A synchronous winding and unwinding control method for a reel

Abstract

The present invention discloses a synchronous winding and unwinding control method for a reel, which relates to the technical field of tension adjustment control and includes the following steps: A tension monitoring unit is arranged on the pipeline, and the tension information of the pipeline is collected in real time through the tension monitoring unit; and the collected pipeline tension information is subjected to dynamic compensation processing to obtain real tension data; The real tension data of the pipeline is collected once, and the tension data is compared with a preset tension threshold range to calculate a primary tension deviation value. Based on the primary tension deviation value, speed adjustment data is determined, and a first adjustment control signal is generated based on the speed adjustment data; The first control signal is transmitted to the controller, and the controller controls the reel to adjust and control the pipeline to adjust the pipeline tension. The present invention can quickly respond and adjust, reduce the operation complexity, improve the work efficiency, improve the protection effect on the pipeline, and realize the adaptation control of a simple and efficient reel.

Description

Technical Field

[0001] The present invention relates to the technical field of tension adjustment control, and specifically to a synchronous winding and unwinding control method for a hose reel. Background Art

[0002] With the increasing requirements for fire-fighting equipment and technologies in the fire-fighting field, fire-fighting equipment shows a diversified development trend of field differentiation, equipment specialization, and intelligence automation. The number of complex and advanced fire-fighting equipment using hydraulic technology has an increasing trend year by year. Some complex hydraulically driven equipment is located at the top of the lifting system or extends outward through the top of the lifting boom. This requires the hose reel to wind up the hydraulic oil pipe to prevent the pipe from bending and getting messy; when operating the lifting system or when the lifting wire rope needs to move, the hydraulic oil pipe also needs to move accordingly. This requires controlling the rotation of the hose reel to release or wind up the pipeline. To ensure that the pipeline is consistent with the telescopic length of the lifting boom or the lifting length of the wire rope, the hose reel needs to be continuously adjusted while controlling the telescopic movement of the lifting boom or the lifting of the wire rope. This increases the complexity of the operation and reduces the operation efficiency. To improve the operation efficiency and the automation level of the equipment, it is very necessary to control the synchronous winding and unwinding of the hose reel.

[0003] Currently, the action control of the lifting system and the hose reel is mostly discrete operation. When operating the telescopic movement of the lifting boom or the lifting of the wire rope, it is necessary to adjust the length of the released or wound pipeline of the hose reel simultaneously to make the elongation of the pipeline synchronous with the telescopic movement of the boom or the lifting of the wire rope. However, in independent operation, it is very difficult to ensure the synchronization of the operation, resulting in messy winding or inconsistent tightness of the pipeline. When the released pipeline is slower than the telescopic movement of the boom or the lifting of the wire rope, the pipeline is easily pulled, resulting in irreversible damage to the pipeline, reducing the service life, and in severe cases, the pipeline may break; independent operation is very unfriendly to operators, often causing confusion and greatly reducing the operation efficiency.

[0004] For example, in the patent application with the application publication number CN116812640A, the publication date of September 29, 2023, and the title "Tension Control Method and Device", by setting a target first interval with a relatively large variation range, detecting the first tension, and iteratively adjusting the angular velocity of the winding and unwinding mechanism, the stability of the tension fluctuation amplitude is achieved. In the balance stage of the winding device, a target second interval with a relatively small variation range is set. By periodically detecting the second tension and iteratively adjusting the angular velocity of the winding and unwinding mechanism, the stability of the tension fluctuation amplitude within a smaller interval is achieved, realizing more precise tension control.

[0005] The deficiencies of the prior art, including the above application, are as follows: when detecting the tension through a tension sensor, when the tension data is greater than the preset prefabricated range, it is necessary for the staff to adjust the winding speed of the reel according to experience or in a small range and then detect the tension change in real time and perform multiple iterative adjustments. The operation is troublesome, unable to quickly respond to adjustments, increasing the complexity of the operation, reducing the operation efficiency, easily causing damage to the pipeline, and reducing the service life of the pipeline. Summary of the Invention

[0006] The object of the present invention is to provide a synchronous winding and unwinding control method for a reel to solve the above deficiencies in the prior art.

[0007] To achieve the above object, the present invention provides the following technical solution: A synchronous winding and unwinding control method for a reel, comprising the following steps:

[0008] S01: Set a tension monitoring unit on the pipeline, collect the tension information of the pipeline in real time through the tension monitoring unit, and perform dynamic compensation processing on the collected pipeline tension information to obtain real tension data;

[0009] S02: Collect the real tension data of the pipeline once, compare the tension data with the preset tension threshold range, calculate the first tension deviation value, determine the speed regulation data based on the first tension deviation value, and generate a first adjustment control signal based on the speed regulation data;

[0010] S03: Transmit the first control signal to the controller, and control the reel to adjust and control the pipeline through the controller to adjust the pipeline tension;

[0011] S04: Collect the real tension data of the pipeline twice, calculate the reference adjustment coefficient by correlating the real tension data of the pipeline collected once and the real tension data of the pipeline collected twice, calculate the second tension speed regulation data based on the reference adjustment coefficient; and generate a second control signal based on the second tension speed regulation data;

[0012] S05: Transmit the second control signal to the controller, control the reel to adjust and control the pipeline through the controller, collect the adjusted pipeline tension data, and when the pipeline tension data meets the preset tension threshold range, it means that the regulation is completed;

[0013] S06: When the pipeline tension data does not meet the preset tension threshold range, repeat step S04 for continuous adjustment control so that the pipeline tension data remains within the tension threshold range.

[0014] As a further description of the above technical solution: Setting a tension monitoring unit on the pipeline specifically means:

[0015] The tension detection unit includes a detection sensor, which is installed on the pipeline section pulled out downstream of the reel to measure the pipeline tension data, and the measurement point of the detection sensor presses down or up on the pipeline through an elastic device to a pre-tightening force.

[0016] As a further description of the above technical solution: Compare the collected pipeline tension data with the preset tension threshold range, and calculate the primary tension deviation value specifically as:

[0017] Among them, the calculation method of the primary tension deviation value is:

[0018] F c1 is the primary tension deviation value, F1 represents the pipeline tension data collected once, F s represents the upper threshold value of the preset tension threshold range, and F x represents the lower threshold value of the preset tension threshold range.

[0019] As a further description of the above technical solution: Determine the speed regulation data based on the primary tension deviation value, and generate the first adjustment control signal specifically as:

[0020] Preset the tension deviation value adjustment comparison thresholds F m 、F n , where F m >F n >0;

[0021] When F c1 <F n , generate the first-level speed regulation data;

[0022] When F m >F c1 >F n , generate the second-level speed regulation data;

[0023] When F c1 >F m , generate the third-level unreeling speed regulation data;

[0024] Generate the first adjustment control signal based on the speed regulation data.

[0025] As a further description of the above technical solution: Calculate the reference adjustment coefficient by correlating the pipeline tension data collected once and the pipeline tension data collected twice specifically as:

[0026] Calculate the reference adjustment coefficient K f , where F0 represents the initially collected tension data, and the time interval between the initially collected tension data and the pipeline tension data collected once is the same as the time interval between the pipeline tension data collected once and the pipeline tension data collected twice.

[0027] As a further description of the above technical solution: The speed regulation data for calculating the secondary tension based on the reference regulation coefficient is specifically as follows:

[0028] Collect the speed adjustment data V1 of the reel when adjusting and controlling the reel by the first control signal, and associate the reference regulation coefficient K based on the speed adjustment data V1 of the reel f to calculate the constant speed regulation data V of the secondary tension 2h where

[0029] Based on the constant speed regulation data V of the secondary tension 2h associate and calculate the secondary tension compensation speed regulation data V 2t , where t represents the time interval between the pipeline tension data collected for the first time and the pipeline tension data collected for the second time;

[0030] Integrate the constant speed regulation data V of the secondary tension 2h and the compensation speed regulation data V 2t to obtain the speed regulation data of the secondary tension:

[0031] where the secondary tension speed regulation data is:

[0032] As a further description of the above technical solution: Generating a second control signal based on the constant speed regulation data of the secondary tension and transmitting it to the controller, and the process of controlling the reel to adjust and control the pipeline by the controller is specifically as follows: At the time node of collecting the pipeline tension data for the second time, increase the speed of the reel by V 2h +V 2t , and when the reel has run for t moments, then reduce the speed of the reel by V 2t .

[0033] As a further description of the above technical solution: The process of obtaining the tension data by dynamically compensating the collected pipeline tension information specifically includes the following steps:

[0034] Pre-collect the historical training data of the detection sensor, and train the machine learning model for dynamic deviation of tension data based on the historical training data;

[0035] Input the currently collected pipeline tension information into the machine learning model for dynamic deviation of tension data to obtain the dynamic deviation value;

[0036] Sum the dynamic deviation value and the currently collected tension data to obtain the true tension data.

[0037] As a further description of the above technical solution: The process of pre-collecting the historical training data of the detection sensor is specifically as follows:

[0038] Collect the historical training data of the detection sensor as several groups of historical tension information of the detection sensor collected in the experimental environment; the experimental environment is that the tester collects the tension information of each detection sensor by controlling the changes in the detection environment and state of the detection sensor;

[0039] Among them, the tension information data of the detection sensor includes actual tension data, tension data collected by the detection sensor, amplitude data when the detection sensor detects, and frequency data.

[0040] As a further description of the above technical solution: The specific process of training the dynamic deviation machine learning model of tension data based on historical training data is as follows:

[0041] Use the tension data collected by the detection sensor, the amplitude data when the detection sensor detects, and the frequency data in each group of historical training data as the input of the machine learning model, and use the dynamic deviation value of each group of historical training data as the output of the machine learning model. Use the difference between the actual tension data corresponding to each group of feature data and the tension data collected by the detection sensor as the prediction target, and use the sum of minimized prediction accuracies as the training target;

[0042] The calculation formula for the prediction accuracy is: k i =(A i -B i ) 2 , where i is the number of the historical training data, k i is the prediction accuracy, A i is the predicted dynamic deviation value corresponding to the i-th group of historical training data, B i is the difference between the actual tension data and the tension data collected by the detection sensor corresponding to the i-th group of historical training data. Train the machine learning model until the sum of the prediction accuracies reaches convergence and then stop training.

[0043] In the above technical solution, a synchronous winding and unwinding control method for a reel provided by the present invention, after collecting the real tension data of the pipeline once, generates a first adjustment control signal based on the first tension deviation value to adjust the reel. After an interval of time, collect the real tension data of the pipeline again, calculate the reference adjustment coefficient by correlating the pipeline tension data collected for the first time and the pipeline tension data collected for the second time, and calculate and obtain the constant speed regulation data and the secondary tension compensation speed regulation data of the secondary tension based on the reference adjustment coefficient. Finally, integrate to obtain the secondary tension speed regulation data, and generate a second control signal based on the secondary tension speed regulation data to adjust and control the reel. Compared with the traditional method of iteratively adjusting the speed of the winding and unwinding mechanism by the staff according to experience or adjusting the rotation speed of the take-up reel in a small range, the operation is convenient, and it can quickly respond and adjust, reducing the operation complexity, improving the work efficiency, improving the protection effect on the pipeline, and realizing the adaptive control of a simple and efficient reel;

[0044] By pre - collecting historical training data based on the actual working environment conditions of the detection sensor and training to obtain a machine learning model for dynamic deviation of tension data, and inputting the currently collected pipeline tension information into the machine learning model for dynamic deviation of tension data to obtain a dynamic deviation value; compensating and adjusting the currently collected tension data based on the dynamic deviation value to achieve compensation for the data accuracy collected by the detection sensor, significantly improving the accuracy of its dynamically collected data, thereby improving the accuracy and reliability of the feedback control for adjusting the reel. Brief Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0046] Figure 1 It is a schematic flowchart of the reel synchronous winding and unwinding control method provided by the embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the winding and unwinding system corresponding to the reel synchronous winding and unwinding control method provided by the embodiment of the present invention. Detailed Embodiments

[0048] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the following will further introduce the present invention in detail in conjunction with the drawings.

[0049] Embodiment 1: Please refer to Figure 1-2 , the embodiment of the present invention provides a technical solution: a reel synchronous winding and unwinding control method, which is used to control the winding and unwinding of the reel system. Specifically, the reel system includes a reel and a boom. A pipeline is wound and connected to the reel, and the end of the pipeline is connected to the end equipment of the boom. When the boom is lifted or telescoped and adjusted, the reel is controlled to wind or release the pipeline to automatically adapt to the boom movement, including the following steps:

[0050] S01: Set a tension monitoring unit on the pipeline, and collect the tension information of the pipeline in real time through the tension monitoring unit; and perform dynamic compensation processing on the collected pipeline tension information to obtain real - time tension data;

[0051] S02: Collect the real - time tension data of the pipeline once, and compare the tension data with a preset tension threshold range. The preset tension threshold range is a reasonable tension threshold range set by technicians according to factors such as the material, diameter, and use environment of the pipeline. It includes an upper threshold and a lower threshold. Calculate the first - time tension deviation value, determine the speed - adjustment data based on the first - time tension deviation value, and generate a first adjustment control signal based on the speed - adjustment data;

[0052] S03: Transmit the first control signal to the controller. Specifically, the first control signal is transmitted to the controller in a wired or wireless manner. The controller controls the reel to adjust the pipeline to regulate the pipeline tension. The controller's adjustment and control of the reel are as follows: The reel includes a winding mechanism and a servo drive motor. The servo drive motor is connected to the winding mechanism through a coupling. After receiving the first control signal, the controller analyzes and executes the corresponding control instructions, thereby controlling the servo motor to act to drive the winding mechanism to adjust.

[0053] S04: Secondarily collect the true pipeline tension data. Specifically, at an interval of t, the tension monitoring unit continuously collects the pipeline tension information in real time, and performs dynamic compensation processing on the collected pipeline tension information to obtain the true pipeline tension data. Correlate the true pipeline tension data collected for the first time and the true pipeline tension data collected for the second time to calculate the reference adjustment coefficient, and calculate the constant speed regulation data for the second tension based on the reference adjustment coefficient; and generate the second control signal based on the constant speed regulation data for the second tension.

[0054] S05: Transmit the second control signal to the controller. The controller controls the reel to adjust the pipeline and collect the adjusted pipeline tension data. When the pipeline tension data meets the preset tension threshold range, it indicates that the regulation is completed.

[0055] S06: When the pipeline tension data does not meet the preset tension threshold range, repeat step S04 for continuous adjustment and control to keep the pipeline tension data within the tension threshold range.

[0056] Further, the specific setting of the tension monitoring unit on the pipeline is as follows:

[0057] The tension detection unit includes a detection sensor, which is installed on the pipeline section pulled out downstream of the reel to measure the pipeline tension data. The measurement point of the detection sensor presses or pushes up the pipeline to the pre-tightening force through an elastic device.

[0058] Further, compare the collected pipeline tension data with the preset tension threshold range and calculate the first tension deviation value specifically as follows:

[0059] The calculation method of the first tension deviation value is as follows:

[0060] F c1 is the first tension deviation value, F1 represents the pipeline tension data collected for the first time, F s represents the upper threshold of the preset tension threshold range, F x represents the lower threshold of the preset tension threshold range.

[0061] Determine the speed regulation data based on the first tension deviation value, and generate the first adjustment control signal specifically as follows:

[0062] Preset the tension deviation value adjustment comparison threshold F m 、F n where F m >F n >0;

[0063] When F c1 <F n , generate the first-level speed regulation data;

[0064] When F m >F c1 >F n , generate the second-level speed regulation data;

[0065] When F c1 >F m , generate the third-level unwinding speed regulation data;

[0066] Generate the first adjustment control signal based on the speed regulation data.

[0067] Among them, the preset tension deviation value adjustment comparison threshold F m 、F n are preset values by technicians, so as to facilitate corresponding adaptation adjustments when there is a tension deviation.

[0068] Furthermore, calculate the reference adjustment coefficient by correlating the pipeline tension data collected for the first time and the pipeline tension data collected for the second time specifically as follows:

[0069] Calculate the reference adjustment coefficient K f , where F0 represents the initially collected tension data, and the time interval between the initially collected tension data and the pipeline tension data collected for the first time is the same as the time interval between the pipeline tension data collected for the first time and the pipeline tension data collected for the second time.

[0070] Furthermore, calculate the secondary tension speed regulation data based on the reference adjustment coefficient specifically as follows:

[0071] Collect the speed adjustment data V1 of the reel when the first control signal is used to adjust and control the reel, and correlate the reference adjustment coefficient K f based on the speed adjustment data V1 of the reel, and calculate the constant speed regulation data V 2h of the secondary tension, where

[0072] Based on the constant speed regulation data V 2h of the secondary tension, correlate and calculate the secondary tension compensation speed regulation data V 2t , where t represents the time interval between the pipeline tension data collected for the first time and the pipeline tension data collected for the second time;

[0073] Integrate the constant speed regulation data V of the secondary tension 2h and the compensated speed regulation data V 2t to obtain the secondary tension speed regulation data:

[0074] where the constant speed regulation data of the tension is:

[0075] Generate a second control signal based on the constant speed regulation data of the secondary tension and transmit it to the controller. The process of controlling the pipeline by the controller through the reel is as follows: at the time node of collecting the pipeline tension data for the second time, increase the speed of the reel by V 2h +V 2t , and after the reel runs for t moments, then reduce the speed of the reel by V 2t .

[0076] This embodiment provides a synchronous winding and unwinding control method for a reel. After collecting the real pipeline tension data for the first time, a first adjustment control signal is generated based on the first tension deviation value to adjust the reel. After an interval of time, the real pipeline tension data is collected for the second time. The reference adjustment coefficient is calculated by correlating the pipeline tension data collected for the first time and the pipeline tension data collected for the second time, and the constant speed regulation data of the secondary tension and the secondary tension compensation speed regulation data are calculated based on the reference adjustment coefficient. Finally, the secondary tension speed regulation data is integrated, and a second control signal is generated based on the secondary tension speed regulation data to adjust and control the reel. Compared with the traditional method of iteratively adjusting the speed of the winding and unwinding mechanism by the staff according to experience or small-range adjustment of the reel speed, the operation is convenient, and it can quickly respond to adjustments, reduce the operation complexity, improve the work efficiency, improve the protection effect on the pipeline, and realize the adaptive control of a simple and efficient reel.

[0077] Embodiment 2: The specific steps of dynamically compensating the collected pipeline tension information to obtain tension data are as follows:

[0078] Pre-collect the historical training data of the detection sensor, and train the machine learning model of the dynamic deviation of the tension data based on the historical training data;

[0079] The specific process of pre-collecting the historical training data of the detection sensor is:

[0080] Collect the historical training data of the detection sensor, which are several groups of tension information of the historical detection sensor collected in the experimental environment. It should be understood that the several groups of tension information of the historical detection sensor collected in the experimental environment simulate the actual working scenario of the detection sensor in the experimental environment. By applying tension to the pipeline adjustment, the tension information of the detection sensor is collected. The experimental environment is for the tester to collect the tension information of each detection sensor by controlling the detection environment and the change of the state of the detection sensor;

[0081] Among them, the tension information data of the detection sensor include the actual tension data, the tension data collected by the detection sensor, the amplitude data when the detection sensor detects, and the frequency data;

[0082] Specifically, training the dynamic deviation machine learning model of tension data based on the historical training data is as follows:

[0083] Taking the tension data collected by the detection sensor, the amplitude data when the detection sensor detects, and the frequency data in each group of historical training data as the input of the machine learning model, and taking the dynamic deviation value of each group of historical training data as the output. Taking the difference between the actual tension data corresponding to each group of feature data and the tension data collected by the detection sensor as the prediction target, and taking the sum of the minimized prediction accuracies as the training target;

[0084] The calculation formula of the prediction accuracy is: k i =(A i -B i ) 2 , where i is the number of the historical training data, k i is the prediction accuracy, A i is the predicted dynamic deviation value corresponding to the i-th group of historical training data, B i is the difference between the actual tension data and the tension data collected by the detection sensor corresponding to the i-th group of historical training data. Train the machine learning model until the sum of the prediction accuracies reaches convergence and then stop training.

[0085] Input the currently collected pipeline tension information into the dynamic deviation machine learning model of tension data to obtain the dynamic deviation value. Among them, the collected pipeline tension information includes the tension data collected by the detection sensor, the amplitude data when the detection sensor detects, and the frequency data;

[0086] Sum the dynamic deviation value and the currently collected tension data to obtain the true tension data.

[0087] It should be noted that the tension of the pipeline is detected in real time through a detection sensor, and the reel is feedback-controlled for adjustment. However, when the detection sensor detects the tension of the pipeline, its dynamic performance is poor. The vibration generated by the movement of the pipeline causes large fluctuations in the data detected and collected by the detection sensor, affecting the accuracy and effect of the control adjustment. It is also likely to cause damage to the pipeline and reduce the service life of the pipeline. Based on the actual working environment of the detection sensor, historical training data is collected in advance to train a machine learning model for dynamic deviation of tension data, and the current pipeline tension information collected is input into the machine learning model for dynamic deviation of tension data to obtain a dynamic deviation value; based on the dynamic deviation value, the currently collected tension data is compensated and adjusted to achieve compensation for the accuracy of the data collected by the detection sensor, significantly improving the accuracy of its dynamic data collection, thereby improving the accuracy and reliability of the feedback control for adjusting the reel.

[0088] Only some exemplary embodiments of the present invention have been described above by way of illustration. Without doubt, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A synchronous winding and unwinding control method for a reel, characterized in that, It includes the following steps: S01: Set a tension monitoring unit on the pipeline, and collect the tension information of the pipeline in real time through the tension monitoring unit; And perform dynamic compensation processing on the collected pipeline tension information to obtain real tension data; S02: Collect the real tension data of the pipeline once, compare the tension data with the preset tension threshold range, calculate the primary tension deviation value, determine the speed regulation data based on the primary tension deviation value, and generate a first adjustment control signal based on the speed regulation data; S03: Transmit the first control signal to the controller, and control the reel to adjust and control the pipeline through the controller to adjust the pipeline tension; S04: Secondarily collect the real pipeline tension data, and calculate the reference adjustment coefficient by correlating the real pipeline tension data collected for the first time and the real pipeline tension data collected for the second time , ; where represents the tension data collected initially, and the time interval between the initially collected tension data and the pipeline tension data collected for the first time is the same as the time interval between the pipeline tension data collected for the first time and the pipeline tension data collected for the second time; Calculate the secondary tension speed regulation data based on the reference adjustment coefficient, and collect the speed adjustment data of the reel when adjusting and controlling the reel by the first control signal , based on the speed adjustment data of the reel associate the reference adjustment coefficient , and calculate the constant speed regulation data of the secondary tension , where ; Constant speed regulation data based on secondary tension Associated calculation of secondary tension compensation speed regulation data , , where t represents the time interval between the pipeline tension data collected for the first time and the pipeline tension data collected for the second time; Integrate the constant speed control data of the secondary tension and the compensated speed control data Obtain the secondary tension speed control data, where the secondary tension speed control data is: , and generate a second control signal based on the secondary tension speed control data; S05: Transmit the second control signal to the controller, control the reel to adjust and control the pipeline through the controller, and collect the adjusted pipeline tension data. When the pipeline tension data meets the preset tension threshold range, it indicates that the regulation is completed; S06: When the pipeline tension data does not meet the preset tension threshold range, repeat step S04 for continuous adjustment control so that the pipeline tension data remains within the tension threshold range.

2. The synchronous winding and unwinding control method of a reel according to claim 1, wherein Setting a tension monitoring unit on the pipeline specifically is: The tension detection unit includes a detection sensor, which is installed on the pipeline part pulled out downstream of the reel to measure the pipeline tension data, and the measurement point of the detection sensor presses or pushes up the pipeline to a pre-tightening force through an elastic device.

3. A method for synchronous winding and unwinding control of a reel, according to claim 1, characterized in that, Comparing the collected pipeline tension data with the preset tension threshold range and calculating the primary tension deviation value specifically is: The calculation method of the primary tension deviation value is as follows: ; is the primary tension deviation value, represents the pipeline tension data collected once, represents the upper threshold value of the preset tension threshold range, represents the lower threshold value of the preset tension threshold range.

4. A coiling machine synchronous coiling and unwinding control method according to claim 3, characterized in that Determining the speed regulation data based on the primary tension deviation value and generating a first adjustment control signal based on the speed regulation data specifically is: Preset Tension Deviation Value Adjustment Comparison Threshold and wherein ; When , generate first-level speed regulation data; When , generate secondary speed regulation data; When , generate the third-level unwind speed regulation data; Generate a first adjustment control signal based on the speed regulation data.

5. A method for synchronous winding and unwinding control of a reel, according to claim 1, characterized in that Generate a second control signal based on the constant speed regulation data of the secondary tension and transmit it to the controller. The specific process of controlling the pipeline by the controller through the reel is as follows: At the time node of secondarily collecting the pipeline tension data, increase the rotational speed of the reel by + . After the reel runs for time t, then reduce the rotational speed of the reel by .

6. The synchronous winding and unwinding control method of a reel according to claim 1, characterized in that, Performing dynamic compensation processing on the collected pipeline tension information to obtain tension data specifically includes the following steps: Collect the historical training data of the detection sensor in advance, and train a machine learning model for dynamic deviation of tension data based on the historical training data; Input the currently collected pipeline tension information into the machine learning model for dynamic deviation of tension data to obtain a dynamic deviation value; Sum the dynamic deviation value and the currently collected tension data to obtain real tension data.

7. A coiling device synchronous coiling and uncoiling control method according to claim 6, characterized in that, Collecting the historical training data of the detection sensor in advance specifically is: Collecting the historical training data of the detection sensor is several groups of historical tension information of the detection sensor collected in an experimental environment; the experimental environment is for the tester to collect the tension information of each detection sensor by controlling the detection environment and state changes of the detection sensor; Among them, the tension information data of the detection sensor includes actual tension data, tension data collected by the detection sensor, amplitude data when the detection sensor detects, and frequency data.

8. A coiler synchronous winding and unwinding control method according to claim 7, characterized in that, Training a machine learning model for dynamic deviation of tension data based on the historical training data specifically is: Using the tension data collected by the detection sensor, the amplitude data when the detection sensor detects, and the frequency data in each group of historical training data as the input of the machine learning model, the dynamic deviation value of each group of historical training data as the output of the machine learning model, using the difference between the actual tension data corresponding to each group of feature data and the tension data collected by the detection sensor as the prediction target, and using the sum of minimized prediction accuracies as the training target; The calculation formula for the prediction accuracy is: , where is the number of historical training data, is the prediction accuracy, is the predicted dynamic deviation value corresponding to the th group of historical training data, is the difference between the actual tension data and the tension data collected by the detection sensor corresponding to the th group of historical training data. Train the machine learning model until the sum of the prediction accuracies reaches convergence and then stop training.

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