Tension determination method and device, electronic equipment and medium

Abstract

The invention provides a tension determination method and device, electronic equipment and a medium. The method comprises the steps that the current friction torque and the current actual torque of a traction roller driving motor of a target tension section are obtained; acquiring the current average torque of the traction system; according to the current friction torque and the current actual torque of a traction roller driving motor of the target tension section and the current average torque of the traction system, the traction tension torque of the target tension section is obtained; and the current material tension of the target tension section is obtained according to the preset unwinding tension and the traction tension torque of the target tension section.

Description

Technical Field

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

[0002] Tension control is crucial in various industries involving the production and processing of coils and strips. In the processing of coils and strips, proper control of tension is the key to ensuring the smooth operation of materials and avoiding various production problems. Specifically, appropriate tension can effectively prevent the material from wrinkling, stretching deformation or breakage during the processes of conveying, winding, cutting and printing, thereby minimizing the waste of materials and improving the overall material utilization. In the prior art, tension is detected in real time by using a tension detection device, such as a tension sensor, photoelectric tension detection, vision and other hardware. The tension detection device can monitor the tension of the material in real time and feed it back to the control system for necessary adjustments. However, these tension detection devices are expensive, and a single production and processing system often needs to be configured with multiple ones, which greatly increases the cost. Furthermore, in some production environments, due to space limitations or other constraints, the tension detection device cannot be installed. Summary of the invention

[0003] In view of this, the tension determination solution provided in the present application can achieve real-time detection of tension without adding any hardware equipment.

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

[0005] Obtaining the current friction torque and current actual torque of the traction roller driving motor of the target tension section;

[0006] Get the current average torque of the traction system;

[0007] Obtaining the traction tension torque of the target tension section according to the current friction torque and the current actual torque of the traction roller driving motor of the target tension section and the current average torque of the traction system;

[0008] According to the preset unwinding tension and the traction tension torque of the target tension section, the current material tension of the target tension section is obtained.

[0009] Optionally, the step of obtaining the current average torque of the traction system further comprises:

[0010] Obtaining the average actual torque of each traction roller driving motor of the traction system at the current moment;

[0011] The current average torque of the traction system is obtained according to the average actual torque of each traction roller driving motor at the current moment.

[0012] Optionally, the average actual torque is an average value of actual torques obtained at N consecutive sampling moments.

[0013] Optionally, the step of acquiring the current friction torque of the traction roller driving motor of the target tension section is further implemented as follows:

[0014] Obtaining the current rotation speed of the traction roller driving motor of the target tension section;

[0015] According to the current rotation speed of the traction roller driving motor of the target tension section, the current friction torque of the traction motor is obtained based on the corresponding relationship between the friction torque of the traction roller driving motor of the target tension section and the motor rotation speed.

[0016] Optionally, the corresponding relationship between the friction torque and the motor speed is a friction torque-motor speed curve.

[0017] Optionally, the friction torque-motor speed curve is obtained based on the following method:

[0018] When the traction roller driven by the traction roller driving motor does not carry any material, the actual torque of the traction roller driving motor at several rotation speeds is obtained to obtain the coordinates of several key points;

[0019] The coordinates of the several key points are interpolated to obtain a friction torque-motor speed curve.

[0020] Optionally, the plurality of rotational speeds constitute an arithmetic progression, and the maximum value of the arithmetic progression is the maximum operating rotational speed of the traction roller drive motor, and the minimum value of the arithmetic progression is 0.

[0021] In a second aspect, the present application provides a tension determination device, comprising:

[0022] A first acquisition module, which is used to acquire the current friction torque of the traction roller driving motor of the target tension section;

[0023] A second acquisition module, which is used to acquire the current actual torque of the traction roller driving motor of the target tension section;

[0024] A system average torque module, which is used to obtain the current average torque of the traction system;

[0025] A traction tension torque module, which is used to obtain the traction tension torque of the target tension section according to the current friction torque and current actual torque of the traction roller driving motor of the target tension section and the current average torque of the traction system;

[0026] The material tension module is used to obtain the current material tension of the target tension section according to the preset unwinding tension and the traction tension torque of the target tension section.

[0027] 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;

[0028] 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 of tension determination.

[0029] 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 as described in any one of the tension determination methods.

[0030] It can be seen from the above technical solution that the present application does not rely on any external sensors, nor does it require the addition of additional hardware equipment or the upgrading of hardware configuration. The tension on the material is indirectly calculated through the current actual torque of the traction roller drive motor, thereby reducing the production cost of the customer and realizing real-time detection of the tension on each section of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The present invention is a flowchart of a tension determination method according to an exemplary embodiment of the present application.

[0032] Figure 2 The flowchart of obtaining the current average torque of the traction system according to an exemplary embodiment of the present application.

[0033] Figure 3 A schematic diagram of a printing press.

[0034] Figure 4 It is a schematic diagram of a tension determination device according to an exemplary embodiment of the present application.

[0035] List of reference numerals:

[0036] 200: first traction roller;

[0037] 300: second traction roller;

[0038] 400: third traction roller;

[0039] 500: fourth traction roller;

[0040] 600: fifth traction roller;

[0041] 10: pressure roller;

[0042] 91: first tension section;

[0043] 92: second tension section;

[0044] 93: the third tension section;

[0045] 94: fourth tension section;

[0046] 95: fifth tension section;

[0047] 96: sixth tension section;

[0048] 801: first acquisition module;

[0049] 802: second acquisition module;

[0050] 803: System average torque module;

[0051] 804: traction tension torque module;

[0052] 805: Material tension module; DETAILED DESCRIPTION

[0053] 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.

[0054] 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.

[0055] Tension control is crucial in various industries involving the production and processing of coils and strips. In the processing of coils and strips, proper control of tension is the key to ensuring the smooth operation of materials and avoiding various production problems. Specifically, appropriate tension can effectively prevent the material from wrinkling, stretching deformation or breakage during the processes of conveying, winding, cutting and printing, thereby minimizing the waste of materials and improving the overall material utilization. In the prior art, tension is detected in real time by using a tension detection device, such as a tension sensor, photoelectric tension detection, vision and other hardware. The tension detection device can monitor the tension of the material in real time and feed it back to the control system for necessary adjustments. However, these tension detection devices are expensive, and a single production and processing system often needs to be configured with multiple ones, which greatly increases the cost. Furthermore, in some production environments, due to space limitations or other constraints, the tension detection device cannot be installed.

[0056] To facilitate understanding of the content of this application, a typical structure of a printing press is introduced below. Figure 3 As shown, the printing press mainly includes five units, namely: an unwinding unit 2000, a first flexographic printing unit 3000, a second flexographic printing unit 4000, a die-cutting unit 5000, and a winding unit 6000. The unwinding unit 2000 includes an unwinding shaft 100 and a plurality of guide rollers. The first flexographic printing unit 3000 includes a flexographic printing shaft 1 220, a water-cooling shaft 1 230, a swing rod shaft 1 240, and a plurality of guide rollers. The second flexographic printing unit 4000 includes a flexographic printing shaft 2 320, a water-cooling shaft 2 330, a swing rod shaft 2 340, and a plurality of guide rollers. The die-cutting unit 5000 includes a die-cutting shaft 510, a swing rod shaft 3 530, and a plurality of guide rollers. The winding unit 6000 includes a slitting shaft 700, an upper winding shaft 800, and a lower winding shaft 900.

[0057] like Figure 3 As shown, the printing press includes five traction rollers, namely, a first traction roller 200, a second traction roller 300, a third traction roller 400, a fourth traction roller 500, and a fifth traction roller 600. Each traction roller is driven by a motor, and each traction roller is equipped with a pressure roller 10, which cooperates with the traction roller to apply pressure and traction to the material to ensure that the material can be transported stably. Under the combined effect of this pressure and the traction of the traction roller, the tension of the material will change every time it passes through a traction roller, so the five traction rollers divide the material into six tension sections, and the tension of the coil in each tension section is relatively stable, but there are differences between different tension sections.

[0058] It can be understood that the printing press is an example of an application scenario for the purpose of facilitating understanding of the present application. The present application is not only applicable to printing presses, but also to any scenario involving the production and processing of coils and strips that requires tension detection.

[0059] Based on the various problems in the above-mentioned prior art, each embodiment of the present application provides a tension determination solution, which can realize real-time detection of tension without adding any hardware equipment.

[0060] The tension determination scheme provided in each embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0061] Tension determination method

[0062] Figure 1 FIG. 1 is a flow chart of a tension determination method 100 according to an exemplary embodiment of the present application. Figure 1 As shown, the method 100 of this embodiment mainly includes the following steps:

[0063] S101: Acquire the current friction torque and current actual torque of the traction roller driving motor of the target tension section.

[0064] The traction roller drive motor of the target tension section is a drive motor for driving the traction roller located upstream of the tension section. Figure 3 In the printing press shown, the traction roller drive motor of the second tension section 92 is the drive motor of the first traction roller 200, the traction roller drive motor of the third tension section 93 is the drive motor of the second traction roller 300, the traction roller drive motor of the fourth tension section 94 is the drive motor of the third traction roller 400, and the traction roller drive motor of the fifth tension section 95 is the drive motor of the fourth traction roller 500.

[0065] The current friction torque of the traction roller drive motor is the no-load torque of the traction roller drive motor at the current moment, that is, the traction roller driven by the traction roller drive motor does not carry any material.

[0066] The current actual torque of the traction roller drive motor is the actual output torque of the traction roller drive motor at the current moment, which can be periodically acquired through a PLC, a driver or a torque sensor, but is not limited thereto.

[0067] In some embodiments, the step of obtaining the current friction torque of the traction roller driving motor of the target tension section is further implemented as follows:

[0068] S301: Obtain the current speed of the traction roller drive motor of the target tension section.

[0069] The rotation speed of the traction roller driving motor of the target tension section may be periodically acquired through a PLC, a driver or a rotation speed sensor, but is not limited thereto.

[0070] S303: According to the current rotation speed of the traction roller drive motor of the target tension section, based on the corresponding relationship between the friction torque of the traction roller drive motor of the target tension section and the motor rotation speed, the current friction torque of the traction motor is obtained.

[0071] In this embodiment, based on the current rotation speed of the traction roller driving motor of the target tension section, the friction torque of the traction roller driving motor of the target tension section at the current moment can be obtained by using the correspondence between the friction torque of the motor and the motor rotation speed.

[0072] In some implementations, the corresponding relationship between the friction torque and the motor speed is a friction torque-motor speed curve.

[0073] The friction torque-motor speed curve can continuously represent the changing relationship between the friction torque and the motor speed, avoiding the errors that may be caused by discrete data points.

[0074] In some implementations, the friction torque-motor speed curve is obtained based on method S400, which is implemented as follows:

[0075] S401: When the traction roller driven by the traction roller driving motor does not carry material, the actual torque of the traction roller driving motor at several rotation speeds is obtained to obtain coordinates of several key points, wherein the horizontal coordinates of the key points are the rotation speeds and the vertical coordinates are the torques.

[0076] S402: interpolating the coordinates of the plurality of key points to obtain a friction torque-motor speed curve.

[0077] For the several key points, a nonlinear friction torque-motor speed curve is obtained with the motor speed as the horizontal coordinate and the friction torque as the vertical coordinate.

[0078] In some embodiments, the plurality of rotational speeds constitute an arithmetic progression, and the maximum value of the arithmetic progression is the maximum operating rotational speed of the traction roller drive motor, and the minimum value of the arithmetic progression is 0, thereby ensuring that the curve can cover the entire range from the minimum rotational speed to the maximum rotational speed.

[0079] S103: Obtain the current average torque of the traction system.

[0080] The traction system is used to ensure that the material can be transported stably and continuously, and is composed of a plurality of traction rollers and their driving devices. For example, Figure 3 The printing press shown includes five traction rollers, and the traction system of the printing press includes the five traction rollers and their driving devices. The current average torque of the traction system is used to characterize the load condition currently borne by the traction system.

[0081] In some embodiments, step S103 further comprises:

[0082] S1031: Obtain the average actual torque of each traction roller driving motor of the traction system at the current moment.

[0083] The average actual torque is used to represent the average value of the actual torque of the motor within a preset time length.

[0084] During the actual operation of the motor, its torque output will be affected by many factors, such as load changes, power supply voltage fluctuations, mechanical friction, etc. These factors will cause the torque output of the motor to fluctuate in a short period of time. If only the current actual torque is used to evaluate the load conditions of the traction system, misleading conclusions may be drawn due to short-term fluctuations. The average actual torque can smooth these fluctuations to a certain extent, providing a more stable and reliable average torque value, thereby more accurately reflecting the load conditions of the system.

[0085] In some implementations, the average actual torque of the traction roller driving motor at the current moment is an average value of the actual torques acquired at N consecutive sampling moments before the current moment.

[0086] In some embodiments, N is between 100 and 3000. This range ensures accuracy of the results and computational efficiency.

[0087] For example, in one exemplary implementation, N=1000.

[0088] S1032: Obtain the current average torque of the traction system according to the current average actual torque of each traction roller drive motor, where the current average torque of the traction system is the average value of the current average actual torque of each traction roller drive motor of the traction system.

[0089] For example, Figure 3 The traction system of the printing press shown includes five printing rollers, so the current average torque of the traction system is the average value of the average actual torques of the driving motors of the five traction rollers at the current moment.

[0090] In some embodiments, after the step of obtaining the current actual torque of the traction roller driving motor of the target tension section, step S103 is implemented as follows:

[0091] S201: Shifting the values ​​of all elements in a preset array forward by one position, wherein the preset array is used to store the actual torque values ​​of the traction roller drive motor acquired at N consecutive sampling moments, and the preset array contains N elements and the last element has the largest index value.

[0092] Through step S201, space can be freed up for storing new sample values.

[0093] S203: storing the acquired current actual torque of the traction roller driving motor of the target tension section in the last element of the preset array.

[0094] Exemplarily, the i-th sampling moment is the current sampling moment, and the torque value obtained at the i-th sampling moment is stored in the N-th element of the preset array; at the i+1-th sampling moment, the torque value obtained at the i-th sampling moment is first moved to the N-1-th element, and then the torque value obtained at the i+1-th sampling moment is stored in the N-th element.

[0095] S205: Calculate the average value of all elements of the preset array to obtain the current average torque of the traction system.

[0096] In this embodiment, the storage and update of the sample values ​​obtained at N consecutive sampling moments are simplified by presetting the array, and the size of the array can be flexibly adjusted as needed, so as to adapt it to different application scenarios and requirements. This embodiment has high computational efficiency and can quickly calculate the current average torque of the traction system.

[0097] S105: Obtain the traction tension torque of the target tension section according to the current friction torque and current actual torque of the traction roller driving motor of the target tension section and the current average torque of the traction system. Specifically, the traction tension torque of the target tension section can be obtained based on calculation formula 1-1.

[0098]

[0099] Among them, T tension It is used to characterize the traction tension torque of the target tension section; T actual The current actual torque of the traction roller drive motor used to represent the target tension section; T friction The current friction torque of the traction roller drive motor representing the target tension section; Used to characterize the current average torque of the traction system.

[0100] For example, Figure 3 In the printing press shown, the traction tension torque of the second tension section 92 is for:

[0101]

[0102] The traction tension torque of the third tension section 93 for:

[0103]

[0104] The traction tension torque of the fourth tension section 94 for:

[0105]

[0106] The traction tension torque of the fifth tension section 95 for:

[0107]

[0108] Among them, in formulas 1-2 to 1-5, Used to represent the current actual torque of the first traction roller driving motor; Used to represent the current actual torque of the second traction roller driving motor; Used to represent the current actual torque of the third traction roller driving motor; Used to represent the current actual torque of the fourth traction roller driving motor; used to characterize the current friction torque of the first traction roller driving motor; Used to represent the current friction torque of the second traction roller driving motor; used to characterize the current friction torque of the third traction roller driving motor; Used to characterize the current friction torque of the fourth traction roller driving motor; Characterizes the current average torque of the traction system of the printing press.

[0109] S107: Obtain the current material tension of the target tension section according to the preset unwinding tension and the traction tension torque of the target tension section. Specifically, the current material tension of the target tension section can be obtained based on Formula 1-2.

[0110] Tension=Tension target -T tension / r*I 2-1

[0111] Among them, Tension is used to characterize the current material tension of the target tension segment. target It is used to represent the preset unwinding tension, which is usually given by the host computer or set by the technician; r is used to represent the radius of the traction roller driven by the traction roller drive motor for the target tension section, and I is used to represent the reduction ratio of the reducer. It can be understood that in the embodiment without the reducer, I=1.

[0112] Figure 3 In the printing press shown, the current material tension of the second tension section 92 is 2 for:

[0113]

[0114] Current material tension of the third tension section 93 2 for:

[0115]

[0116] Current material tension of the fourth tension section 94 4 for:

[0117]

[0118] Current material tension of the fifth tension section 95 5 for:

[0119]

[0120] In formulas 2-2 to 2-5, Tension target Used to characterize the preset unwinding tension of the printing press; 1 Used to characterize the radius of the first traction roller, I 1 It is used to characterize the reduction ratio of the reducer of the first traction roller driving motor; 2 Used to characterize the radius of the second traction roller, I 2It is used to characterize the reduction ratio of the reducer of the second traction roller driving motor; 3 Used to characterize the radius of the third traction roller, I 3 It is used to characterize the reduction ratio of the reducer of the third traction roller driving motor; 4 Used to characterize the radius of the fourth traction roller, I 4 Used to characterize the reduction ratio of the reducer of the fourth traction roller drive motor.

[0121] Tension determination device

[0122] Embodiment 2 provides a tension determination device, which includes a first acquisition module 801, a second acquisition module 802, a system average torque module 803, a traction tension torque module 804, and a material tension module 805. The first acquisition module 801 is used to acquire the current friction torque of the traction roller drive motor of the target tension section; the second acquisition module 802 is used to acquire the current actual torque of the traction roller drive motor of the target tension section; the system average torque module 803 is used to acquire or determine the current average torque of the traction system; the traction tension torque module 804 is used to obtain the traction tension torque of the target tension section according to the current friction torque and current actual torque of the traction roller drive motor of the target tension section and the current average torque of the traction system; the material tension module 805 is used to obtain the current material tension of the target tension section according to the preset unwinding tension and the traction tension torque of the target tension section.

[0123] In some embodiments, the tension determination device also includes a third acquisition module for acquiring the current rotational speed of the traction roller drive motor of the target tension segment, and the second acquisition module 802 obtains the current friction torque of the traction motor based on the current rotational speed of the traction roller drive motor of the target tension segment and the corresponding relationship between the friction torque of the traction roller drive motor of the target tension segment and the motor rotational speed.

[0124] In some implementations, the corresponding relationship between the friction torque and the motor speed is a friction torque-motor speed curve.

[0125] In some embodiments, the tension determination device further includes a friction torque-motor speed curve module, which includes a key point unit and a friction torque-motor speed unit. The key point unit obtains the actual torque of the traction roller drive motor at several speeds when the traction roller driven by the traction roller drive motor does not carry material, and obtains several key point coordinates. The friction torque-motor speed unit is used to interpolate the several key point coordinates to obtain the friction torque-motor speed curve.

[0126] In some embodiments, the system average torque module 803 includes an acquisition unit and a calculation unit, wherein the acquisition unit is used to acquire the average actual torque of each traction roller drive motor of the traction system at the current moment, and the calculation unit is used to obtain the current average torque of the traction system according to the average actual torque of each traction roller drive motor at the current moment.

[0127] In some embodiments, the system average torque module 803 includes a storage unit, a moving unit, and an average value calculation unit. The storage unit is used to store the current actual torque of the traction roller drive motor of the target tension section in the last element of the preset array; the moving unit is used to move all elements in the preset array forward by one position; and the average value calculation unit is used to calculate the average value of all elements of the preset array to obtain the current average torque of the traction system.

[0128] It should be noted that, since the information interaction, execution process and other contents between the modules in the above-mentioned tension determination device are based on the same concept as the above-mentioned tension determination method embodiments, the specific contents can be found in the description of the above-mentioned tension determination method embodiments and will not be repeated here.

[0129] Electronic devices

[0130] The specific embodiments of the present application do not limit the specific implementation of the electronic device. The electronic device provided in the embodiments of the present application includes: a processor, a communications interface, a memory, and a bus. Among them:

[0131] The processor, the communication interface, and the memory communicate with each other via the bus.

[0132] Communication interface, used to communicate with other electronic devices or servers.

[0133] The processor is used to execute the program, and specifically can execute the relevant steps in the above tension determination method embodiment.

[0134] Specifically, the program may include program codes including computer operation instructions.

[0135] The processor 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.

[0136] The memory is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0137] The program can be specifically used to enable a processor to execute the tension determination method in any of the aforementioned embodiments.

[0138] The specific implementation of each step in the program can refer to the corresponding description of the corresponding steps and units in the above tension determination 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 equipment and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0139] Computer readable storage medium

[0140] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the tension determination method as described herein. Specifically, a system or device equipped with a storage medium can be provided, on which a software program code for implementing the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device reads out and executes the program code stored in the storage medium.

[0141] 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.

[0142] 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.

[0143] Computer program product

[0144] An embodiment of the present application 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0149] 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.

[0150] 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 technical features 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 tension determination method, characterized in that: The following steps are involved: Obtaining the current friction torque and current actual torque of the traction roller driving motor of the target tension section; Get the current average torque of the traction system; Obtaining the traction tension torque of the target tension section according to the current friction torque and the current actual torque of the traction roller driving motor of the target tension section and the current average torque of the traction system; According to the preset unwinding tension and the traction tension torque of the target tension section, the current material tension of the target tension section is obtained.

2. The tension determination method according to claim 1, wherein the step of obtaining the current average torque of the traction system further comprises: Obtaining the average actual torque of each traction roller driving motor of the traction system at the current moment; The current average torque of the traction system is obtained according to the average actual torque of each traction roller driving motor at the current moment.

3. The tension determination method according to claim 2, wherein the average actual torque is an average value of the actual torques obtained at N consecutive sampling moments.

4. The tension determination method according to claim 1, characterized in that: The step of obtaining the current friction torque of the traction roller driving motor of the target tension section is further implemented as follows: Obtaining the current rotation speed of the traction roller driving motor of the target tension section; According to the current rotation speed of the traction roller driving motor of the target tension section, the current friction torque of the traction motor is obtained based on the corresponding relationship between the friction torque of the traction roller driving motor of the target tension section and the motor rotation speed.

5. The tension determination method according to claim 4, characterized in that: The corresponding relationship between the friction torque and the motor speed is a friction torque-motor speed curve.

6. The tension determination method according to claim 4, characterized in that: The friction torque-motor speed curve is obtained based on the following method: When the traction roller driven by the traction roller driving motor does not carry any material, the actual torque of the traction roller driving motor at several rotation speeds is obtained to obtain the coordinates of several key points; The coordinates of the several key points are interpolated to obtain a friction torque-motor speed curve.

7. The tension determination method according to claim 6, characterized in that: The plurality of rotation speeds constitute an arithmetic progression, and the maximum value of the arithmetic progression is the maximum operating rotation speed of the traction roller driving motor, and the minimum value of the arithmetic progression is 0.

8. A tension determination device, characterized in that: include: A first acquisition module (801) is used to acquire the current friction torque of the traction roller driving motor of the target tension section; A second acquisition module (802) is used to acquire the current actual torque of the traction roller driving motor of the target tension section; A system average torque module (803), which is used to obtain the current average torque of the traction system; A traction tension torque module (804), which is used to obtain the traction tension torque of the target tension section according to the current friction torque and current actual torque of the traction roller driving motor of the target tension section and the current average torque of the traction system; The material tension module (805) is used to obtain the current material tension of the target tension section according to the preset unwinding tension and the traction tension torque of the target tension section.

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 .

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