Multi-Motor Cooperative Control Method and System for Electric Stretching Equipment

Abstract

The present invention relates to the technical field of electric tensioning equipment, and discloses a multi-motor coordinated control method and system for electric tensioning equipment, including configuring a main motor, the main motor drives a main pulley to pull the wire for transmission; dividing the transmission path of the wire into several segments, each of the segments is configured with a slave motor; the slave motor drives the segmented tension wheel to assist in transmitting the wire according to the initial power; based on a distributed tension sensor, the measured tension value of each segmented wire is collected; the measured tension value is compared with the target tension value, and the initial power is corrected according to the comparison result; the slave motor executes the corrected initial power to assist in transmitting the wire. The multi-motor coordinated control method and system for electric tensioning equipment described in the present invention effectively improves the uniformity of the full-line tension distribution of wire transmission.

Description

Technical Field

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

[0002] In the construction of transmission lines, tensioning equipment is used for the stringing of overhead line conductors. Through the mutual cooperation of a traction machine and a tension machine, the traction machine consumes energy to provide tension, actively pulls and guides clues such as conductors and traction ropes, and the tension machine rotates passively to provide tension, so that the clues are strung or pulled while maintaining a certain tension.

[0003] Electric tensioning equipment is a tensioning equipment driven by electricity, and its tension control directly affects the transmission quality of clues. Conventional electric tensioning equipment adopts a centralized control mode of driving a tension wheel with a single motor, and realizes rough 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 inertial fluctuations of the wire, which easily causes defects such as wire breakage, surface scratches, or uneven tightness.

[0004] To solve the above problems, an attempt is made to introduce multi-motor cooperative control. For example, auxiliary motors are added in the transmission path. Such schemes 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] Therefore, the purpose of the present invention is to overcome the problem of local overload or energy waste caused by multi-motor cooperative control in the prior art, and provide a multi-motor cooperative control method and system for electric tensioning equipment, so as to effectively improve the uniformity of the whole-line tension distribution of wire transmission.

[0006] In a first aspect, to solve the above technical problems, the present invention provides a multi-motor cooperative control method for electric tensioning equipment, including:

[0007] Configure a main motor, and the main motor drives a main tension wheel to pull and transmit the wire;

[0008] Divide the transmission path of the wire into several segments, and each segment is configured with a slave motor;

[0009] The slave motor drives a segment tension wheel to assist in transmitting the wire according to the initial power;

[0010] Based on distributed tension sensors, collect the measured tension values of the wire in each segment;

[0011] Compare the measured tension value with the target tension value, and correct the initial power according to the comparison result;

[0012] The slave motor executes the corrected initial power to assist in transmitting the wire.

[0013] In an embodiment of the present invention, the transmission path of the wire is divided into several segments, including obtaining an initial segment number according to the length of the transmission path and the number of bending angles. The setting method of the initial segment number is as follows:

[0014] ; where represents the initial segment number, L represents the length of the transmission path; is a constant related to the transmission path length; represents the number of bending angles.

[0015] In an embodiment of the present invention, dividing the transmission path of the wire into several segments further includes 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 simulation tension value of the segmented wire; analyzing the simulation tension value, and correcting the initial segment number according to the analysis result.

[0016] In an embodiment of the present invention, analyzing the simulation tension value includes obtaining a deviation value one between the simulation tension value of the first segmented wire and the target tension value; and obtaining a deviation value two between the simulation tension value of the second segmented wire and the target tension value; the first segmented wire and the second segmented wire are adjacent segments to each other; if both the deviation value one and the deviation value two are less than the deviation value threshold, then the first segmented wire and the second segmented wire are merged.

[0017] In an embodiment of the present invention, analyzing the simulation tension value includes obtaining a first simulation tension value at the starting point of the first segmented wire; and obtaining a second simulation tension value at the end point of the first segmented wire; determining the in-segment tension gradient of the first segmented wire according to the first simulation tension value and the second simulation tension value; if the in-segment tension gradient is greater than or equal to the in-segment tension gradient threshold, then the first segmented wire is split into two segments; where the in-segment tension gradient threshold is related to the target tension value, and the determination method of the in-segment tension gradient is as follows:

[0018] ; represents the in-segment tension gradient, F1 represents the first simulation tension value; F2 represents the second simulation tension value.

[0019] In an embodiment of the present invention, comparing the measured tension value with the target tension value and correcting the initial power according to the comparison result includes if the measured tension value is less than the target tension value, then increasing the output power of the slave motor for this segment; its determination method is as follows:

[0020] ; P(t) represents the output power from the motor within the t sampling period; P(t + 1) represents the output power from the motor within the (t + 1) sampling period; F * represents the target tension value; F(t) represents the measured tension value within the t sampling period.

[0021] In an embodiment of the present invention, comparing the measured tension value with the target tension value and correcting the initial power according to the comparison result further includes: if the measured tension value is greater than the target tension value, reducing the output power of the slave motor of this segment and marking this segment as an overloaded segment; if when the output power of the slave motor of the overloaded segment is reduced to the threshold output power, the measured tension value is still greater than the target tension value, then triggering adjacent segment compensation.

[0022] In an 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 subsequent segment as segment i + 1; configuring the compensation weights of segment i - 1 and segment i + 1 to be respectively and , and satisfying ; determining the tension difference between the measured tension value and the target tension value of the overloaded segment i ; obtaining the wire moving speed ; determining the traction power increments of the slave motors of segment i - 1 and segment i + 1 according to the compensation weights, the tension difference and 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 of segment i + 1 is ; wherein, Kp represents the proportionality coefficient, which is a constant related to the wire elastic modulus; represents the traction power increment of the slave motor of segment i - 1; represents the traction power increment of the slave motor of segment i + 1.

[0023] In an embodiment of the present invention, after segment i - 1 and segment i + 1 perform adjacent segment compensation, if the measured tension value of segment i - 1 or segment i + 1 exceeds the target tension value, then reduce the wire transmission speed.

[0024] Second aspect, to solve the above technical problems, the present invention provides a multi - motor cooperative control system for an electric tensioning device, including,

[0025] A main motor, used to drive the main tension wheel to traction the wire for transmission;

[0026] A slave motor group, including several slave motors, and the several slave motors are respectively configured corresponding to several segments of the wire; the slave motor drives the corresponding segment tension wheel to assist in transmitting the wire according to the initial power;

[0027] A distributed sensor for collecting the measured tension values of each of the segmented wire materials;

[0028] A power correction module for comparing the measured tension value with the target tension value and correcting the initial power according to the comparison result;

[0029] An auxiliary transmission control module for controlling the slave motor set to assist in transmitting the wire material according to the corrected initial power.

[0030] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0031] For the multi-motor cooperative control method and system of the electric tensioning device of the present invention, by dividing the wire material transmission path into several segments and configuring slave motors, combined with the real-time feedback of the distributed tension sensors, the power of the slave motors in each segment is dynamically corrected, effectively offsetting the tension gradient attenuation or mutation caused by path friction, self-weight sag or inertial fluctuation, and effectively improving the uniformity of the tension distribution throughout the line.

[0032] In addition, based on the real-time comparison of the measured tension value and the target value, a closed-loop control is formed, avoiding the hysteresis of the traditional open-loop control and quickly responding to local tension non-uniformity.

[0033] The main motor and the slave motor set cooperate to form a distributed redundancy, and the slave motors in each segment are independently controllable. When a single-point failure occurs, the adjacent segments can quickly transfer the load to ensure continuous operation. Description of the Drawings

[0034] In order to make the content of the present invention easier to be clearly understood, the following further details the present invention according to the specific embodiments of the present invention and in conjunction with the drawings, wherein,

[0035] Figure 1 is a flowchart of the multi-motor cooperative control method of the electric tensioning device in the preferred embodiment of the present invention;

[0036] Figure 2 is a flowchart of correcting the initial number of segments in one of the embodiments;

[0037] Figure 3 is a flowchart of correcting the initial number of segments in another embodiment

[0038] Figure 4 is a flowchart of triggering adjacent segment compensation in the preferred embodiment of the present invention;

[0039] Figure 5 is a structural block diagram of the multi-motor cooperative control system of the electric tensioning device in the preferred embodiment of the present invention. Detailed Description of the Embodiments

[0040] 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

[0041] Reference Figure 1 As 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.

[0042] 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.

[0043] 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.

[0044] The multi-motor collaborative control method for the electric stretching device described in the present invention divides the wire transmission path into several segments and configures slave motors. Combining the real-time feedback of the distributed tension sensors, it dynamically corrects the power of the slave motors in each segment, effectively offsetting the attenuation or mutation of the tension gradient caused by path friction, self-weight sagging or inertial fluctuations, and effectively improving the uniformity of the tension distribution throughout the 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 the traditional open-loop control and quickly respond to local tension non-uniformity. Further, the main motor and the slave motor group cooperate to form a distributed redundancy. Each segment of the slave motor is independently controllable. When a single-point failure occurs, the adjacent segment can quickly transfer the load to ensure continuous operation.

[0045] Specifically, the transmission path of the wire is divided into several segments, including obtaining the initial number of segments according to the length and the number of bending angles of the transmission path. The setting method of the initial number of segments is as follows:

[0046] ; where represents the initial number of segments, L represents the length of the transmission path; is a constant related to the transmission path length; represents the number of bending angles.

[0047] In a specific application scenario, according to the setting method of the initial number of segments, its setting rule is that a segment is divided for each set length of the straight segment of the transmission path, and two additional segments are added at each bending angle. For example, assume that the transmission path is 200 meters long and contains two 90-degree bending angles, is 50 meters, and the initial number of segments N0 = 200 / 50 + 2×2 = 8 segments. Uniform segmentation of the straight segment ensures that when the wire is transmitted over a long distance in a straight line, the slave motor can timely compensate for the tension attenuation caused by the self-weight or friction of the wire, reduce the long-distance tension fluctuation range, and avoid the risk of loosening caused by insufficient tension at the far end. Adding two segments at each bending angle can specifically control the local high friction and tension mutation in the bending area, also reducing the tension fluctuation at the bending angle and preventing the wire from breaking or wearing due to bending stress concentration. At the same time, the double segments at the bending angle form a redundant control area, and when a single segment fails, the adjacent segment can quickly transfer the load.

[0048] Further, dividing the transmission path of the wire into several segments further includes establishing a simulation model of the transmission path; inputting the wire path parameters and the initial number of segments into the simulation model to obtain the simulation tension value of the segmented wire; analyzing the simulation tension value, and correcting the initial number of segments according to the analysis result.

[0049] In specific application scenarios, a simulation model of the wire transmission path is established based on multi-body dynamics software (such as Adams, Matlab Simscape). 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 torque-speed curves of the main / slave motors and the reduction ratio; the bending angle, the positions of segmented tension wheels, and the layout of segmented tension wheels are determined according to the wire path. The simulation model calculates the theoretical tension values of each segment based on the imported data and marks the high-tension risk areas, which are defined as the areas where the theoretical tension value is greater than or equal to 1.2 times the target tension value. By simulating in advance to identify tension risks, the on-site commissioning time can be reduced; the number of segments is dynamically adjusted, which can reduce the cost of redundant equipment on the one hand and is beneficial to the adjustment of tension uniformity on the other hand.

[0050] Specifically, as one of the analysis directions, referring to Figure 2 shown, analyzing the simulated tension values includes obtaining the deviation value one between the simulated tension value of the first segmented wire and the target tension value; and obtaining the deviation value two between the simulated tension value of the second segmented wire and the target tension value; the first segmented wire and the second segmented wire are adjacent segments to each other; if both the deviation value one and the deviation value two are less than the deviation value threshold, then the first segmented wire and the second segmented wire are merged.

[0051] In specific application scenarios, the first segmented wire and the second segmented wire are any two adjacent segments. When the deviations between the simulated tension values of the adjacent segments and the target tension value are both less than the deviation value threshold, it indicates that both the first segmented wire and the second segmented wire are low-tension fluctuation areas. After merging the first segmented wire and the second segmented wire, the number of segments is reduced, the segment density is decreased, redundant equipment is reduced, and the hardware cost and energy consumption are saved.

[0052] As another analysis direction, referring to Figure 3 shown, analyzing the simulated tension values includes obtaining the first simulated tension value at the starting point of the first segmented wire; and obtaining the second simulated tension value at the end point of the first segmented wire; determining the in-segment tension gradient of the first segmented wire according to the first simulated tension value and the second simulated tension value; if the in-segment tension gradient is greater than or equal to the in-segment tension gradient threshold, then the first segmented wire is split into two segments; where the in-segment tension gradient threshold is related to the target tension value, and the determination method of the in-segment tension gradient is:

[0053] ; represents the in-segment tension gradient, F1 represents the first simulated tension value; F2 represents the second simulated tension value.

[0054] In a specific application scenario, the first segmented wire is any one of the segments. When the in-segment tension gradient is greater than or equal to the in-segment tension gradient threshold, it indicates that the first segmented wire is in a high-fluctuation area (such as a bend). After the first segmented wire is split into two segments, the number of segments increases, and the segment density increases, providing a basis for high-precision compensation from the motor in the subsequent process, reducing tension fluctuations, and avoiding the risk of wire breakage caused by local overload. According to the simulation analysis, potential high-gradient segments are identified and split during the simulation stage to avoid sudden tension mutations during actual operation and reduce the failure rate.

[0055] Further, comparing the measured tension value with the target tension value and correcting the initial power according to the comparison result includes that if the measured tension value is less than the target tension value, the output power of the slave motor for this segment is increased; its determination method is as follows:

[0056] ; P(t) represents the output power of the slave motor within the sampling period t; P(t + 1) represents the output power of the slave motor within the sampling period t + 1; F * represents the target tension value; F(t) represents the measured tension value within the sampling period t.

[0057] In a specific application scenario, when the measured tension value of a certain segment is less than the target tension value, the power of the slave motor for this segment is increased, and the slave motor outputs a greater traction torque. A positive tension is applied to the wire through the segmented tension pulley to increase the tension of the wire in this segment until the measured tension value is consistent with the target tension value. Among them, the determination method of the output power is that the power increase amplitude is proportional to the deviation degree. The greater the deviation, the more significant the power increase; the smaller the deviation, the smaller the power increase amplitude, avoiding overshoot. The method of making the power increase amplitude proportional to the deviation degree greatly shortens the time to restore the tension to the target value, improves the control accuracy, and can also reduce the instantaneous load impact. The coefficient 0.5 balances the response speed and stability, ensuring both rapid adjustment and suppressing the overshoot risk caused by power mutation.

[0058] As a further improvement of the embodiment of the present invention, comparing the measured tension value with the target tension value and correcting the initial power according to the comparison result further includes that if the measured tension value is greater than the target tension value, the output power of the slave motor for this segment is reduced, and this segment is marked as an overloaded segment; if the measured tension value is still greater than the target tension value when the output power of the slave motor for the overloaded segment is reduced to the threshold output power, adjacent segment compensation is triggered.

[0059] In a specific application scenario, when the measured tension value of a certain segment is greater than the target tension value, the motor power of this segment is immediately reduced to avoid damage to the slave motor due to overload. If the tension cannot be relieved after the power is reduced to a threshold value (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 adjacent segment compensation reduces the overload risk and extends the service life of the slave motor.

[0060] Specifically, referring 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 subsequent segment as segment i + 1; configuring the compensation weights of segment i - 1 and segment i + 1 to be and respectively, and satisfying ; determining the tension difference between the measured tension value and the target tension value of the overloaded segment i ; obtaining the wire moving speed ; determining the traction power increment of the slave motors of segment i - 1 and segment i + 1 according to the compensation weights, the tension difference and the wire moving speed; among them, the traction power increment of the slave motor of segment i - 1 is ; the traction power increment of the slave motor of 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 of segment i - 1; represents the traction power increment of the slave motor of segment i + 1.

[0061] In a specific application scenario, the previous segment directly connected to the overloaded segment i is defined as segment i - 1, and the subsequent segment is defined as segment i + 1; when the overloaded segment i appears, the traction power of the corresponding slave motor of the upstream segment i - 1 is increased and the traction power of the corresponding slave motor of the downstream segment i + 1 is increased. Among them, after increasing the traction power of the corresponding slave motor of the upstream segment i - 1, the main wire is tightened to share the upstream tension of the overloaded segment i and reduce the tension accumulation of the overloaded segment i caused by the upstream resistance; after increasing the traction power of the corresponding slave motor of the downstream segment i + 1, the wire is pushed to suppress the inertial fluctuation of the wire and reduce the downstream tension of the overloaded segment i, alleviating the tension accumulation of the overloaded segment i caused by downstream inertia or friction, thereby relieving the tension of the overloaded segment i.

[0062] Different weights are configured for segment i - 1 and segment i + 1, where the weight of segment i - 1 is greater than the weight of segment i + 1. That is to say, the upstream segment i - 1 close to the main tension pulley undertakes the main compensation task, and its slave motor power is preferentially increased to quickly offset the upstream tension accumulation; the downstream segment i + 1 focuses on suppressing the inertia of the wire or the end slack to avoid sudden tension drop caused by speed mutation.

[0063] According to the compensation weight and the tension difference and the wire moving speed, determine the traction power increment of the slave motors of segment i - 1 and segment i + 1; the traction power increment is related to the wire moving speed, the compensation weight and the tension difference , and its associated path is as follows: the faster the wire moving speed, the higher power compensation is 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 more power resources are obtained in high - friction or bending segments; the power adjustment amount is directly linearly related to the tension deviation to avoid energy waste of the empirical threshold method. Based on the compensation weight, the tension difference and the multi - factor cooperation of the wire moving speed suppress overshoot and enhance stability. For example, at high speeds, the same tension difference requires more power, but the weight distribution restricts local over - compensation; at low tension differences, the weight dominates the power distribution to avoid sensitive fluctuations.

[0064] In one implementation, the tension difference between the measured tension value and the target tension value of the overloaded segment i is 200 N, the wire speed is 0.5 m / s, the compensation weight is 0.6, the proportional coefficient Kp is 1.2, and the increased power of the slave motor of segment i - 1 is 1.2×200 N×0.6×0.5 m / s = 72 N·m / s = 72 W.

[0065] Furthermore, after the adjacent segment compensation is performed on segment i - 1 and segment i + 1, if the measured tension value of segment i - 1 or segment i + 1 exceeds the target tension value, then reduce the wire transmission speed.

[0066] 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 overloaded segment i. For global safety protection, to prevent the spread of overload chain reaction, dynamically reduce the speed to suppress overload, reduce the wire inertia force and dynamic friction, and relieve the tension accumulation. Embodiment 2

[0067] Based on the same inventive concept as the embodiment, the embodiment of the present invention discloses a multi - motor cooperative control system for an electric tensioning device. Referring to Figure 5 as shown, it includes

[0068] A main motor for driving the main tension wheel to traction the wire for transmission;

[0069] A slave motor group including several slave motors, and the several slave motors are respectively configured corresponding to several segments of the wire; the slave motors drive the corresponding segment tension wheels according to the initial power to assist in transmitting the wire;

[0070] A distributed sensor for collecting the measured tension values of each of the segmented wire materials;

[0071] A power correction module for comparing the measured tension value with the target tension value and correcting the initial power according to the comparison result;

[0072] An auxiliary transmission control module for controlling the slave motor set to assist in transmitting the wire material according to the corrected initial power.

[0073] The multi-motor cooperative control system of the electric stretching device described in the embodiment of the present invention is used to execute the multi-motor cooperative control method of the electric stretching device in any scheme of Embodiment 1, and has the same technical effects, which will not be elaborated here.

[0074] In summary, for the multi-motor cooperative control method and system of the electric stretching device described in the present invention, by dividing the wire material transmission path into several segments and configuring slave motors, and combining the real-time feedback of the distributed tension sensors, the power of each segment of the slave motor is dynamically corrected, effectively offsetting the tension gradient attenuation or mutation caused by path friction, self-weight sagging or inertial fluctuation, and effectively improving the uniformity of the tension distribution throughout the line.

[0075] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take 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 code.

[0076] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0077] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0079] Obviously, the above embodiments are only examples for clear illustration and are not limitations on the implementation. For those of ordinary skill 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 enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. Electric stretching equipment multi-motor collaborative control method, characterized in that: Including, Configure a main motor that drives a main tension wheel to traction and transmit the wire; Divide the transmission path of the wire into several segments, and configure a slave motor for each segment; The slave motor drives a segment tension wheel to assist in transmitting the wire according to the initial power; Collect the measured tension values of the wire in each segment based on a distributed tension sensor; The slave motor executes the corrected initial power to assist in transmitting the wire; Wherein, correcting the initial power includes: if the measured tension value is greater than the target tension value, reduce the output power of the slave motor in this segment and mark this segment as an overloaded segment; if the measured tension value is still greater than the target tension value when the output power of the slave motor in the overloaded segment is reduced to the threshold output power, then trigger adjacent segment compensation; The adjacent segment compensation triggered includes: defining the previous segment connected to the overload segment i as segment i - 1, and the subsequent segment as segment i + 1; configuring the compensation weights of segment i - 1 and segment i + 1 to be and , respectively, and satisfying ; determining the tension difference between the measured tension value and the target tension value of the overload segment i ; obtaining the wire movement speed ; determining the traction power increments of the slave motors of segment i - 1 and segment i + 1 according to the compensation weights, the tension difference and the wire movement speed; among them, the traction power increment of the slave motor of segment i - 1 is ; the traction power increment of the slave motor of segment i + 1 is ; Among them, Kp represents the proportionality coefficient, which is a constant related to the elastic modulus of the wire material; represents the traction power increment of the slave motor in section i - 1; represents the traction power increment of the slave motor in section i + 1.

2. The multi-motor collaborative control method of the electric stretching device according to claim 1, characterized in that: Dividing the transmission path of the wire into several segments includes obtaining an initial number of segments according to the length and the number of bending angles of the transmission path, and the setting method of the initial number of segments is: ; Among them, represents the initial number of segments, and L represents the length of the transmission path; is a constant related to the length of the transmission path; represents the number of bends.

3. The multi-motor cooperative control method of the electric stretching device according to claim 2, wherein: Dividing the transmission path of the wire into several segments further includes, Establish a simulation model of the transmission path; Input the wire path parameters and the initial number of segments into the simulation model to obtain the simulation tension values of the segmented wire; Analyze the simulation tension values and correct the initial number of segments according to the analysis results.

4. The multi-motor collaborative control method of the electric stretching device according to claim 3, characterized in that: Analyzing the simulation tension values includes, Obtaining a deviation value one between the simulation tension value of the first segmented wire and the target tension value; And, Obtaining a deviation value two between the simulation tension value of the second segmented wire and the target tension value; the first segmented wire and the second segmented wire are adjacent segments to each other; If both the deviation value one and the deviation value two are less than the deviation value threshold, then merge the first segmented wire and the second segmented wire.

5. The multi-motor collaborative control method of the electric stretching device according to claim 3, characterized in that: Analyzing the simulation tension values includes, Obtaining a simulation tension value one at the starting point of the first segmented wire; And, Obtaining a simulation tension value two at the end point of the first segmented wire; Determine the in-segment tension gradient of the first segmented wire according to the simulation tension value one and the simulation tension value two; If the in-segment tension gradient is greater than or equal to the in-segment tension gradient threshold, then split the first segmented wire into two segments; Wherein, the in-segment tension gradient threshold is related to the target tension value, and the determination method of the in-segment tension gradient is: ; Indicates the in-segment tension gradient, F1 represents the first simulation tension value; F2 represents the second simulation tension value.

6. The multi-motor collaborative control method for the electric stretching device according to claim 1, wherein: Compare the measured tension value with the target tension value and correct the initial power according to the comparison result, including, If the measured tension value is less than the target tension value, then increase the output power of the slave motor in this segment; The determination method thereof is: ； P(t) represents the output power from the motor within the sampling period t; P(t + 1) represents the output power from the motor within the sampling period t + 1; F * represents the target tension value; F(t) represents the measured tension value within the sampling period t.

7. The multi-motor cooperative control method of the electric stretching device according to claim 1, wherein: After adjacent segment compensation is executed for the (i - 1)-th segment and the (i + 1)-th segment, if the measured tension value of the (i - 1)-th segment or the (i + 1)-th segment exceeds the target tension value, then reduce the wire transmission speed.

8. An electric stretching device multi-motor collaborative control system for implementing the electric stretching device multi-motor collaborative control method according to any one of claims 1-7, characterized in that: Including, A main motor for driving a main tension wheel to traction and transmit the wire; A set of slave motors includes several slave motors, and the several slave motors are configured corresponding to several segments of the wire one by one; the slave motor drives the corresponding segment tension wheel to assist in transmitting the wire according to the initial power; A distributed sensor for collecting the measured tension values of the wire in each segment; A power correction module for comparing the measured tension value with the target tension value and correcting the initial power according to the comparison result; An auxiliary transmission control module is used to control the auxiliary transmission of the wire by the slave motor set according to the corrected initial power.

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