Multi-motor cooperative control method and system for electric stretching equipment

Abstract

The invention relates to the technical field of electric stretching equipment, and discloses a multi-motor cooperative control method and system for electric stretching equipment, and the method comprises the steps: configuring a main motor, and enabling the main motor to drive a main tension wheel to pull a wire rod for transmission; the transmission path of the wire is divided into a plurality of segments, and each segment is provided with a slave motor; the slave motor drives the segmented tension wheel to assist in transmitting the wire rod according to the initial power; the actually measured tension value of each segmented wire rod is collected based on a distributed tension sensor; comparing the actually measured tension value with a target tension value, and correcting the initial power according to a comparison result; and the slave motor executes the corrected initial power to assist in transmitting the wire rod. According to the multi-motor cooperative control method and system for the electric stretching equipment, the tension distribution uniformity of the whole wire during wire transmission is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric stretching equipment, and in particular to a multi-motor coordinated control method and system for electric stretching equipment. Background Art

[0002] In the construction of transmission lines, tensioning equipment is used to unfold the conductors of overhead lines. The traction machine and the tension machine cooperate with each other. The traction machine consumes energy to provide pulling force, actively pulling the conductors, traction ropes and other wires, and the tension machine passively rotates to provide tension, so that the wires maintain a certain tension to be unfolded or pulled.

[0003] Electric tensioning equipment is an electrically driven tensioning equipment. Its tension control directly affects the transmission quality of the wire. Conventional electric tensioning equipment adopts a centralized control mode of a single motor driving the tension wheel, and achieves extensive tension control by adjusting the motor speed or torque. However, in scenarios of long-distance transmission or complex paths (such as multiple bends and high friction), the tension distribution of each section of the wire is uneven due to factors such as self-weight sagging, path friction, and inertia fluctuations, which can easily cause defects such as wire breakage, surface scratches, or uneven tightness.

[0004] To solve the above problems, attempts have been made to introduce multi-motor collaborative control, such as adding auxiliary motors in the transmission path. Such solutions mostly rely on fixed power distribution or open-loop control, and cannot dynamically adjust the output of each motor according to real-time tension fluctuations, resulting in local overload or energy waste. Summary of the invention

[0005] To this end, the purpose of the present invention is to overcome the problem of local overload or energy waste caused by multi-motor coordinated control in the prior art, and to provide a multi-motor coordinated control method and system for electric tensioning equipment to effectively improve the uniformity of full-line tension distribution of wire transmission.

[0006] In a first aspect, in order to solve the above technical problems, the present invention provides a method for coordinated control of multiple motors of an electric tensioning device, comprising: A main motor is configured, and the main motor drives the main driving wheel to pull the wire transmission; Dividing the transmission path of the wire into a plurality of sections, each of the sections is equipped with a slave motor; The slave motor drives the segmented tension wheel according to the initial power to assist in transmitting the wire; Collecting the measured tension value of each segmented wire based on a distributed tension sensor; Comparing the measured tension value with the target tension value, and correcting the initial power according to the comparison result; The slave motor performs a modified initial power assist transmission to the wire.

[0007] In one embodiment of the present invention, the transmission path of the wire is divided into a plurality of segments, including obtaining an initial number of segments according to the length and the number of bends of the transmission path, and the initial number of segments is set as follows: ;in, represents the number of initial segments, and L represents the length of the transmission path; is a constant related to the transmission path length; Indicates the number of bends.

[0008] In one embodiment of the present invention, the transmission path of the wire is divided into a plurality of segments, and a simulation model of the transmission path is established; the wire path parameters and the initial number of segments are input into the simulation model to obtain the simulated tension values ​​of the segmented wires; the simulated tension values ​​are analyzed, and the initial number of segments is corrected according to the analysis results.

[0009] In one embodiment of the present invention, analyzing the simulated tension value includes obtaining a deviation value 1 between the simulated tension value of segmented wire one and the target tension value; and obtaining a deviation value 2 between the simulated tension value of segmented wire two and the target tension value; the segmented wire one and the segmented wire two are adjacent segments to each other; if the deviation value 1 and the deviation value 2 are both less than the deviation value threshold, the segmented wire one and the segmented wire two are merged.

[0010] In one embodiment of the present invention, analyzing the simulated tension value includes obtaining a simulated tension value 1 at a starting point of the segmented wire; and obtaining a simulated tension value 2 at an end point of the segmented wire; determining an intra-segment tension gradient of the segmented wire according to the simulated tension value 1 and the simulated tension value 2; if the intra-segment tension gradient is greater than or equal to an intra-segment tension gradient threshold, splitting the segmented wire into two segments; wherein the intra-segment tension gradient threshold is related to the target tension value, and the intra-segment tension gradient is determined as follows: ; Indicates the tension gradient within the segment, F1 represents the simulated tension value one; F2 represents the simulated tension value two.

[0011] In one embodiment of the present invention, the measured tension value is compared with the target tension value, and the initial power is corrected according to the comparison result, including increasing the output power of the sub-motor of the segment if the measured tension value is less than the target tension value; the determination method is: ; P(t) represents the output power of the motor in the sampling period t; P(t+1) represents the output power of the motor in the sampling period t+1; F * represents the target tension value; F(t) represents the actual tension value within the sampling period t.

[0012] In one embodiment of the present invention, the measured tension value is compared with the target tension value, and the initial power is corrected according to the comparison result. It also includes reducing the output power of the slave motor of the segment if the measured tension value is greater than the target tension value, and marking the segment as an overload segment; if the output power of the slave motor of the overload segment is reduced to a threshold output power, and the measured tension value is still greater than the target tension value, then adjacent segment compensation is triggered.

[0013] In one embodiment of the present invention, triggering adjacent segment compensation includes defining the previous segment connected to the overloaded segment i as segment i-1 and the next segment as segment i+1; configuring the compensation weights of the segments i-1 and i+1 as and , and satisfies ; Determine the tension difference between the measured tension value and the target tension value of the overload segment i ; Get the wire moving speed ; According to compensation weight, tension difference The traction power increment of the slave motor of segment i-1 and segment i+1 is determined by the wire moving speed; wherein the traction power increment of the slave motor of segment i-1 is ; The traction power increment of the slave motor in segment i+1 is ; Wherein, Kp represents the proportionality coefficient, which is a constant related to the elastic modulus of the wire; represents the traction power increment of the slave motor in segment i-1; Represents the traction power increment of the slave motor in segment i+1.

[0014] In one embodiment of the present invention, after the segment i-1 and the segment i+1 perform adjacent segment compensation, if the measured tension value of the segment i-1 or the segment i+1 exceeds the target tension value, the wire transmission speed is reduced.

[0015] In a second aspect, in order to solve the above technical problems, the present invention provides a multi-motor coordinated control system for an electric tensioning device, comprising: The main motor is used to drive the main power wheel to pull the wire transmission; A slave motor group includes a plurality of slave motors, each of which corresponds to a plurality of segmented configurations of the wire; the slave motor drives a corresponding segmented tension wheel according to an initial power to assist in transmitting the wire; A distributed sensor for collecting the measured tension value of each of the segmented wires; A power correction module, used for comparing the measured tension value with the target tension value, and correcting the initial power according to the comparison result; The auxiliary transmission control module is used to control the slave motor group to assist in transmitting the wire according to the corrected initial power.

[0016] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The multi-motor coordinated control method and system of the electric tensioning equipment described in the present invention divides the wire transmission path into several segments and configures slave motors. Combined with the real-time feedback of distributed tension sensors, the power of each segmented slave motor is dynamically corrected, thereby effectively offsetting the tension gradient attenuation or sudden change caused by path friction, deadweight sag or inertia fluctuations, thereby effectively improving the uniformity of tension distribution along the entire line.

[0017] In addition, based on the real-time comparison between the measured tension value and the target value, a closed-loop control is formed to avoid the hysteresis of traditional open-loop control and quickly respond to local tension unevenness.

[0018] The main motor and the slave motor group work together to form distributed redundancy. The slave motors in each segment are independently controllable. In the event of a single point failure, the adjacent segments can quickly transfer the load to ensure continuous operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein: Figure 1 It is a flow chart of a multi-motor coordinated control method of an electric tensioning device in a preferred embodiment of the present invention; Figure 2 A flowchart of correcting the number of initial segments in one of the embodiments; Figure 3 A flowchart for modifying the number of initial segments in another embodiment Figure 4 A flowchart of triggering adjacent segment compensation in a preferred embodiment of the present invention; Figure 5 It is a structural block diagram of a multi-motor coordinated control system of an electric tensioning device in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Embodiment 1

[0021] Reference Figure 1As shown, an embodiment of the present invention discloses a multi-motor coordinated control method for an electric tensioning device, including configuring a main motor, the main motor driving a main power wheel to pull a wire for transmission; dividing the transmission path of the wire into a plurality of segments, each of the segments being configured with a slave motor; the slave motor driving a segmented tension wheel to assist in transmitting the wire according to an initial power; collecting the measured tension value of each segmented wire based on a distributed tension sensor; comparing the measured tension value with the target tension value, and correcting the initial power according to the comparison result; the slave motor executes the corrected initial power to assist in transmitting the wire.

[0022] In specific application scenarios, the main motor uses a permanent magnet synchronous motor (for example, rated power 15kW, torque 200Nm), which drives the tension wheel through a planetary gear reducer. The main motor provides the main traction load for wire transmission; the transmission path is divided into several segments based on the properties of the wire and the transmission path. Each segment is configured with its own slave motor and segment tension wheel. The slave motors of each segment are configured with the same model of permanent magnet synchronous motor (for example, rated power 5kW, torque 50Nm). The initial power of each slave motor is set according to the properties of the transmission path and the wire. The slave motors operate to assist in the transmission of the wire according to their initial power. During the transmission process, the actual measured tension value of each segment is collected in real time, and the deviation between the actual measured tension value and the target tension value is compared. The initial power correction is triggered according to the deviation. After correcting the power of the slave motor, the actual tension value of each segment is close to the target tension value, so that the uniformity of the tension distribution of the entire line is effectively improved.

[0023] It should be noted that the process of adjusting the slave motor power to change the tension value is as follows: under the traction condition and the wire speed is stable, when the slave motor power is increased, the slave motor outputs a larger traction torque, and a positive tension is applied to the wire through the segmented tension wheel to increase the tension of the segmented wire; conversely, when the slave motor power is reduced, the traction torque output by the slave motor decreases, and the tension of the segmented wire naturally decays due to the upstream pulling force or inertia.

[0024] The multi-motor coordinated control method of the electric tensioning equipment described in the present invention divides the wire transmission path into several segments and configures slave motors, combines the real-time feedback of the distributed tension sensor, and dynamically corrects the power of each segment slave motor, effectively offsets the tension gradient attenuation or mutation caused by path friction, deadweight sag or inertial fluctuation, and effectively improves the uniformity of tension distribution on the entire line. In addition, based on the real-time comparison between the measured tension value and the target value, a closed-loop control is formed to avoid the lag of traditional open-loop control and quickly respond to local tension unevenness. Furthermore, the main motor and the slave motor group cooperate to form distributed redundancy, and each segment slave motor is independently controllable. In the event of a single point failure, the adjacent segments can quickly transfer the load to ensure continuous operation.

[0025] Specifically, the transmission path of the wire is divided into a plurality of segments, including obtaining an initial number of segments according to the length and the number of bends of the transmission path, and the initial number of segments is set as follows: ;in, represents the number of initial segments, and L represents the length of the transmission path; is a constant related to the transmission path length; Indicates the number of bends.

[0026] In specific application scenarios, according to the setting method of the initial number of segments, the setting rule is clearly defined as the straight segment of the transmission path is divided into a segment according to a set length, and two additional segments are added at each corner. For example, assuming that the transmission path is 200 meters long and contains two 90-degree bends, The length of the cable is 50 meters, and the initial number of segments is N0 = 200 / 50 + 2 × 2 = 8 segments. The straight line segment is evenly segmented to ensure that during long-distance straight-line transmission, the slave motor can promptly compensate for the tension attenuation caused by the weight or friction of the wire, reduce the long-distance tension fluctuation range, and avoid the risk of loosening due to insufficient tension at the far end. Two segments are added to each bend to specifically control the local high friction and tension mutation in the bending area, and also reduce the tension fluctuation at the bend to prevent the wire from breaking or wearing due to the concentration of bending stress. At the same time, the double segmentation at the bend forms a redundant control area. When a single segment fails, the adjacent segments can quickly transfer the load.

[0027] Furthermore, the transmission path of the wire is divided into several segments, and a simulation model of the transmission path is established; the wire path parameters and the initial number of segments are input into the simulation model to obtain the simulated tension value of the segmented wire; the simulated tension value is analyzed, and the initial number of segments is corrected according to the analysis result.

[0028] In specific application scenarios, a simulation model of the wire transmission path is established based on multi-body dynamics software (such as Adams and Matlab Simscape), and the wire property parameters, motor parameters and wire path CAD drawings are imported into the software platform. The wire property parameters include diameter, density, elastic modulus, and friction coefficient; the motor parameters include the master / slave motor torque-speed curve and reduction ratio; the bending angle, segmented tension wheel position, and segmented tension wheel layout are determined according to the wire path. The simulation model calculates the theoretical tension value of each segment based on the imported data and marks the high tension risk area. The high tension risk area is defined as an area where the theoretical tension value is greater than or equal to 1.2 times the target tension value. Through simulation, tension risks are identified in advance and on-site debugging time is reduced; dynamically adjusting the number of segments can reduce the cost of redundant equipment on the one hand, and is also conducive to tension uniformity adjustment.

[0029] Specifically, as one of the analysis directions, refer to Figure 2 As shown, analyzing the simulated tension value includes obtaining a deviation value 1 between the simulated tension value of segmented wire one and the target tension value; and obtaining a deviation value 2 between the simulated tension value of segmented wire two and the target tension value; the segmented wire one and the segmented wire two are adjacent segments to each other; if the deviation value 1 and the deviation value 2 are both less than the deviation value threshold, the segmented wire one and the segmented wire two are merged.

[0030] In a specific application scenario, segmented wire one and segmented wire two are any two adjacent segments. When the deviations between the simulated tension values ​​of adjacent segments and the target tension values ​​are both less than the deviation threshold, it indicates that segmented wire one and segmented wire two are both low-tension fluctuation areas. After merging segmented wire one and segmented wire two, the number of segments is reduced, the segment density is reduced, redundant equipment is reduced, and hardware costs and energy consumption are saved.

[0031] As another direction of analysis, refer to Figure 3 As shown, analyzing the simulated tension value includes obtaining a simulated tension value 1 at a starting point of the segmented wire; and obtaining a simulated tension value 2 at an end point of the segmented wire; determining a tension gradient within a segment of the segmented wire according to the simulated tension value 1 and the simulated tension value 2; if the tension gradient within a segment is greater than or equal to a tension gradient threshold within a segment, the segmented wire is split into two segments; wherein the tension gradient threshold within a segment is related to the target tension value, and the tension gradient within a segment is determined as follows: ; Indicates the tension gradient within the segment, F1 represents the simulated tension value one; F2 represents the simulated tension value two.

[0032] In the specific application scenario, the segmented wire 1 is any segment. When the tension gradient within the segment is greater than or equal to the tension gradient threshold within the segment, it indicates that the segmented wire 1 is a high fluctuation area (such as a bend). After the segmented wire 1 is split into two segments, the segment increases and the segment density increases, providing a basis for subsequent high-precision compensation from the motor, reducing tension fluctuations and avoiding the risk of wire breakage caused by local overload. According to simulation analysis, potential high-gradient segments are identified and split in the simulation stage to avoid sudden tension mutations during actual operation and reduce the failure rate.

[0033] Furthermore, the measured tension value is compared with the target tension value, and the initial power is corrected according to the comparison result, including increasing the output power of the sub-motor of the segment if the measured tension value is less than the target tension value; the determination method is: ; P(t) represents the output power of the motor in the sampling period t; P(t+1) represents the output power of the motor in the sampling period t+1; F * represents the target tension value; F(t) represents the actual tension value within the sampling period t.

[0034] In specific application scenarios, when the measured tension value of a certain segment is less than the target tension value, the power of the motor of the segment is increased, a larger traction torque is output from the motor, and positive tension is applied to the wire through the segment tension wheel to increase the tension of the segment wire until the measured tension value is consistent with the target tension value. Among them, the output power is determined in such a way that the power increase amplitude is proportional to the degree of deviation. The larger the deviation, the more significant the power increase; the smaller the deviation, the smaller the power increase amplitude to avoid overshoot. The method in which the power increase amplitude is proportional to the degree of deviation greatly shortens the time to restore the tension to the target value, and the control accuracy is improved, and the instantaneous load shock can also be reduced. The coefficient of 0.5 balances the response speed and stability, ensuring both rapid adjustment and suppressing the risk of overshoot caused by power mutation.

[0035] As a further improvement of an embodiment of the present invention, the measured tension value is compared with the target tension value, and the initial power is corrected according to the comparison result. It also includes reducing the output power of the slave motor of the segment if the measured tension value is greater than the target tension value, and marking the segment as an overload segment; if the output power of the slave motor of the overload segment is reduced to a threshold output power, and the measured tension value is still greater than the target tension value, then adjacent segment compensation is triggered.

[0036] In specific application scenarios, when the measured tension value of a segment is greater than the target tension value, the power of the slave motor of the segment is immediately reduced to avoid overload damage to the slave motor. If the tension cannot be relieved after the power is reduced to a threshold (such as 50% of the rated power), it is marked as an "overloaded segment". The marking mechanism enables the system to quickly lock the problem area and improve the efficiency of targeted processing. Triggering compensation for adjacent segments reduces the risk of overload and extends the service life of the slave motor.

[0037] Specifically, refer to Figure 4 As shown, triggering adjacent segment compensation includes defining the previous segment connected to the overloaded segment i as segment i-1 and the next segment as segment i+1; configuring the compensation weights of the segments i-1 and i+1 as and , and satisfies ; Determine the tension difference between the measured tension value and the target tension value of the overload segment i ; Get the wire moving speed ; According to compensation weight, tension difference The traction power increment of the slave motor of segment i-1 and segment i+1 is determined by the wire moving speed; wherein the traction power increment of the slave motor of segment i-1 is ; The traction power increment of the slave motor in segment i+1 is ; Where Kp represents the proportionality coefficient, which is a constant (dimensionless) related to the elastic modulus of the wire; represents the traction power increment of the slave motor in segment i-1; Represents the traction power increment of the slave motor in segment i+1.

[0038] In a specific application scenario, the previous segment directly connected to the overload segment i is defined as segment i-1, and the next segment is defined as segment i+1; when an overload segment i occurs, the traction power of the slave motor corresponding to the upstream segment i-1 is increased, and the traction power of the slave motor corresponding to the downstream segment i+1 is increased. After the traction power of the slave motor corresponding to the upstream segment i-1 is increased, the main tensioning wire is tightened to share the upstream tension of the overload segment i and reduce the tension accumulation of the overload segment i due to the upstream resistance; after the traction power of the slave motor corresponding to the downstream segment i+1 is increased, the wire is pushed to suppress the inertia fluctuation of the wire, reduce the downstream tension of the overload segment i, and relieve the tension accumulation of the overload segment i due to the downstream inertia or friction, thereby relieving the tension of the overload segment i.

[0039] Different weights are configured for segment i-1 and segment i+1, where the weight of segment i-1 is greater than that of segment i+1. That is to say, the upstream segment i-1 close to the tension wheel undertakes the main compensation task, and gives priority to increasing its slave motor power to quickly offset the upstream tension accumulation; the downstream segment i+1 focuses on suppressing the inertia of the wire or the relaxation at the end to avoid a sudden drop in tension due to a sudden change in speed.

[0040] According to the compensation weight, tension difference The traction power increment of the slave motor of segment i-1 and segment i+1 is determined by the wire moving speed; the traction power increment is related to the wire moving speed, compensation weight and tension difference , and its associated path is as follows: the faster the wire moves, the higher the power compensation required for the unit tension difference to avoid control lag caused by speed changes; the compensation weight is dynamically allocated according to the segment position to ensure that high friction or bending sections obtain more power resources; the power adjustment amount is directly related to the tension deviation Linear correlation avoids energy waste of empirical threshold method. Based on compensation weight and tension difference The multi-factor synergy of wire moving speed suppresses overshoot and enhances stability. For example, at high speed, the same tension difference requires more power, but the weight distribution limits local overcompensation. At low tension difference, the weight dominates the power distribution to avoid sensitive fluctuations.

[0041] In one embodiment, the tension difference between the measured tension value and the target tension value of the overload segment i is 200N, wire speed 0.5m / s, compensation weight is 0.6, the proportional coefficient Kp is 1.2, and the power added from the motor in segment i-1 is 1.2×200N×0.6×0.5m / s=72N·m / s=72W.

[0042] Furthermore, after the segment i-1 and the segment i+1 perform adjacent segment compensation, if the measured tension value of the segment i-1 or the segment i+1 exceeds the target tension value, the wire transmission speed is reduced.

[0043] In a specific application scenario, if the measured tension value of segment i-1 or segment i+1 exceeds the target tension value, it indicates that secondary problems are caused after the power compensation of the overload segment i is executed. For global safety protection and to prevent the chain spread of overload, dynamic speed reduction is used to suppress overload, reduce the inertia force and dynamic friction of the wire, and alleviate tension accumulation. Embodiment 2

[0044] Based on the same inventive concept as the embodiment, the embodiment of the present invention discloses a multi-motor coordinated control system for an electric tensioning device, referring to Figure 5 As shown, it includes, The main motor is used to drive the main power wheel to pull the wire transmission; A slave motor group includes a plurality of slave motors, each of which corresponds to a plurality of segmented configurations of the wire; the slave motor drives a corresponding segmented tension wheel according to an initial power to assist in transmitting the wire; A distributed sensor for collecting the measured tension value of each of the segmented wires; A power correction module, used for comparing the measured tension value with the target tension value, and correcting the initial power according to the comparison result; The auxiliary transmission control module is used to control the slave motor group to assist in transmitting the wire according to the corrected initial power.

[0045] The multi-motor cooperative control system for electric tensioning equipment described in the embodiment of the present invention is used to execute the multi-motor cooperative control method for electric tensioning equipment of any scheme of the first embodiment, and has the same technical effect, which will not be repeated here.

[0046] In summary, the multi-motor collaborative control method and system of the electric tensioning equipment described in the present invention divides the wire transmission path into several segments and configures slave motors, combines the real-time feedback of distributed tension sensors, and dynamically corrects the power of each segmented slave motor, thereby effectively offsetting the tension gradient attenuation or sudden change caused by path friction, deadweight sag or inertia fluctuations, thereby effectively improving the uniformity of tension distribution along the entire line.

[0047] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0048] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0049] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0051] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A multi-motor coordinated control method for electric tensioning equipment, characterized in that: include, A main motor is configured, and the main motor drives the main driving wheel to pull the wire transmission; Dividing the transmission path of the wire into a plurality of sections, each of the sections is equipped with a slave motor; The slave motor drives the segmented tension wheel according to the initial power to assist in transmitting the wire; Collecting the measured tension value of each segmented wire based on a distributed tension sensor; Comparing the measured tension value with the target tension value, and correcting the initial power according to the comparison result, which includes reducing the output power of the slave motor of the segment if the measured tension value is greater than the target tension value, and marking the segment as an overload segment; if the output power of the slave motor of the overload segment is reduced to a threshold output power, and the measured tension value is still greater than the target tension value, triggering compensation for adjacent segments; The slave motor performs a modified initial power assist transmission to the wire.

2. The multi-motor coordinated control method of electric tensioning equipment according to claim 1 is characterized in that: The transmission path of the wire is divided into a plurality of segments, including obtaining an initial number of segments according to the length and the number of bends of the transmission path, wherein the initial number of segments is set as follows: ; in, represents the number of initial segments, and L represents the length of the transmission path; is a constant related to the transmission path length; Indicates the number of bends.

3. The multi-motor coordinated control method of electric tensioning equipment according to claim 2 is characterized in that: Dividing the transmission path of the wire into several segments, further comprising: Establishing a simulation model of the transmission path; Inputting the wire path parameters and the initial segment number into the simulation model to obtain the simulated tension value of the segmented wire; The simulated tension value is analyzed, and the initial number of segments is corrected according to the analysis result.

4. The multi-motor coordinated control method of electric tensioning equipment according to claim 3 is characterized in that: Analyzing the simulated tension value, including: Obtaining a deviation value 1 between a simulated tension value of a segmented wire and a target tension value; as well as, Obtaining a second deviation value between the simulated tension value and the target tension value of the segmented wire material 2; the segmented wire material 1 and the segmented wire material 2 are adjacent segments to each other; If the deviation value 1 and the deviation value 2 are both smaller than the deviation value threshold, the segmented wire 1 and the segmented wire 2 are merged.

5. The multi-motor coordinated control method of electric tensioning equipment according to claim 3 is characterized in that: Analyzing the simulated tension value, including: Get the simulated tension value 1 of the starting point of the segmented wire; as well as, Obtain the simulated tension value 2 of the first end point of the segmented wire; Determine the intra-segment tension gradient of the segmented wire material 1 according to the simulated tension value 1 and the simulated tension value 2; If the tension gradient within the segment is greater than or equal to the tension gradient threshold within the segment, splitting the segmented wire into two segments; The intra-segment tension gradient threshold is related to the target tension value, and the intra-segment tension gradient is determined as follows: ; Indicates the tension gradient within the segment, F1 represents the simulated tension value one; F2 represents the simulated tension value two.

6. The multi-motor coordinated control method of electric tensioning equipment according to claim 1, characterized in that: Comparing the measured tension value with the target tension value, and correcting the initial power according to the comparison result, including: If the measured tension value is less than the target tension value, the output power of the sub-motor of the segment is increased; The determination method is: ； P(t) represents the output power of the motor in the sampling period t; P(t+1) represents the output power of the motor in the sampling period t+1; F * represents the target tension value; F(t) represents the actual tension value within the sampling period t.

7. The multi-motor coordinated control method of electric tensioning equipment according to claim 1, characterized in that: Triggering adjacent segment compensation includes, Define the previous segment connected to the overload segment i as segment i-1, and the next segment as segment i+1; The compensation weights of the segment i-1 and segment i+1 are configured as follows: and , and satisfies ; Determine the tension difference between the measured tension value and the target tension value of the overload segment i ; Get the wire moving speed ; According to the compensation weight, tension difference and the wire moving speed to determine the traction power increment of the slave motor in segment i-1 and segment i+1; Among them, the traction power increment of the slave motor in segment i-1 is ; The traction power increment of the slave motor in segment i+1 is ; Wherein, Kp represents the proportionality coefficient, which is a constant related to the elastic modulus of the wire; represents the traction power increment of the slave motor in segment i-1; Represents the traction power increment of the slave motor in segment i+1.

8. The multi-motor coordinated control method of electric tensioning equipment according to claim 7, characterized in that: After the segment i-1 and the segment i+1 perform adjacent segment compensation, if the measured tension value of the segment i-1 or the segment i+1 exceeds the target tension value, the wire transmission speed is reduced.

9. An electric tensioning device multi-motor coordinated control system, used to execute an electric tensioning device multi-motor coordinated control method according to any one of claims 1 to 8, characterized in that: include, The main motor is used to drive the main power wheel to pull the wire transmission; A slave motor group includes a plurality of slave motors, each of which corresponds to a plurality of segmented configurations of the wire; the slave motor drives a corresponding segmented tension wheel according to an initial power to assist in transmitting the wire; A distributed sensor for collecting the measured tension value of each of the segmented wires; A power correction module, used for comparing the measured tension value with the target tension value, and correcting the initial power according to the comparison result; The auxiliary transmission control module is used to control the slave motor group to assist in transmitting the wire according to the corrected initial power.

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