Control method of multi-shaft winding machine

Abstract

The invention provides a control method of a multi-shaft winding machine. An encoder wheel in a pay-off module of the multi-shaft winding machine is used for feeding back the actual measurement speed of a strip paid off by a corresponding pay-off reel; the tension wheel is used for collecting actually measured tension of the strip; the control method comprises the steps that a pay-off reel is started, a first rotation driving mechanism is controlled to rotate at a first preset rotating speed so as to apply tension to a strip, and the actually measured tension is adjusted in a first tension adjusting mode; and when the actually-measured tension is adjusted to be within the preset tension range, the take-up reel is started, the second rotary driving mechanism is controlled to rotate in the winding direction, the actually-measured speed is adjusted, and meanwhile the actually-measured tension is cooperatively adjusted in a second tension adjusting mode. The pay-off reel is firstly started, the tension of the strip is adjusted, at the moment when the take-up reel is started, the actually measured speed is adjusted through the speed adjusting mode, the actually measured tension is adjusted through the second tension adjusting mode, cooperative control is conducted, and it can be guaranteed that the tension of the strip is stable and is within the preset tension range in the winding starting process.

Description

Technical Field

[0001] The invention relates to the technical field of superconducting coil winding, and in particular to a control method of a multi-axis winding machine. Background Art

[0002] In various applications of superconducting tapes, it is usually necessary to wind a plurality of superconducting tapes in parallel to form a superconducting coil so that the magnet can achieve the required magnetic field and other requirements.

[0003] In the prior art, during the use of the multi-axis winding machine, the measured tension deviation on the strip is large, and the tension fluctuation is large. The tension stability of the strip during the winding process has a great influence on the magnetic performance of the wound coil, and the tension stability during the winding process has a great influence on the quality of the strip. Too large or too small tension may cause the strip to loosen, break, and unevenly wind the magnet. Therefore, it is necessary to control the stability of the tension. Especially at the moment of starting, the tension will undergo a large mutation. For example, when the winding machine is started forward, a tension mutation will occur, the tension suddenly surges, and the surge in tension fluctuations is large, which exceeds the acceptable tension fluctuation range of the strip, which may cause the strip to be pulled, broken, and damaged, reducing the later magnet performance.

[0004] Therefore, how to improve the tension stability of the strip during the winding process becomes a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiment of the present invention provides a control method for a multi-axis winding machine, which solves the existing technical problem of how to improve the tension stability of a strip during the winding process.

[0006] In order to overcome the above technical problems, according to an embodiment of the present invention, a control method for a multi-axis winding machine is provided, wherein the multi-axis winding machine comprises: a plurality of pay-off modules, a take-up module and a controller, wherein the pay-off module comprises a pay-off drum, a first rotary drive mechanism, an encoder wheel and a tension wheel, the first rotary drive mechanism is used to drive the pay-off drum to rotate; the encoder wheel is used to feedback the measured speed of the strip released by the corresponding pay-off drum; the tension wheel is used to collect the measured tension of the strip; the take-up module comprises a take-up drum and a second rotary drive mechanism, the second rotary drive mechanism is used to drive the take-up drum to rotate; the control method is applicable to the controller, the controller The control method comprises: starting the pay-off reel, controlling the first rotary drive mechanism to rotate in a direction opposite to the winding direction at a first preset speed to apply tension to the strip, obtaining the measured tension, and adjusting the measured tension in a first tension adjustment manner; when the measured tension is adjusted to within a preset tension range, starting the take-up reel, controlling the second rotary drive mechanism to rotate in the winding direction, obtaining the measured speed, adjusting the measured speed, and simultaneously adjusting the measured tension in a coordinated manner in a second tension adjustment manner until the measured speed is within a preset speed range and the measured tension is within a preset tension range.

[0007] In one embodiment, the adjustment stability of the second tension adjustment method is higher than the adjustment stability of the first tension adjustment method.

[0008] In one embodiment, the first tension adjustment method adopts a first tension PID adjustment algorithm, and the second tension adjustment method adopts a second tension PID adjustment algorithm, and at least one parameter among a proportional parameter, a time parameter, and an incremental amplitude in the second tension PID adjustment algorithm is smaller than a corresponding parameter in the first tension PID adjustment algorithm.

[0009] In one embodiment, adjusting the speed of the measured speed includes: calculating a speed error between the measured speed and the preset speed; and adjusting the measured speed using a speed PID algorithm based on the speed error to adjust the measured speed to within the range of the preset speed.

[0010] In one embodiment, in the process of adjusting the measured speed by using the speed PID algorithm based on the speed error, at least one parameter among a proportional parameter, a time parameter and an incremental amplitude of the speed PID algorithm is reduced.

[0011] In one embodiment, the first rotary drive mechanism includes a first rotary motor, a magnetic powder clutch, a coupling and a reducer connected in sequence, wherein the reducer is connected to the pay-off reel; when the measured tension is adjusted in the first tension adjustment manner or the measured tension is cooperatively adjusted in the second tension adjustment manner, the controller adjusts the output torque value of the magnetic powder clutch according to the tension error between the measured tension and the preset tension.

[0012] In one embodiment, when entering the reverse mode, the second rotary drive mechanism is controlled to drive the wire taking-up reel to rotate in the opposite direction, and the wire pay-off reel is controlled to rotate for taking-up at a second preset speed, the direction of the taking-up rotation is the same as the direction of the tension applying rotation, and the second preset speed is greater than the first preset speed to maintain the strip in a taut state during the taking-up process.

[0013] In one embodiment, when entering the reverse mode, the measured tension is obtained, and the measured tension is adjusted in a third tension adjustment manner.

[0014] In one embodiment, a guide comb is provided at the outlet of each of the pay-off modules, and the strips corresponding to the pay-off modules are sequentially distributed between different comb teeth of the guide comb. The tension wheel is provided between the guide comb and the pay-off reel to collect the actual tension of the strip between the guide comb and the pay-off reel.

[0015] In one embodiment, the wire taking-up module further includes a lifting drive mechanism, and when winding a multi-disc coil, the lifting drive mechanism is controlled to perform corresponding lifting actions.

[0016] The technical solution provided by the embodiments of the present invention may have the following beneficial effects: Before the winding starts, the pay-off reel is started first. At the moment the pay-off reel starts, the first rotating mechanism is controlled to rotate at a first preset speed in the opposite direction to the winding direction, thereby applying initial tension to the strip before winding to tighten the strip. The first preset rotation speed can be a rotation speed used to generate initial tension. The rotation speed can be set at a lower speed to control the pay-off reel to perform low-speed micro-movement in the opposite direction to the winding direction to generate initial tension in the strip. After the tension wheel detects the tension, the measured tension detected in real time is transmitted to the controller. The controller calculates the error of the measured tension and the preset tension in real time to try to adjust the measured tension. When winding, the take-up reel is used as the active traction strip. The pay-off reel releases the strip passively, so the set speed can be set for the take-up reel. After the take-up reel is started, the second rotary drive mechanism is controlled to drive the take-up reel to rotate, drive the strip to move, and then drive the pay-off reel to follow the transfer and release the strip. In this process, the measured speed is adjusted to the set speed. At the same time, since the strip is in motion and the movement mode of the pay-off reel changes, the tension may change. In order to prevent the tension on the strip from being too tight or too loose, the measured tension needs to be adjusted synchronously while adjusting the measured speed until the measured speed is within the preset speed range and the measured tension is within the preset tension range. At the moment of the take-up reel starting, the measured speed is adjusted by speed adjustment and the measured tension is adjusted by the second tension adjustment method for coordinated control to offset the tension mutation caused by the change in strip speed and the change in the movement mode of the pay-off reel and the take-up reel at the moment of starting, so as to ensure that the strip tension is stable and within the preset tension range during the winding start process.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 is a structural schematic diagram of a first multi-axis winding machine according to an exemplary embodiment; Figure 2 is a structural schematic diagram of a second multi-axis winding machine according to an exemplary embodiment; Figure 3 is a structural schematic diagram of a wire-paying module after a support frame is removed according to an exemplary embodiment; Figure 4 is a partially enlarged schematic diagram of a second multi-axis winding machine according to an exemplary embodiment; Figure 5It is a flowchart of a control method of a multi-axis winding machine shown according to an exemplary embodiment. DETAILED DESCRIPTION

[0020] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0021] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0022] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The present invention provides a control method for a multi-axis winding machine, which is applicable to the multi-axis winding machine, wherein Figure 1-4 As shown, the multi-axis winding machine includes a plurality of pay-off modules 10, a take-up module 20 and a controller, each pay-off module 10 includes a pay-off reel 11, a first rotary drive mechanism 14, and an encoder wheel 13, wherein the first rotary drive mechanism 14 is used to drive the pay-off reel 11 to rotate; the encoder wheel 13 is used to feedback the speed of the strip released by the corresponding pay-off reel 11; the take-up module 20 includes a take-up reel 21 and a second rotary drive mechanism 22, and the second rotary drive mechanism 22 is used to drive the take-up reel 21 to rotate. Each of the pay-off modules 10 also includes a tension wheel 12 for collecting the tension of the strip. A tension sensor is installed on the tension wheel 12. When the strip passes through the tension wheel 12, the tension sensor collects the tension of the strip and sends it to the controller of the winding machine to adjust the tension of the strip and ensure the stability of the tension of the strip.

[0024] The multi-axis winding machine can be Figure 1 The three-axis winding machine shown can also be Figure 2 The 12-axis winding machine shown in the figure is Figure 1 and Figure 2 The multi-axis winding machine shown is used as an example for explanation.

[0025] In this embodiment, each pay-off module 10 is independent of each other, and the number of pay-off modules 10 can be increased or decreased, thereby increasing the scalability of the system. At the same time, each pay-off module 10 is individually installed with an encoder wheel 13, which can improve the tension fluctuation caused by the two strips on the existing winding machine converging on the same encoder wheel 13, resulting in one strip covering the other strip, causing squeezing, friction, and slipping between the strips, which easily leads to loose strips, excessive tension differences between strips, and deformation and damage of the strips.

[0026] The second rotary drive mechanism 22 includes a second rotary motor and a rotary support, wherein the second rotary motor is connected to the rotary support, and the rotary support is connected to the workbench of the take-up drum 21, and the second rotary motor drives the rotary support to rotate the take-up drum 21. In this embodiment, the rotary support is used as the support of the take-up drum 21 to avoid tilting caused by uneven force when winding large coils and special-shaped frames.

[0027] The tension stability of the strip during the winding process has a great influence on the magnetic properties of the wound coil, and the tension stability during the winding process has a great influence on the quality of the strip. Too much or too little tension may cause the strip to loosen, break, and unevenly wind the magnet. Therefore, it is necessary to control the stability of the tension. Especially at the moment of starting, the tension will undergo a large mutation. For example, when the winding machine is started in the forward direction, a tension mutation will occur, the tension will suddenly increase sharply, and the amplitude of the increased tension fluctuation is large, which exceeds the acceptable tension fluctuation range of the strip, and may cause the strip to be pulled, broken, and damaged, reducing the subsequent magnetic performance. When the winding machine is started in the reverse direction, a tension mutation will occur, the tension will suddenly decrease, and the amplitude of the reduced tension fluctuation is large, which may cause looseness, uneven tension of the winding strip, and deformation and damage of the strip. Therefore, the control method in this embodiment stabilizes the measured tension within the preset tension range by controlling the tension at the moment of starting, so as to prevent the tension from changing too much at the moment of starting and exceeding the preset tension range, thereby causing damage to the strip or degradation of the coil performance. Based on this, if Figure 5 As shown, the control method of the multi-axis winding machine includes: S10. Start the pay-off reel, control the first rotary drive mechanism to rotate at a first preset speed in the direction opposite to the winding direction to apply tension to the strip, obtain the measured tension, and adjust the measured tension in a first tension adjustment method. In this embodiment, at the moment the pay-off reel is started, the first rotary mechanism is first controlled to rotate at a preset speed in the direction opposite to the winding direction, and then initial tension is applied to the strip before winding to tension the strip. In this embodiment, the first preset speed can be a speed for generating initial tension, and the speed can be set at a lower speed. The pay-off reel 11 is controlled to perform low-speed micro-movement in the direction opposite to the winding direction to generate initial tension in the strip. After the tension wheel 12 detects the tension, the measured tension detected in real time is transmitted to the controller, and the controller calculates the error of the measured tension and the preset tension in real time to try to adjust the measured tension.

[0028] Specifically, the first rotary drive mechanism 14 includes a first rotary motor 141, a magnetic powder clutch 142, a coupling 143 and a reducer 144, wherein the first rotary motor 141 is connected to the magnetic powder clutch 142, the magnetic powder clutch 142 is connected to the coupling 143, the coupling 143 is connected to the reducer 144, and the reducer 144 is connected to the shaft of the pay-off drum 11. In this embodiment, the torque is linearly adjusted by the magnetic powder clutch 142 to adjust the tension of the pay-off drum 11 on the strip. The speed is matched and the torque is transmitted to the pay-off drum 11 through the coupling 143 and the reducer 144, so as to realize the control of the torque and speed of the pay-off drum 11.

[0029] In one embodiment, after obtaining the error between the measured tension and the preset tension, the controller continuously adjusts the torque value of the magnetic powder clutch 142 to adjust the measured tension to within the preset tension range. During the torque adjustment process, the pay-off reel 11 actively rotates at the first preset speed, but the strip cannot move because the take-up reel 21 is in a stationary state. At this time, the magnetic powder clutch 142 is in a slip state, and the torque value generated by the slip is used to maintain and adjust the tension until the measured tension reaches within the preset tension range, and the first tension adjustment is completed. Enter step S20.

[0030] S20. Start the take-up reel, control the second rotary drive mechanism to rotate in the winding direction, obtain the measured speed, and adjust the measured speed, and at the same time coordinately adjust the measured tension in a second tension adjustment mode until the measured speed is within the range of the preset speed, and the measured tension is within the range of the preset tension. When the measured tension reaches the range of the preset tension, the condition for starting the take-up reel 21 is met, and the take-up reel 21 is started. In this embodiment, the take-up reel 21 can be started manually. The take-up reel 21 can also be started automatically. When the take-up reel 21 is started, the take-up reel 21 is controlled to adjust the real-time rotation speed of the take-up reel 21 according to the set speed. Specifically, after the take-up reel 21 is started, the encoder wheel collects the measured speed of the strip in real time, and adjusts the measured speed according to the error between the measured speed and the set speed, and adjusts the measured speed to within the range of the set speed.

[0031] In this embodiment, when winding, the take-up reel 21 is used to actively pull the tape, and the pay-off reel 11 passively releases the tape. Therefore, the set speed can be set for the take-up reel 21. After the take-up reel 21 is started, the second rotary drive mechanism 22 is controlled to drive the take-up reel 21 to rotate, drive the tape to move, and then drive the pay-off reel 11 to follow the transfer and release of the tape. In this process, the measured speed is adjusted to the set speed. At the same time, since the tape is in motion and the movement mode of the pay-off reel 11 changes, the tension may change. In order to prevent the tension on the tape from being too tight or too loose, the measured tension needs to be adjusted synchronously while adjusting the measured speed until the measured speed is within the preset speed range and the measured tension is within the preset tension range. At the moment of starting the take-up reel 21, the measured speed is adjusted by speed adjustment and the measured tension is adjusted by the second tension adjustment method for coordinated control, so as to offset the tension mutation problem caused by the change of strip speed and the change of movement mode of the pay-off reel 11 and the take-up reel 21 at the moment of starting, so as to ensure that the strip tension is stable and within the preset tension range during the winding start-up process.

[0032] In one embodiment, when the pay-off reel 11 is started, the take-up reel 21 is in a stationary state, and the initial tension is applied by rotating the first rotary drive mechanism 14 at a first preset speed, and the real-time tension is adjusted by adjusting the output torque value of the magnetic powder clutch 142. During this process, the strip is in a micro-dynamic balance or static balance, and the pay-off reel 11 rotates in a micro-dynamic or near-static manner, and the magnetic powder clutch 142 continuously outputs torque in a slip state. The adjustment process requires timely and rapid adjustment of the torque, and therefore, the first tension adjustment method needs to be adjusted in a more aggressive manner.

[0033] After the take-up reel 21 is started, the dynamics of the entire system are more complex, such as the increase in interference sources such as acceleration and deceleration of the second rotary drive mechanism 22, strip inertia, mechanical vibration, etc., and the need to simultaneously control the mutual influence and coupling relationship between the speed of the take-up reel 21 and the tension of the strip. The first tension adjustment method may perform well when controlled by a single pay-off reel 11, but after the take-up reel 21 is started, the system requires smoother control to avoid tension fluctuations. Based on this, in one embodiment, the adjustment stability of the second tension adjustment method is higher than the adjustment stability of the first tension adjustment method. Exemplarily, it is possible to reduce over-response to transient errors, reduce sensitivity to small errors (such as noise or transient disturbances), avoid frequent adjustment of the torque of the magnetic powder clutch 142, reduce tension fluctuations, or limit the torque adjustment range, avoid frequent and large movements of the magnetic powder clutch 142, protect the magnetic powder clutch 142 and improve tension smoothness. Therefore, after the take-up drum 21 is started, in response to the increase in variables and the coupling relationship between the strip speed and the strip tension, the tension is smoothly controlled during the speed adjustment of the take-up drum 21 by reducing the response speed, enhancing the stability, and limiting the execution adjustment range.

[0034] In one embodiment, the first tension adjustment method and the second tension adjustment method can be adjusted using a PID algorithm. Exemplarily, the first measured tension is adjusted to a first tension PID adjustment algorithm, and the second measured tension is adjusted to a second tension PID adjustment algorithm. At least one of a proportional parameter, a time parameter, and an incremental parameter in the second tension PID adjustment algorithm is smaller than a corresponding parameter in the second tension PID adjustment algorithm.

[0035] For example, when the first tension PID adjustment algorithm is used to adjust the measured tension, the following method can be used for adjustment: First calculate the tension error: e T =T set -T measured , where T set is the preset tension, T measured is the measured tension, e T is the tension error. After obtaining the tension error, the first tension PID adjustment algorithm control is performed using the following formula:

[0036] Among them, K p1 is the first proportionality coefficient, K i1 is the first integral coefficient, K d1 is the first differential coefficient, and Δτ1 is the adjustment amount of the magnetic powder clutch torque.

[0037] Similarly, when the second tension PID adjustment algorithm is used to adjust the measured tension, the following method can be used for adjustment: First calculate the tension error: e T =T set -T measured , where T set is the preset tension, T measured is the measured tension, e T is the tension error. After obtaining the tension error, the second tension PID adjustment algorithm control is performed using the following formula:

[0038] Among them, K p2 is the second proportionality coefficient, K i2 is the second integral coefficient, K d2 is the second differential coefficient, and Δτ2 is the adjustment amount of the magnetic powder clutch torque.

[0039] Among them, the relationship between the torque τ of the magnetic powder clutch and the tension T is: τ=r×T, r is the radius of the pay-off drum, so the controller can directly control the tension by adjusting the torque τ of the magnetic powder clutch.

[0040] In order to achieve a higher adjustment stability of the second tension adjustment method than the first tension adjustment method, in this embodiment, when executing the second tension adjustment method, the proportional coefficient can be reduced, and at least one of the integral coefficient and the adjustment amount of the limiting torque can be reduced compared to executing the first tension adjustment method.

[0041] Among them, reducing the proportional coefficient can reduce the over-response to the instantaneous error, avoid sudden changes in tension, reduce the sensitivity of the controller to small errors (such as noise or instantaneous disturbances), avoid frequent adjustment of the torque of the magnetic powder clutch 142, and reduce tension fluctuations. Reducing the integral coefficient can slow down the accumulation speed of the integral term and prevent overshoot or oscillation caused by integral saturation. The smaller the integral coefficient, the more "gentle" the integral action. When adjusting the measured speed, especially when the measured speed is low, the system responds slowly, and fast integration is prone to cause oscillations due to error accumulation. After reducing the integral coefficient, the integral term is smoother and suitable for longer-term steady-state regulation. Limiting the torque adjustment amount can avoid frequent and large movements of the magnetic powder clutch 142, protect the equipment and improve the tension smoothness, and prevent the magnetic powder clutch 142 from causing mechanical shock or heating due to excessive torque steps.

[0042] In one embodiment, when a winding machine is used for winding, the applicant uses a third-party tension meter to measure the real tension of the strip corresponding to each pay-off reel 11, and finds that the tension of the strips of different pay-off reels 11 is quite different, and the tension fluctuation is also large. However, the measured tension fluctuation measured by the tension wheel 12 is not obvious, especially in the acceleration process from the start of the take-up reel 21 to the strip obtaining the preset speed, the real tension is quite different from the measured tension, and in the case of high-speed winding, the real tension fluctuation is greater, and the real tension is even more different from the measured tension, resulting in the inability to ensure the authenticity of the measured tension, which easily causes uneven tension of the strip in the coil and reduces the performance of the coil. Therefore, in order to ensure the authenticity of the measured tension, when the take-up reel 21 is started to adjust the measured speed, the speed PID adjustment algorithm is used to adjust the measured speed with a smaller speed increment and a smaller integral coefficient to reduce the acceleration of the take-up reel 21. The speed error between the measured speed and the preset speed is calculated; based on the speed error, the measured speed is adjusted using the speed PID algorithm to adjust the measured speed to within the range of the preset speed. In the process of adjusting the measured speed using the speed PID algorithm based on the speed error, at least one of the proportional parameter, time parameter and increment amplitude of the speed PID algorithm is reduced. In this embodiment, when the take-up reel 21 is started, the proportional value can be reduced, and then the time parameter and increment amplitude are adjusted. In order to stably reduce the increment, the integral differential time is slowly adjusted to balance. Ensure that the strip speed can maintain a lower speed. For example, the lower speed can be N times lower than the speed of the prior art, where N is greater than 1; of course, the same applies to high speed. It is only necessary to increase the time integral coefficient, proportional coefficient and speed increment of the speed PID algorithm. When starting at a lower strip speed, the tension fluctuation is also reduced. The specific adjustment steps can be carried out in the above-mentioned way of slowing down the speed.

[0043] During the winding process, the movement speed of the strip is coupled to the tension. In order to make the tension more stable during the startup process, further reduce the instantaneous fluctuation of the tension, and make the measured tension within the preset tension range, when executing the second tension adjustment method, the parameters of the second tension PID adjustment algorithm, such as the proportional coefficient, integral coefficient, differential coefficient and incremental amplitude, can be determined based on the real-time measured speed or the acceleration during the speed adjustment process.

[0044] For example, when determining the parameters of the second tension PID adjustment algorithm based on the measured speed, several intervals can be divided according to the current measured speed of the strip, and corresponding PID parameters can be configured for each interval, wherein the measured speed is positively correlated with the proportional coefficient, integral coefficient and increment amplitude.

[0045] In another embodiment, the acceleration can also be used to adjust the parameters of the second tension PID adjustment algorithm in real time. During the startup process, the acceleration of the strip directly affects the inertial force and tension dynamic characteristics of the system. The adjustment of the parameters of the second tension PID adjustment algorithm needs to be combined with the acceleration information to achieve a balance between the stability of the transient tension process and the long-term control accuracy. Specifically, the acceleration at the moment of startup is large, and a quick response is required to offset the sudden change in tension caused by inertia, but overshoot needs to be avoided. Therefore, it is necessary to increase the proportional coefficient and the integral coefficient, and appropriately enable the differential action to enhance the control response and quickly suppress the sudden change in tension caused by inertia. When the measured speed is about to reach the preset speed, the acceleration decreases, even approaches zero, and the entire system gradually enters a steady state, and noise and disturbances need to be suppressed. Therefore, it is necessary to reduce the proportional coefficient, reduce the integral coefficient, and limit the incremental amplitude to reduce the control sensitivity and avoid noise amplification and tension oscillation caused by mechanical oscillation.

[0046] During the winding process, if any abnormal points are found in the strip, it is necessary to return the strip from the take-up reel 21 to the pay-off reel 11. During this process, it is necessary to rewind the wire in reverse and enter the reverse mode. When entering the reverse mode, the second rotary drive mechanism 22 is controlled to drive the take-up reel 21 to rotate in reverse, and the pay-off reel 11 is controlled to rotate the wire at a second preset speed for winding. The direction of the winding rotation is the same as the direction of the tension application rotation. The second preset speed is greater than the first preset speed to maintain the strip in a taut state during the winding process.

[0047] Before entering the reverse mode, in the winding working mode, the take-up reel 21 rotates in the winding direction, and the pay-off reel 11 applies tension in the direction opposite to the winding direction. When entering the reverse mode, the take-up reel 21 rotates in the direction opposite to the winding direction, so that the pay-off reel 11 can take up the wire. In order to maintain the tension of the strip in the reverse mode, the rotation direction of the pay-off reel 11 remains unchanged, and the rotation speed increases, and the superconducting strip is kept taut by the speed difference.

[0048] On this basis, the measured tension is obtained, and the measured tension is adjusted in a third tension adjustment manner. Specifically, the third tension adjustment manner can be implemented according to the second tension PID adjustment algorithm in the above embodiment. It will not be repeated in this embodiment.

[0049] A guide comb 15 is provided at the outlet of each pay-off module 10, and the strips corresponding to the pay-off modules 10 are sequentially distributed between different comb teeth 151 of the guide comb 15, and the tension wheel 12 is provided between the guide comb 15 and the pay-off reel 11 to collect the measured tension of the strips between the guide comb 15 and the pay-off reel 11. In this embodiment, in order to prevent the strips of each pay-off module 10 from being entangled with each other, a guide comb 15 is provided at the outlet of each pay-off module 10, and each strip released by the pay-off mechanism is sequentially distributed between different comb teeth 151 of the guide comb 15. In this embodiment, the comb teeth 151 of the guide comb 15 can be determined according to the number of pay-off modules 10, so that each strip can be separated in sequence to prevent friction, extrusion, slippage, etc. between different strips that may cause excessive difference in tension between the strips, and the tension wheel 12 is located between the guide comb 15 and the pay-off disk 11 to collect the tension of the strip separately to prevent other strips from affecting the measured tension, so as to collect a more realistic tension.

[0050] In order to enable the strip to smoothly and steadily enter the guide comb 15 with less stress, prevent the strip from being overstressed, and reduce the friction of the strip, the pay-off structure also includes a guide block 16 between the outlet and the guide comb 15, and the guide block 16 is used to guide the strip to between the comb teeth 151. The coordinated use of the guide comb 15 and the guide block 16 can ensure that each strip can be positioned between the corresponding comb teeth 151.

[0051] In the present embodiment, the wire taking-up module 20 further includes a lifting drive mechanism, and when the multi-cake coil is wound, the lifting drive mechanism is controlled to perform a corresponding lifting action. In the present embodiment, the wire unwinding module 10 further includes a lifting platform connected to the lifting drive mechanism, and the lifting platform is connected to the working table of the wire taking-up drum 21 through a guide rail, and the lifting drive mechanism drives the lifting platform to drive the working table away from or close to the second support frame. In the present embodiment, the lifting platform can support the wire taking-up drum 21, and under the drive of the lifting drive mechanism, the working table of the wire taking-up drum 21 is driven to rise and fall. Among them, the lifting platform is connected to the working table of the wire taking-up drum 21 through a guide rail, and when the second rotating motor drives the working table to rotate, the working table can rotate along the guide rail without affecting the lifting platform. The lifting and rotation of the working table can be realized.

[0052] In one embodiment, a plurality of T-slots are provided on the table top of the workbench for fixing the take-up reel 21. The take-up reel 21 can be a coil frame of various types, and the T-slots are used to fix coil frames of various types and sizes, such as round and D-shaped frames, which improves the versatility of the device.

[0053] In one embodiment, in order to achieve smooth lifting, the lifting drive mechanism includes a lifting motor and multiple lifting mechanisms, which are evenly distributed below the take-up drum 21 and are linked with the lifting motor. The lifting motor drives the multiple lifting mechanisms to lift the take-up drum 21. In this embodiment, each lifting mechanism has a screw rod, which is fixedly connected to the lifting platform. The lifting motor is respectively connected to the lifting mechanism through a transmission shaft. When the lifting motor rotates, the transmission shaft transmits the rotation speed of the lifting motor to the screw rod to achieve the lifting of the lifting platform. In this embodiment, the lifting mechanism can be four evenly distributed below the lifting platform, and the four lifting mechanisms are lifted synchronously to ensure smooth lifting.

[0054] In order to further ensure smooth lifting, a guide rod is also included, one end of which is fixedly arranged on the lifting platform, and the other end passes through a sleeve seat fixed on the second support frame to achieve positioning and guiding of the lifting platform.

[0055] For safety reasons, two emergency stop buttons are provided in this application. The first emergency stop button is connected to the trip circuit breaker to control the emergency stop of the main power supply, and a major fault can directly cut off the power supply. The emergency stop button is used to control the emergency stop of the first rotating drive mechanism 14 of the pay-off reel 11 and the second rotating drive mechanism 22 of the take-up reel 21.

[0056] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0057] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A control method for a multi-axis winding machine, characterized in that: The multi-axis winding machine comprises: a plurality of pay-off modules, a take-up module and a controller, wherein the pay-off module comprises a pay-off reel, a first rotary drive mechanism, an encoder wheel and a tension wheel, wherein the first rotary drive mechanism is used to drive the pay-off reel to rotate; the encoder wheel is used to feedback the measured speed of the strip released by the corresponding pay-off reel; the tension wheel is used to collect the measured tension of the strip; the take-up module comprises a take-up reel and a second rotary drive mechanism, wherein the second rotary drive mechanism is used to drive the take-up reel to rotate; the control method is applicable to the controller, and the control method comprises: Starting the pay-off reel, controlling the first rotary drive mechanism to rotate at a first preset speed in a direction opposite to the winding direction to apply tension to the strip, obtaining the measured tension, and adjusting the measured tension in a first tension adjustment manner; When the measured tension is adjusted to within the range of the preset tension, the take-up reel is started, the second rotary drive mechanism is controlled to rotate in the winding direction, the measured speed is obtained, and the measured speed is adjusted, and the measured tension is coordinated and adjusted in a second tension adjustment manner until the measured speed is within the range of the preset speed and the measured tension is within the range of the preset tension.

2. The control method of the multi-axis winding machine according to claim 1, characterized in that: The adjustment stability of the second tension adjustment method is higher than the adjustment stability of the first tension adjustment method.

3. The control method of the multi-axis winding machine as claimed in claim 2, characterized in that: The first tension adjustment method adopts a first tension PID adjustment algorithm, and the second tension adjustment method adopts a second tension PID adjustment algorithm. At least one parameter among a proportional parameter, a time parameter and an incremental amplitude in the second tension PID adjustment algorithm is smaller than a corresponding parameter in the first tension PID adjustment algorithm.

4. The control method of the multi-axis winding machine as claimed in claim 1, characterized in that: The speed adjustment of the measured speed includes: Calculating a speed error between the measured speed and the preset speed; The measured speed is adjusted using a speed PID algorithm based on the speed error to adjust the measured speed to within the range of the preset speed.

5. The control method of the multi-axis winding machine as claimed in claim 4, characterized in that: In the process of adjusting the measured speed by using the speed PID algorithm based on the speed error, at least one parameter among a proportional parameter, a time parameter and an incremental amplitude of the speed PID algorithm is reduced.

6. The control method of the multi-axis winding machine according to any one of claims 1 to 5, characterized in that: The first rotary drive mechanism comprises a first rotary motor, a magnetic powder clutch, a coupling and a reducer connected in sequence, wherein the reducer is connected to the pay-off drum; When the measured tension is adjusted in the first tension adjustment mode or the measured tension is cooperatively adjusted in the second tension adjustment mode, the controller adjusts the output torque value of the magnetic powder clutch according to the tension error between the measured tension and the preset tension.

7. The control method of the multi-axis winding machine according to claim 1, characterized in that: When entering the reverse mode, the second rotary drive mechanism is controlled to drive the take-up reel to rotate in the opposite direction, and the pay-off reel is controlled to rotate for take-up at a second preset speed. The direction of the take-up rotation is the same as the direction of the tension application rotation. The second preset speed is greater than the first preset speed to maintain the strip in a taut state during the take-up process.

8. The control method of the multi-axis winding machine according to claim 7, characterized in that: When entering the reverse mode, the measured tension is obtained, and the measured tension is adjusted in a third tension adjustment manner.

9. The control method of the winding machine as claimed in claim 1, characterized in that: A guide comb is provided at the outlet of each pay-off module, and the strips corresponding to the pay-off modules are sequentially distributed between different comb teeth of the guide comb. The tension wheel is provided between the guide comb and the pay-off drum to collect the measured tension of the strip between the guide comb and the pay-off drum.

10. The control method of the winding machine according to claim 1, characterized in that: The wire taking-up module also includes a lifting drive mechanism, which is controlled to perform corresponding lifting actions when winding a multi-disc coil.

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