Active pay-off control system of tubular stranding machine

Abstract

The invention discloses an active pay-off control system of a tubular stranding machine, belongs to the field of tubular stranding machines, relates to an active pay-off control technology, and aims to solve the problems that the single-wire pay-off tension of a wire coil of an existing original tubular stranding machine cannot be actively controlled and the control precision is lower than that of servo control when the single-wire pay-off tension of the wire coil is controlled through a hysteresis brake. And the tension control is realized through PID (Proportion Integration Differentiation) adjustment in the servo driver, so that the purpose of quickly adjusting the tension is achieved through quick response. In equipment production, according to real-time linear speed feedforward, through tension fluctuation fed back by a tension sensor, internal speed mode control of a servo driver and internal precise coil diameter calculation of the servo driver, PID adjustment is carried out on the feedforward linear speed, the rotating speed of the pay-off rack is rapidly adjusted, the pay-off rack is made to run in time along with the speed of a feedforward line, and the pay-off rack is made to run in time. And the more accurate control of the single-wire pay-off tension of the wire coil is realized.

Description

Technical Field

[0001] The invention belongs to the field of tubular wire stranding machines, and relates to an active wire release control technology, in particular to an active wire release control system for a tubular wire stranding machine. Background Art

[0002] During the production or use of wires, the wires need to be wound or unwound. However, during the winding and unwinding of the wires, the wire state, the tightness of the unwinding coil, the arrangement of the wires in the unwinding coil, the speed changes during the acceleration and deceleration process, etc., cause the wire tension to change greatly. When the tension is too high, the wires will be plastically deformed or even broken.

[0003] The tension fluctuates greatly, the material is subjected to uneven force, and the internal stress of the coil varies greatly, which will cause the pitch error of the coil to increase and the shape to not meet the requirements. It is necessary to control the tension during the wire winding and unwinding process.

[0004] The single-wire pay-off tension of the existing original tube type stranding machine drum is controlled by a hysteresis brake. Active control of the incoming wire tension through the hysteresis brake cannot be achieved, and the control accuracy is lower than that of servo control, and the cost is higher.

[0005] To this end, the present invention proposes an active wire-paying control system for a tubular stranding machine. Summary of the invention

[0006] The purpose of the present application is to provide an active pay-off control system for a tubular stranding machine.

[0007] To achieve the above-mentioned purpose, the present application provides an active wire pay-off control system for a tubular stranding machine, comprising a control cabinet, a servo motor and a wire drum rack;

[0008] The control cabinet includes a PLC control box and a servo motor control box; the servo motor control module is used to control the start and stop of the servo motor; the wire drum rack includes a wire drum carrier and a wire drum, and the wire drum carrier is provided with a cable threading port and a cable outlet;

[0009] The wire drum is rollingly connected to the wire drum carrier, and a mechanical locking device is provided at the connection; the mechanical locking device is used to lock the wire drum;

[0010] Wherein, a terminal box is arranged outside the PLC control box, and the PLC control box is connected to a mechanical locking device through the terminal box;

[0011] A wire pulley is provided on one side of the wire drum carrier close to the cable threading port; the wire pulley is connected to the wire drum carrier through a spring slide rail; a tension sensor is also provided at the connection between the spring slide rail and the wire drum carrier;

[0012] The tension sensor is used to obtain a real-time tension value.

[0013] Furthermore, a PLC control module and electrical control components are placed in the PLC control box; a servo motor control module and electrical control components are placed in the servo motor control box.

[0014] Furthermore, the PLC control box and the servo motor control box are respectively arranged on both sides of the spring slide rail.

[0015] Furthermore, a braking resistor is provided on the outer side of the cable drum carrier away from the PLC control box, and the braking resistor is used to consume the energy converted by the servo;

[0016] Wherein, the servo motor is arranged below the servo motor control box.

[0017] Furthermore, it also includes a line parameter acquisition module, the parameter acquisition module is used to obtain the line speed of the cable line derived from the wire pulley 2 and the wire pulley 1;

[0018] And obtain the diameter of the wire drum and the rotation speed of the wire drum.

[0019] Furthermore, the parameter acquisition module is used to send the acquired cable line speed, cable drum diameter and rotation speed of the cable drum to the servo motor control module.

[0020] Furthermore, the servo motor control module is used to receive the linear speed of the cable, the diameter of the cable drum and the rotation speed of the cable drum, output a real-time target value in combination with the neural network model, and dynamically adjust the actual tension value using a PID controller in combination with the output real-time target value.

[0021] Furthermore, the neural network model includes:

[0022] An input layer, for receiving and processing the real-time tension value, the cable line speed, the cable drum diameter and the cable drum rotation speed; and outputting a corresponding feature vector;

[0023] A feature fusion layer, used to receive the corresponding feature vector provided by the input layer; the feature fusion layer includes three parallel self-attention sub-networks; each self-attention sub-network processes a feature vector respectively; and is used to capture the long-range dependency relationship within the corresponding feature vector and output the corresponding enhanced feature vector;

[0024] A cross attention layer receives the corresponding enhanced feature vector output by the feature fusion layer, is used to learn the mutual influence and correlation between different types of features, and outputs a fused feature vector;

[0025] The mapping output layer receives the fused feature vector of the cross attention layer, and establishes a mapping relationship between the fused feature vector and the tension value vector to improve the neural network model.

[0026] Furthermore, the specific process of the servo motor control module outputting the real-time target value includes:

[0027] The servo motor control module sends the linear speed of the cable, the diameter of the cable drum and the rotation speed of the cable drum to the neural network model;

[0028] The neural network model outputs the corresponding real-time target value through the internal algorithm;

[0029] The servo motor control module is used to dynamically adjust the actual tension value in combination with the real-time target value. The specific process includes:

[0030] The real-time target value is marked as r(t), and the actual tension value is marked as y(t);

[0031] Calculate the deviation e(t) between the real-time target value r(t) and the actual tension value y(t);

[0032] The calculation method of the deviation e(t) is:

[0033] e(t)=r(t)-y(t)

[0034] The PID controller controls the controlled object. Its control law is:

[0035]

[0036] Kp is the proportional coefficient, Ti is the integral time constant, and Td is the differential time constant; Ki = Kp / Ti, which is the integral coefficient; Kd = Kp*Td, which is the differential coefficient;

[0037] The servo motor control module output realizes dynamic adjustment of the actual value of the tension.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In the present invention, the servo controller and motor are Delta products, and the tension control is adjusted by the internal PID of the servo driver, which responds quickly to achieve the purpose of quickly adjusting the tension. In the production of the equipment, according to the real-time line speed feedforward, the tension fluctuation fed back by the tension sensor is controlled by the internal speed mode of the servo driver, and the precise winding diameter calculation inside the servo driver is used to perform PID adjustment on the feedforward line speed, so as to achieve rapid adjustment of the pay-off frame speed, so that it can follow the feedforward line speed in time, and realize more precise control of the single-line pay-off tension of the wire drum. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The present invention is a structural frame of an active wire release control system for a tubular stranding machine Figure 1 ;

[0041] Figure 2 The present invention is a structural frame of an active wire release control system for a tubular stranding machine Figure 2 .

[0042] In the figure: 1. Mechanical locking device; 2. Mechanical air circuit manual control valve; 3. PLC control box; 4. Terminal box; 5. Wire reel; 6. Wire pulley 1; 7. Servo motor control box; 8. Wire pulley 2; 9. Spring slide rail; 10. Tension sensor; 11. Braking resistor; 12. Servo motor. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] Please refer to Figure 1-2 , an active pay-off control system for a tubular stranding machine, comprising a control cabinet, a servo motor 12 and a wire drum rack; the control cabinet comprises a PLC control box 3 and a servo motor control box 7; a PLC control module and electrical control components are placed in the PLC control box 3; a servo motor 12 control module and electrical control components are placed in the servo motor control box 7; the servo motor 12 control module is used to control the start and stop of the servo motor 12; the servo motor 12 control module and the servo motor 12 are Delta products;

[0045] The cable drum rack comprises a cable drum carrier and a cable drum 5, wherein the cable drum carrier is provided with a cable threading port and a cable outlet;

[0046] The wire drum 5 is rollingly connected to the wire drum carrier, and a mechanical locking device 1 is provided at the connection; the mechanical locking device 1 is used to lock the wire drum 5;

[0047] Wherein, a terminal box 4 is arranged outside the PLC control box 3, and the PLC control box 3 is connected to the mechanical locking device 1 through the terminal box 4;

[0048] It should be noted that a mechanical gas circuit manual control valve 2 is also provided on the wire drum carrier;

[0049] A wire pulley 6 is provided on one side of the wire drum carrier body near the cable threading port; the wire pulley is connected to the wire drum carrier body through a spring slide rail 9; a tension sensor 10 is also provided at the connection between the spring slide rail 9 and the wire drum carrier body;

[0050] The tension sensor 10 is used to obtain real-time tension value;

[0051] It should be noted that the cable drum carrier is also provided with a second wire wheel 8, and the second wire wheel 8 is arranged above the cable threading port;

[0052] In the present application, the PLC control box 3 and the servo motor control box 7 are respectively arranged on both sides of the spring slide rail 9;

[0053] Wherein, the wire wheel 1 6 and the wire wheel 2 8 act as wires;

[0054] It should be noted that a brake resistor 11 is provided on the outer side of the cable drum carrier away from the PLC control box 3, and the brake resistor 11 is used to consume the energy converted by the servo;

[0055] Wherein, the servo motor 12 is arranged below the servo motor control box 7;

[0056] In the present application, the active pay-off control system of the tubular stranding machine further includes a line parameter acquisition module, wherein the parameter acquisition module is used to acquire the line speed of the cable line derived through the wire wheel 2 8 and the wire wheel 1 6;

[0057] In one embodiment of the present application, the parameter acquisition module is further used to acquire the diameter of the wire drum 5 and the rotation speed of the wire drum 5;

[0058] The parameter acquisition module is used to send the acquired cable line speed, cable drum 5 diameter and the rotation speed of the cable drum 5 to the servo motor 12 control module;

[0059] Specifically, the parameter acquisition module includes a speed sensor and a distance sensor. The speed sensor can be arranged at the position of the wire wheel 2 8 and the wire wheel 1 6 to obtain the linear speed of the cable wire derived from the wire wheel 2 8 and the wire wheel 1 6.

[0060] The distance measuring sensor can be divided into optical distance sensor, infrared distance sensor, ultrasonic distance sensor and other types according to its working principle;

[0061] By emitting a very short light pulse and measuring the time from the emission of the light pulse to the reflection of the object, the distance between it and the object is calculated by measuring the time interval.

[0062] Combined with the distance measuring sensor to the center of the wire drum 5, the diameter of the wire drum 5 is calculated;

[0063] The servo motor 12 control module is used to receive the linear speed of the cable, the diameter of the cable drum 5 and the rotation speed of the cable drum 5, output a real-time target value in combination with the neural network model, and dynamically adjust the actual tension value in combination with the output real-time target value using a PID controller;

[0064] Also included is a neural network model, the neural network model comprising:

[0065] The input layer is used to receive and process the real-time tension value, the line speed of the cable, the diameter of the cable drum 5 and the rotation speed of the cable drum 5; and output the corresponding feature vector;

[0066] A feature fusion layer, used for receiving the corresponding feature vector provided by the input layer; the feature fusion layer includes three parallel self-attention sub-networks; each self-attention sub-network processes a feature vector respectively; and is used for capturing the long-range dependency relationship within the corresponding feature vector and outputting the corresponding enhanced feature vector;

[0067] A cross attention layer receives the corresponding enhanced feature vector output by the feature fusion layer, is used to learn the mutual influence and correlation between different types of features, and outputs a fused feature vector;

[0068] The mapping output layer receives the fused feature vector of the cross attention layer, and establishes a mapping relationship between the fused feature vector and the tension value vector to improve the neural network model.

[0069] Specifically, the parameter acquisition module feeds back the linear speed of the cable, the diameter of the cable drum 5 and the rotation speed of the cable drum 5 to the servo motor 12 control module, and the specific process of the servo motor 12 control module outputting the real-time target value includes:

[0070] The servo motor 12 control module sends the linear speed of the cable, the diameter of the cable drum 5 and the rotation speed of the cable drum 5 to the neural network model;

[0071] The neural network model outputs the corresponding real-time target value through the internal algorithm;

[0072] The servo motor 12 control module is used to dynamically adjust the actual tension value in combination with the real-time target value. The specific process includes:

[0073] The real-time target value is marked as r(t), and the actual tension value is marked as y(t);

[0074] Calculate the deviation e(t) between the real-time target value r(t) and the actual tension value y(t);

[0075] The calculation method of the deviation e(t) is:

[0076] e(t)=r(t)-y(t)

[0077] The PID controller controls the controlled object. Its control law is:

[0078]

[0079] Kp is the proportional coefficient, Ti is the integral time constant, and Td is the differential time constant; Ki = Kp / Ti, which is the integral coefficient; Kd = Kp*Td, which is the differential coefficient;

[0080] The servo motor 12 controls the module output to achieve dynamic adjustment of the actual tension value.

[0081] Working principle of the present invention:

[0082] The tension control is adjusted by the PID inside the servo drive, which responds quickly to achieve the purpose of quickly adjusting the tension. In the production of the equipment, according to the real-time line speed feedforward, the tension fluctuation fed back by the tension sensor 10 is controlled by the internal speed mode of the servo drive, and the precise winding diameter calculation inside the servo drive is used to adjust the line speed of the feedforward PID, so as to quickly adjust the speed of the pay-off rack so that it can follow the feedforward line speed in time, and realize more accurate control of the single-line pay-off tension of the reel 5.

[0083] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An active pay-off control system for a tubular stranding machine, characterized in that: It includes a control cabinet, a servo motor (12) and a wire drum rack; The control cabinet comprises a PLC control box (3) and a servo motor control box (7); the servo motor (12) control module is used to control the start and stop of the servo motor (12); the cable drum rack comprises a cable drum carrier and a cable drum (5); the cable drum carrier is provided with a cable threading port and a cable outlet; The wire drum (5) is rollingly connected to the wire drum carrier, and a mechanical locking device (1) is provided at the connection; the mechanical locking device (1) is used to lock the wire drum (5); Wherein, a terminal box (4) is arranged outside the PLC control box (3), and the PLC control box (3) is connected to the mechanical locking device (1) via the terminal box (4); A wire pulley (6) is provided on one side of the wire drum carrier body close to the cable threading port; the wire pulley is connected to the wire drum carrier body via a spring slide rail (9); a tension sensor (10) is also provided at the connection between the spring slide rail (9) and the wire drum carrier body; The tension sensor (10) is used to obtain a real-time tension value.

2. The active wire pay-off control system for a tubular stranding machine according to claim 1, characterized in that: The PLC control box (3) contains a PLC control module and electrical control components; the servo motor control box (7) contains a servo motor (12) control module and electrical control components.

3. The active pay-off control system for a tubular stranding machine according to claim 2, characterized in that: The PLC control box (3) and the servo motor control box (7) are respectively arranged on both sides of the spring slide rail (9).

4. The active pay-off control system for a tubular stranding machine according to claim 3, characterized in that: A braking resistor (11) is arranged on the outer side of the cable drum carrier away from the PLC control box (3), and the braking resistor (11) is used to consume the energy converted by the servo; Wherein, the servo motor (12) is arranged below the servo motor control box (7).

5. The active pay-off control system for a tubular stranding machine according to claim 4, characterized in that: It also includes a line parameter acquisition module, the parameter acquisition module is used to obtain the line speed of the cable line derived from the wire pulley 2 (8) and the wire pulley 1 (6); And obtain the diameter of the wire drum (5) and the rotation speed of the wire drum (5).

6. The active pay-off control system for a tubular stranding machine according to claim 5, characterized in that: The parameter acquisition module is used to send the acquired cable line speed, the diameter of the cable drum (5) and the rotation speed of the cable drum (5) to the servo motor (12) control module.

7. The active pay-off control system for a tubular stranding machine according to claim 5, characterized in that: The servo motor (12) control module is used to receive the linear speed of the cable, the diameter of the cable drum (5) and the rotation speed of the cable drum (5), output a real-time target value in combination with the neural network model, and dynamically adjust the actual tension value using a PID controller in combination with the output real-time target value.

8. An active pay-off control system for a tubular stranding machine as claimed in claim 7, characterized in that: The neural network model includes: An input layer, for receiving and processing the real-time tension value, the line speed of the cable, the diameter of the cable drum (5) and the rotation speed of the cable drum (5); and outputting a corresponding feature vector; A feature fusion layer, used to receive the corresponding feature vector provided by the input layer; the feature fusion layer includes three parallel self-attention sub-networks; each self-attention sub-network processes a feature vector respectively; and is used to capture the long-range dependency relationship within the corresponding feature vector and output the corresponding enhanced feature vector; A cross attention layer receives the corresponding enhanced feature vector output by the feature fusion layer, is used to learn the mutual influence and correlation between different types of features, and outputs a fused feature vector; The mapping output layer receives the fused feature vector of the cross attention layer, and establishes a mapping relationship between the fused feature vector and the tension value vector to improve the neural network model.

9. An active pay-off control system for a tubular stranding machine as claimed in claim 8, characterized in that: The specific process of the servo motor (12) control module outputting the real-time target value includes: The servo motor (12) control module sends the linear speed of the cable, the diameter of the cable drum (5) and the rotation speed of the cable drum (5) to the neural network model; The neural network model outputs the corresponding real-time target value through its internal algorithm.

10. An active pay-off control system for a tubular stranding machine as claimed in claim 9, characterized in that: The servo motor (12) control module is used to dynamically adjust the actual tension value in combination with the real-time target value, and the specific process includes: The real-time target value is marked as r(t), and the actual tension value is marked as y(t); Calculate the deviation e(t) between the real-time target value r(t) and the actual tension value y(t); The calculation method of the deviation e(t) is: e(t)=r(t)-y(t) The PID controller controls the controlled object. Its control law is: Kp is the proportional coefficient, Ti is the integral time constant, and Td is the differential time constant; Ki = Kp / Ti, which is the integral coefficient; Kd = Kp*Td, which is the differential coefficient; The servo motor (12) controls the module output to achieve dynamic adjustment of the actual tension value.

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