. The reel reeling and unreeling control method according to claim 2, characterized in that: The step of processing the position deviation information with the replaced nonlinear gain function to obtain the reel speed compensation value comprises: The result of processing the position deviation information by the replaced nonlinear gain function is used as an initial reel speed compensation value; The initial reel speed compensation value is multiplied by the position deviation information to obtain a final reel speed compensation value; Alternatively, the initial reel speed compensation value is processed into an absolute value to obtain a final reel speed compensation value.

4. The reel reeling and unreeling control method according to claim 1, characterized in that: Determining the reel diameter value of the current cycle based on the reel speed compensation value and the reel diameter value of the previous cycle includes: Get the roll diameter correction coefficient; Determine the value of the winding diameter to be corrected according to the winding shaft speed compensation value and the winding diameter correction coefficient; The coiling diameter value of the current cycle is determined according to the coiling diameter value of the previous cycle and the coiling diameter value to be corrected.

5. The reel reeling and unreeling control method according to claim 1, characterized in that: Determining the winding and unwinding speed of the winding diameter according to the winding diameter value of the current cycle, the pulling speed and the winding shaft speed compensation value includes: Determine the spindle speed of the reel according to the reel diameter value of the current cycle and the pulling speed; The reeling and unreeling speed is determined according to the spindle speed and the reel speed compensation value.

6. The reel winding and unwinding control method according to claim 1, characterized in that: The reel speed compensation value is within the allowable speed correction range of the reel diameter; wherein the upper limit value of the allowable speed correction range of the reel diameter is the maximum value of the reel diameter unwinding; the lower limit value of the allowable speed correction range of the reel diameter is the maximum value of the reel diameter winding; the maximum value of the reel diameter unwinding and the minimum value of the reel diameter winding correspond to different directions; The coil diameter value of the current cycle is within the physical range of the coil diameter.

7. The reel reeling and unreeling control method according to claim 1, characterized in that: After obtaining the reel speed compensation value, the method further includes: Using the reel speed compensation value as the reel speed compensation value of the current cycle; Get the filter coefficient and the scroll speed compensation value of the previous cycle; The filtered reel speed compensation value of the current cycle is determined according to the filter coefficient, the reel speed compensation value of the current cycle and the reel speed compensation value of the previous cycle, and the step of determining the reel diameter value of the current cycle based on the reel speed compensation value and the reel diameter value of the previous cycle is entered.

8. A winding diameter system, characterized in that: The reel system includes a reel, a reel motor, a traction shaft, a traction motor, a floating roller and a controller; The traction shaft is connected to the traction motor by transmission; the reel is connected to the reel motor by transmission; the floating roller is located between the traction shaft and the reel and is placed on or under the reel of the reel; the reel motor and the traction motor are both connected to a controller; The controller is used to execute the steps of the reel reeling and unreeling control method as described in any one of claims 1 to 7.

9. A reel reeling and unreeling control device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the reel winding and unwinding control method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the reel winding and unwinding control method according to any one of claims 1 to 7 are implemented.

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