A method, system and apparatus for position control of a flyer for yarn forming

Abstract

The application discloses a sun-and-fan wheel position control method, system and device for yarn forming, and belongs to the technical field of multi-motor synchronous control. The sun-and-fan wheel position control method for yarn forming is characterized in that a first direction position given model, a first motor driving model, a second direction position given model, a multi-motor driving model and a position synchronous compensation model are constructed to realize position control of the sun-and-fan wheel for yarn forming, so that the error of the position synchronous control of the two sun-and-fan wheels can be effectively reduced, the synchronous control precision and response speed are improved, and the form of the corrugated structure can be accurately controlled. The scheme is scientific, reasonable and feasible. Furthermore, compared with the existing manual adjustment mode, the multi-model control method can effectively improve the quality of the corrugated forming of the hollow fiber membrane (yarn) and the flexible production capacity, so that high-quality formed fiber membranes can be obtained.

Description

Technical Field

[0001] This invention relates to a method, system, and device for controlling the position of a sunflower wheel used in yarn forming, belonging to the field of multi-motor synchronous control technology. Background Technology

[0002] Hollow fiber membranes (yarns) with a corrugated surface can provide a larger effective filtration area, improve fluid flow characteristics, and significantly enhance the overall performance of the membrane. These advantages have led to the increasingly widespread application of hollow fiber membranes in medical dialysis, air purification, and other fields.

[0003] The corrugated structure on the surface of hollow fiber membranes can be generated using various processes, such as die forming, hot pressing, chemical etching, and laser etching. Among these, hot pressing is an important method for producing hollow fiber membranes due to its strong material adaptability and high efficiency, making it suitable for large-scale production. To better adapt to different application scenarios of hollow fiber membranes, the morphology of the corrugations can be adjusted during the hot pressing process. Sunflower wheel forming is a commonly used adjustment method, including adjusting the corrugation frequency of the two sunflower wheels in the X-direction and the corrugation amplitude in the Y-direction.

[0004] However, current traditional sunflower wheel hot pressing molding equipment generally adopts a multi-motor independent drive method for control. The adjustment of the sunflower wheel corrugation frequency in the X direction and the adjustment of the corrugation amplitude in the Y direction are manually controlled separately. Moreover, the adjustment of the corrugation amplitude in the Y direction can only be performed when the equipment is in standby mode. This manual adjustment method limits the quality of corrugation molding and the flexibility of production.

[0005] The information disclosed in this background section is only for understanding the background of the inventive concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0006] To address the aforementioned problems or one of them, the present invention aims to provide a method for controlling the position of a sunflower wheel in yarn forming. By constructing a first-direction position setting model, a first-motor drive model, a second-direction position setting model, a multi-motor drive model, and a position synchronization compensation model, the position control of the yarn forming sunflower wheel is achieved. This effectively reduces the error in the synchronous control of the two sunflower wheels, improves the synchronization control accuracy and response speed, and further enables precise control of the morphology of the corrugated structure. The solution is scientific, reasonable, and feasible.

[0007] In view of the above problems or one of the above problems, the second objective of the present invention is to provide a method, system and device for controlling the position of sunflower wheels for yarn forming, which can control the distance between the two sunflower wheels in real time and thus improve the production efficiency of corrugated structures; and can significantly reduce the synchronization error of the two motors; can restore synchronization faster when receiving disturbances; and can reach the target speed faster when starting under load; thus having stronger robustness.

[0008] To address the aforementioned problems or one of the aforementioned problems, the third objective of this invention is to provide a method, system, and device for controlling the position of sunflower wheels in yarn forming. By utilizing a multi-model control method, compared with existing manual adjustment methods, the automation level of adjustment in both the X and Y directions and the position synchronization accuracy of the two sunflower wheels in the X direction can be effectively improved. Therefore, it can effectively improve the quality of corrugated forming of hollow fiber membranes (yarns) and the flexibility of production, thereby obtaining high-quality formed fiber membranes.

[0009] To achieve one of the above objectives, the first technical solution of the present invention is as follows:

[0010] A method for controlling the position of a sunflower wheel in yarn forming includes the following steps:

[0011] Step 1: Using a pre-built model with a given position in the first direction, set the motor position θ in the Y direction according to the required yarn corrugation shape. y And based on the motor position in the Y direction, θ is given. y The first motor position difference control information for controlling the Y-direction spacing is obtained;

[0012] Step 2: Using a pre-built first motor drive model, based on the first motor position difference control information, the first motor drive signal in the Y direction is obtained, and then the actual position θ1 of the first motor after operation is obtained.

[0013] Step 3: Using the pre-built second-direction position given model, set the motor position in the X direction by a given θ according to the required yarn corrugation shape. x1 Given the motor position as two θ x2 And a value θ is given based on the motor position. x1 Given the motor position as two θ x2 , and the actual position θ1 after the first motor starts running, to obtain position difference control information for controlling the second and third motors;

[0014] Step 4: Using a pre-built multi-motor drive model, based on the position difference control information of the second motor and the third motor, the drive signals of the second motor and the third motor in the X direction are obtained, and then the actual position θ2 of the second motor and the actual position θ3 of the third motor are obtained.

[0015] Step 5: Based on the pre-built position synchronization compensation model, the actual positions θ2 and θ3 of the second motor and the third motor, and based on the required yarn ripple shape, synchronous feedback compensation information is obtained as feedback signals for the second and third motors to achieve position control of the yarn forming sunflower wheel.

[0016] The Y direction is the vertical coordinate direction of the yarn wavy shape mapped onto the XY coordinate system;

[0017] The X-direction is the horizontal coordinate direction of the yarn ripple pattern mapped onto the XY coordinate system.

[0018] Through continuous exploration and experimentation, this invention achieves position control of the yarn forming sunflower wheel by constructing a first direction position setting model, a first motor drive model, a second direction position setting model, a multi-motor drive model, and a position synchronization compensation model. This effectively reduces the error in the synchronous control of the two sunflower wheels, improves the synchronization control accuracy and response speed, and thus enables precise control of the corrugated structure morphology. The solution is scientific, reasonable, and feasible.

[0019] Furthermore, the method of this invention can accurately control the distance between the two sunflower wheels in real time, thereby improving the production efficiency of the corrugated structure; it can also significantly reduce the synchronization error of the two motors; it can restore synchronization more quickly when receiving disturbances; and it can reach the target speed more quickly when starting under load; thus it has stronger robustness.

[0020] Furthermore, the multi-model control method of the present invention, compared with the existing manual adjustment method, can effectively improve the automation level of adjustment in both the X and Y directions and the position synchronization accuracy of the two sunflower wheels in the X direction. Therefore, it can effectively improve the quality of corrugation forming of hollow fiber membrane (yarn) and the flexible production capability, thereby obtaining high-quality formed fiber membrane.

[0021] As a preferred technical measure:

[0022] Step 1: Using a pre-built model with a given position in the first direction, set the motor position θ in the Y direction according to the required yarn corrugation shape. y And based on the motor position in the Y direction, θ is given. y The method for obtaining the first motor position difference control information used to control the Y-direction spacing is as follows:

[0023] Based on the required yarn corrugation shape, the motor position in the Y direction is set, and the yarn corrugation shape is a sine curve, which is formed on the yarn surface by thermoforming.

[0024] The three-phase current i of the first motor in the three-phase coordinate system is obtained by acquiring current signals using two Hall current sensors. a i b and ic This data is then input into the Clarke transform module, whose transform formula is:

[0025]

[0026] In the formula, the phase current i c Through formula i a +i b +i c =0 was calculated;

[0027] The output of the Clarke transform module is the actual current i in the stationary two-phase coordinate system. α and i β , as the input to the Park transform module; i α and i β The actual angular position θ1 of the first motor is input into the Park transformation module to obtain the actual direct-axis current i in the synchronous rotating coordinate system. d and the actual quadrature-axis current i q The Park transformation formula is:

[0028]

[0029] The actual quadrature and direct axis current i in the synchronous rotating coordinate system output by the Park transformation module q and i d The output AC and DC axis currents of the MTPA module and The difference is used as the input of the current loop PI regulator;

[0030] The encoder acquires the actual position θ1 of the first motor and the given motor position θ in the Y direction. y The angular position error θ is obtained by inputting it into the subtractor. y -θ1, and use it as the input to the position loop P regulator; the output of the position loop P regulator is the given rotational speed ω. 1ref Then, the actual motor speed ω1, obtained by using a differentiater based on the given rotational speed and the actual angular position of the motor, is input into a subtractor to obtain the speed error ω. 1ref -ω1 serves as the input to the speed loop PI controller; the output of the speed loop PI controller is the electromagnetic torque command. First motor position gap control information is generated to control the spacing in the Y direction, and this information is used as input to the MTPA module.

[0031] As a preferred technical measure:

[0032] Step two, using a pre-constructed first motor drive model, based on the first motor position difference control information, obtains the first motor drive signal in the Y direction, and acquires the actual position θ1 of the first motor after operation. The method is as follows:

[0033] Input the position difference control information of the first motor into the MTPA module;

[0034] The MTPA module outputs a given quadrature-axis current. With respect to the actual quadrature-axis current i q The error between the given quadrature-axis current and the actual quadrature-axis current is obtained through a subtractor. This error is then input to the quadrature-axis current PI controller, which calculates the given quadrature-axis voltage.

[0035] The MTPA module outputs a given direct-axis current. With the actual direct-axis current i d The error between the given direct-axis current and the actual direct-axis current is obtained through a subtractor. This error is then input to the direct-axis current PI controller, which calculates the given direct-axis voltage. The formula is shown below:

[0036]

[0037] Among them, K piq K is the proportional gain of the quadrature-axis current PI controller; Iiq K is the integral coefficient of the quadrature-axis current PI controller; pid K is the proportional gain of the direct-axis current PI controller; Iid These are the integral coefficients of the direct-axis current PI controller; given quadrature-axis voltage... and given direct-axis voltage Input them together into the IPark transformation module;

[0038] Given quadrature axis voltage Given direct-axis voltage The actual electrical angle θ1 is transformed into a given voltage in a stationary two-phase coordinate system by the IPark transformation module. and And input to the space vector pulse width modulation module, the voltage setpoint in the stationary two-phase coordinate system and The space vector pulse width modulation module generates six PWM signals, which are used as inputs to control the three-phase inverter.

[0039] The three-phase inverter switches six transistors according to the input six PWM signals, outputs three-phase voltage, and obtains the first motor drive signal in the Y direction. The first motor drive signal in the Y direction is then input into the first motor to drive the first motor. The actual position θ1 of the first motor after it starts running is obtained through the encoder.

[0040] As a preferred technical measure:

[0041] Step 3: Using the pre-built second-direction position given model, set the motor position in the X direction by a given θ according to the required yarn corrugation shape. x1 Given the motor position as two θ x2 And a θ is given based on the motor position in the X direction. x1 Given the motor position as two θ x2 The method for obtaining the position difference control information for controlling the second and third motors, based on the actual position θ1 of the first motor after it starts operating, is as follows:

[0042] Once the first motor reaches the given position, based on the required yarn ripple shape, the trajectory planning and position synchronization control module obtains the given motor position θ in the X direction. x1 Given the motor position as two θ x2 And input them into the second motor and the third motor respectively;

[0043] The second motor will be fed with the actual position θ2 obtained by the encoder and the motor position in the input X direction by a given θ. x1 The angular position error θ is obtained by inputting it into the subtractor. x1 -θ2 is used as the position difference control information for the second motor and is used as the input to the position loop P regulator; the third motor is controlled in the same way.

[0044] As a preferred technical measure:

[0045] Step four: Using a pre-built second motor drive model, based on the position difference control information between the second and third motors, the drive signals for the second and third motors in the X direction are obtained. The method for obtaining the actual positions θ2 and θ3 of the second and third motors is as follows:

[0046] Based on the position difference control information of the second and third motors, the second motor drive signal and the third motor drive signal in the X direction are obtained through the same process as the first motor, and the actual position θ2 of the second motor and the actual position θ3 of the third motor are obtained through the encoder.

[0047] As a preferred technical measure:

[0048] Step 5: Based on the pre-built position synchronization compensation model, and according to the actual positions θ2 and θ3 of the second and third motors, and based on the required yarn corrugation shape, synchronization feedback compensation information is obtained. This information serves as the feedback signal for the second and third motors, as follows:

[0049] After the acquired current signal undergoes Clark and Park transformations, the Park transformation module outputs the actual quadrature and direct axis current i. q and i d The direct and quadrature axis currents output by the MTPA module are given. and Subtract the two values ​​and simultaneously output the quadrature and direct axis currents to the load torque identification module;

[0050] The load torque identification module receives the actual rotational speed ω calculated by the derivative. m With respect to the actual direct-axis current i q and i d The calculations are performed to ultimately obtain the identified load torque. The identified load torque of the second motor is calculated by the load torque identification module. As input for position synchronization control;

[0051] The third motor works similarly to the second motor, ultimately outputting the identified load torque. To the synchronization compensation module;

[0052] The encoder feedback of the actual positions θ2 of the second motor and θ3 of the third motor, as well as the identified load torque output by the two-position servo system. and identify load torque The input position synchronization control module calculates and then outputs a synchronization feedback compensation current. and synchronous feedback compensation current three As synchronous feedback compensation information, it is input into the second and third motors to ensure that the two sunflower wheel shafts run synchronously.

[0053] As a preferred technical measure:

[0054] Output synchronous feedback compensation current II and synchronous feedback compensation current three The method is as follows:

[0055] The voltage equation of the permanent magnet synchronous motor in the synchronous rotating coordinate system dq axis is:

[0056]

[0057] The torque equation of the permanent magnet synchronous motor in the dq coordinate axis is:

[0058]

[0059] In the formula, T e P is the electromagnetic torque. n This represents the number of rotor pole pairs of the motor.

[0060] For surface-mounted permanent magnet synchronous motor L d =L q Therefore, the torque equation simplifies to:

[0061]

[0062] The kinematic equations of a permanent magnet synchronous motor are as follows:

[0063]

[0064] Define the state variables as follows:

[0065]

[0066] Write the state equations based on the torque and kinematic equations of the permanent magnet synchronous motor:

[0067]

[0068] The integral sliding surface s of the system is selected as:

[0069] s = c1x1 + c2x2 (10)

[0070] Choosing the exponential reaching law and replacing the sign function with a saturation function, we obtain the sign function replacement formula, as shown in the following equation:

[0071]

[0072] From the state equations and the sign function substitution formula, the expression for the sliding mode feedback compensation current is obtained as follows:

[0073]

[0074] To ensure the system meets stability requirements, the Lyapunov function is chosen as follows:

[0075]

[0076] Differentiating the above equation, we get:

[0077]

[0078] According to Lyapunov's second theorem, the designed sliding mode controller must satisfy... Only then can the system satisfy the stability condition; in the formula, ε and k are both constants greater than 0; therefore, regardless of the sign of s, s and its derivative have opposite signs, that is... When the conditions for reaching the sliding surface are met, the system enters the sliding mode;

[0079] The calculated sliding mode feedback compensation current is passed through gains k1 and k2 to output the synchronous feedback compensation current II. and synchronous feedback compensation current three

[0080] To achieve one of the above objectives, the second technical solution of the present invention is as follows:

[0081] A sunflower wheel position control system for yarn forming includes a Y-direction position servo system and an X-direction dual-axis position synchronous servo system;

[0082] The Y-direction position servo system includes a PLC-based trajectory planning and position synchronization control module, a first position servo system, a first motor and encoder 1;

[0083] The X-axis dual-axis position synchronous servo system includes a second position servo system, a third position servo system, a second motor, a third motor, two reducers, and two sunflower wheels;

[0084] The output of the PLC-based trajectory planning and position synchronization control module is connected to the input of three position servo systems respectively, and is used to give position servo commands.

[0085] The output of the first position servo system is connected to the input of the first motor. The first motor is connected to the first reducer through a coupling. The reducer is connected to the lead screw, forming the Y-direction position servo system.

[0086] The output of the second position servo system is connected to the input of the second motor. The second motor is connected to the second reducer through a coupling. The second reducer is connected to the sunflower wheel through a coupling, forming a sunflower wheel shaft.

[0087] The third position servo system, the third motor, the third reducer, and the second sunflower wheel are assembled in the same manner to form another sunflower wheel shaft;

[0088] The two sunflower wheel shafts are connected to the first reducer via a lead screw, forming a dual-axis position synchronous servo system in the X direction;

[0089] The Y direction is the vertical coordinate direction of the yarn wavy shape mapped onto the XY coordinate system;

[0090] The X-direction is the horizontal coordinate direction of the yarn ripple pattern mapped onto the XY coordinate system.

[0091] To achieve one of the above objectives, the third technical solution of the present invention is as follows:

[0092] A method for controlling the position of a sunflower wheel in yarn forming, applied to the aforementioned sunflower wheel position control system for yarn forming, includes the following:

[0093] The PLC-based trajectory planning and position synchronization control module first provides the motor position setpoint θ. y As input to the first position servo system;

[0094] Input θ y The difference between the motor angular position θ1 fed back from the encoder and the input to the position loop P regulator is used to calculate and output the given speed ω. 1ref The speed loop PI regulator is input with the difference between the motor speed ω1 and the input speed ω1.

[0095] The PI controller outputs the given electromagnetic torque after calculation.

[0096] The MTPA module is based on a given electromagnetic torque. The optimal dq-axis current was found using a lookup table method. and The difference between the current and the dq-axis currents acquired after Clark and Park transformations is input to the current loop PI regulator.

[0097] The current loop PI regulator outputs the given dq-axis voltage after calculation. and The voltage in the two-phase coordinate system is then output through the Ipark transformation module. and The signal is fed into the Space Vector Pulse Width Modulation (SVPWM) module, where it is processed and outputs six PWM signals to control the three-phase inverter to output voltage, thereby driving the permanent magnet synchronous motor.

[0098] After passing through a reducer, the permanent magnet synchronous motor controls the two sunflower wheel shafts to slowly move closer or further apart via a lead screw. When the position feedback of the first motor is equal to the given motor position, i.e., θ1 = θ y When the rotor of the first motor reaches the given position, it stops working;

[0099] The PLC-based trajectory planning and position synchronization control module outputs the same motor position given θ. x1 and θ x2 To the second and third motors;

[0100] Input motor position given θ x1 The difference between the encoder position feedback θ2 and the input is fed into the second motor. After passing through the position loop and speed loop, the output is the given electromagnetic torque. The optimal dq-axis current was obtained using a lookup table method via the MTPA module. and

[0101] The given q-axis current is synchronized with the feedback q-axis current received from the PLC-based trajectory planning and position synchronization control module. and the q-axis current i obtained after Clark and Park transformations qSimultaneously, the difference is calculated between the given d-axis current and the acquired d-axis current i obtained through Clark and Park transformations. d The difference is calculated and input to the current loop PI regulator;

[0102] The inverse Park transform module and the space vector pulse width modulation module output six PWM signals to control the three-phase inverter to output three-phase voltage to control the motor;

[0103] The dq-axis current, after being acquired through Park transformation, is input to the load torque identification module. Simultaneously, the rotor position acquired by the encoder is used by the derivative to calculate the rotational speed ω. m The load torque is also input into the load torque identification module, and after calculation, an estimated load torque is output.

[0104] The control process of the third motor is exactly the same as that of the second motor;

[0105] The second and third position servo systems calculate the estimated load torque. and The input is fed into the position synchronization control module for calculation, and the feedback synchronization q-axis current is input into the second position servo system and the third position servo system for compensation to ensure that the two sunflower wheel shafts run synchronously.

[0106] To achieve one of the above objectives, the fourth technical solution of the present invention is as follows:

[0107] An electronic device comprising:

[0108] One or more processors;

[0109] Storage device for storing one or more programs;

[0110] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described method for controlling the position of a sunflower wheel in yarn forming.

[0111] Compared with existing technical solutions, the present invention has the following beneficial effects:

[0112] Through continuous exploration and experimentation, this invention achieves position control of the yarn forming sunflower wheel by constructing a first direction position setting model, a first motor drive model, a second direction position setting model, a multi-motor drive model, and a position synchronization compensation model. This effectively reduces the error in the synchronous control of the two sunflower wheels, improves the synchronization control accuracy and response speed, and thus enables precise control of the corrugated structure morphology. The solution is scientific, reasonable, and feasible.

[0113] Furthermore, the multi-model control method of the present invention, compared with the existing manual adjustment method, can effectively improve the automation level of adjustment in both X and Y directions and the position synchronization accuracy of the two sunflower wheels in the X direction. Therefore, it can effectively improve the quality of corrugation forming of hollow fiber membrane (yarn) and the flexible production capability, thereby obtaining high-quality formed fiber membrane.

[0114] Furthermore, the position servo system and method in this invention, compared with existing sunflower wheel production equipment, can accurately control the distance between the two sunflower wheels in real time, thereby improving the production efficiency of the corrugated structure; at the same time, it can significantly reduce the synchronization error of the two motors; when receiving disturbances, it can restore synchronization more quickly; when starting under load, it can reach the target speed more quickly; and it has stronger robustness. Attached Figure Description

[0115] Figure 1 This is a schematic diagram illustrating how the sunflower wheel is used to shape yarn according to the present invention;

[0116] in, Figure 1 The left side of the image shows a diagram illustrating the operation of a sunflower wheel. Figure 1 The right side of the image shows the corrugated shape formed after the yarn is thermoformed.

[0117] Figure 2 This is an overall block diagram of the yarn forming sunflower wheel position servo system of the present invention;

[0118] Figure 3 for Figure 2 A control structure block diagram of a mid-position servo system 1;

[0119] Figure 4 for Figure 2 A control structure block diagram of a mid-position servo system 2;

[0120] Figure 5 for Figure 2 A control structure block diagram of a mid-position servo system 3;

[0121] Figure 6 for Figure 2 A block diagram of a control structure for mid-position synchronization control. Detailed Implementation

[0122] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0123] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0124] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0125] A first specific embodiment of the sunflower wheel position control method for yarn forming according to the present invention:

[0126] A method for controlling the position of a sunflower wheel in yarn forming includes the following steps:

[0127] Step 1: Using a pre-built model with a given position in the first direction, set the given position θ in the Y direction according to the required yarn ripple shape. y And given θ based on the position in the Y direction y The first motor position difference control information for controlling the Y-direction spacing is obtained;

[0128] Step 2: Using a pre-built first motor drive model, based on the first motor position difference control information, the first motor drive signal in the Y direction is obtained, and then the actual position θ1 of the first motor after operation is obtained.

[0129] Step 3: Using the pre-built second-direction position given model, set the position in the X direction by a given θ according to the required yarn ripple shape. x1 Given a position of two θ x2 And a θ is given based on the position. x1 Given a position of two θ x2 , and the actual position θ1 after the first motor runs, to obtain the position difference control information of the second and third motors used to control the spacing in the X direction;

[0130] Step 4: Using a pre-built multi-motor drive model, based on the position difference control information of the second motor and the third motor, the drive signals of the second motor and the third motor in the X direction are obtained, and then the actual position θ2 of the second motor and the actual position θ3 of the third motor are obtained.

[0131] Step 5: Based on the pre-built position synchronization compensation model, the actual positions θ2 and θ3 of the second motor and the third motor, and based on the required yarn ripple shape, synchronous feedback compensation information is obtained as feedback signals for the second and third motors to achieve position control of the yarn forming sunflower wheel.

[0132] Therefore, by applying the method of the present invention, the error in the synchronous control of the two sunflower wheels can be effectively reduced, the synchronous control accuracy and response speed can be improved, and the shape of the corrugated structure can be precisely controlled.

[0133] Meanwhile, the method of this invention can accurately control the distance between the two sunflower wheels in real time, thereby improving the production efficiency of the corrugated structure; and the position synchronization control method of this invention can significantly reduce the synchronization error of the two motors; when a disturbance is received, synchronization can be restored more quickly; when starting under load, the target speed can be reached more quickly; and it has stronger robustness.

[0134] like Figures 2-5 As shown, a specific embodiment of the sunflower wheel position control system of the present invention for yarn forming is as follows:

[0135] A sunflower wheel position control system for yarn forming includes a PLC-based trajectory planning and position synchronization control module; a Y-direction position servo system composed of position servo system 1, motor 1, and encoder 1; and an X-direction dual-axis position synchronization servo system composed of position servo systems 2 and 3, motors 2 and 3, two reducers, and two sunflower wheels. The connection relationships are as follows:

[0136] The output of the PLC-based trajectory planning and position synchronization control module is connected to the inputs of three position servo systems to provide position servo commands. The output of position servo system 1 is connected to the input of motor 1. Motor 1 is connected to reducer 1 via a coupling, and the reducer is connected to a lead screw, forming a Y-axis position servo system. The output of position servo system 2 is connected to the input of motor 2. Motor 2 is connected to reducer 2 via a coupling, and reducer 2 is connected to sunflower wheel 1 via a coupling, forming a sunflower wheel shaft. Position servo system 3, motor 3, reducer 3, and sunflower wheel 2 form another sunflower wheel shaft in the same manner. The two sunflower wheel shafts are connected to reducer 1 via a lead screw, forming a dual-axis position synchronization servo system in the X-axis. The cross-sectional view of the two sunflower wheels during operation is shown below. Figure 1 As shown on the left, the yarn passes through the middle of the two wheels and forms a corrugated structure on the surface through thermoforming, resulting in a corrugated shape like... Figure 1As shown on the right, the wave roughly resembles a sine curve. When the distance between the two wheels decreases, the Y-direction spacing of the wave, Y1-Y0, increases; conversely, when the distance between the two wheels increases, the Y-direction spacing of the wave decreases. When the rotational speed of the two wheels increases, the X-direction spacing of the wave, X1-X0, decreases; when the rotational speed of the two wheels decreases, the X-direction spacing of the wave increases.

[0137] A second specific embodiment of the sunflower wheel position control method for yarn forming according to the present invention:

[0138] A method for controlling the position of a sunflower wheel in yarn forming, utilizing the aforementioned yarn forming sunflower wheel position servo system, is as follows:

[0139] The PLC-based trajectory planning and position synchronization control module first provides the position setpoint θ. y As the input to position servo system 1, the block diagram of position servo system 1 is as follows: Figure 5 As shown, the input θ y The difference between the motor angular position θ1 fed back from the encoder and the input to the position loop P regulator is used to calculate and output the given speed ω. 1ref The input speed loop PI controller calculates the difference between the motor speed ω1 and the input speed; the PI controller then outputs the given electromagnetic torque. The MTPA module uses a lookup table to find the optimal dq-axis current based on a given electromagnetic torque. and The difference between this difference and the acquired dq-axis current, obtained through Clark and Park transforms, is input to the current loop PI regulator; the current loop PI regulator then outputs the given dq-axis voltage after calculation. and The voltage in the two-phase coordinate system is then output through the Ipark transformation module. and The signal is processed in the Space Vector Pulse Width Modulation (SVPWM) module, which outputs six PWM signals to control the three-phase inverter for voltage output, thereby driving the permanent magnet synchronous motor (PMSM). After passing through the reducer, the motor controls the two sunflower wheel shafts to slowly move closer or further apart via a lead screw. When the position feedback of motor 1 is equal to the position setpoint, i.e., θ1 = θ y When the rotor of motor 1 reaches the given position, it stops working.

[0140] The PLC-based trajectory planning and position synchronization control module outputs the same position given θ. x1 and θ x2 The control block diagrams for position servo systems 2 and 3 are as follows: Figure 4 , Figure 5 As shown, the control method is not significantly different from that of position servo system 1, with the input position given θ. x1The difference between the encoder position feedback θ2 and the input is given to the position servo system 2. After passing through the position loop and velocity loop, the given electromagnetic torque is output. The optimal dq-axis current was obtained using a lookup table method via the MTPA module. and The given q-axis current is synchronized with the feedback q-axis current received from the PLC-based trajectory planning and position synchronization control module. and the q-axis current i obtained after Clark and Park transformations q Simultaneously, the difference is calculated between the given d-axis current and the acquired d-axis current i obtained through Clark and Park transformations. d The difference is input to the current loop PI regulator, and after passing through the inverse Park transform module and the space vector pulse width modulation module, six PWM signals are output to control the three-phase inverter outputting three-phase voltage to control the motor. The dq-axis current acquired after Park transform is input to the load torque identification module, and the rotor position acquired by the encoder is used by the derivative to calculate the rotational speed ω. m The load torque is also input into the load torque identification module, and after calculation, an estimated load torque is output. Position servo system 3 is exactly the same as position servo system 2, such as Figure 5 As shown. Position servo system 2 and position servo system 3 calculate the estimated load torque. and The input is fed into the position synchronization control module for calculation, and the resulting feedback synchronization q-axis current is then input into position servo system 2 and position servo system 3 for compensation. The block diagram of the calculation principle of the feedback synchronization q-axis current is shown below. Figure 6 As shown.

[0141] A third specific embodiment of the sunflower wheel position control method for yarn forming according to the present invention:

[0142] A method for controlling the position of a sunflower wheel in yarn forming, comprising the following:

[0143] Step 1: Perform position setting and current acquisition, which specifically includes the following:

[0144] A reasonable Y-direction position is set according to the required corrugation shape and input to the position servo system 1 by the PLC-based trajectory planning and position synchronization control module. The three-phase current i in the three-phase coordinate system of the permanent magnet synchronous motor 1 is obtained by acquiring current signals through two Hall current sensors. a i b and i c This data is then input into the Clarke transform module, whose transform formula is:

[0145]

[0146] In the formula, the phase current i c Through formula i a +i b +i c =0 is calculated. The output of the Clarke transform module is the actual current i in the stationary two-phase coordinate system. α and i β This serves as the input to the Park transformation module. The aforementioned i α and i β The actual angular position θ1 of the permanent magnet synchronous motor is input into the Park transformation module to obtain the actual direct-axis current i in the synchronous rotating coordinate system. d and the actual quadrature-axis current i q The Park transformation formula is:

[0147]

[0148] The actual quadrature and direct axis current i in the synchronous rotating coordinate system output by the Park transformation module q and i d The output AC and DC axis currents of the MTPA module and The difference is used as the input to the current loop PI regulator.

[0149] Step 2: Calculate the position and rotational speed errors, which specifically includes the following:

[0150] The actual position θ1 of the permanent magnet synchronous motor acquired by the encoder is compared with the given Y-direction position θ input in step 1. y The angular position error θ is obtained by inputting it into the subtractor. y -θ1 is used as the input to the position loop P regulator. The output of the position loop P regulator is the given rotational speed ω. 1ref Then, the actual motor speed ω1, obtained by using a differentiater based on the given rotational speed and the actual angular position of the motor, is input into a subtractor to obtain the speed error ω. 1ref -ω1 serves as the input to the speed loop PI controller. The output of the speed loop PI controller is the electromagnetic torque command. Use it as input to the MTPA module.

[0151] Step 3: Perform current and voltage regulation and motor drive, which specifically includes the following:

[0152] The current loop PI controller module includes a quadrature-axis current PI controller and a direct-axis current PI controller. The MTPA module outputs the given quadrature-axis current. With respect to the actual quadrature-axis current i qThe error between the given quadrature-axis current and the actual quadrature-axis current is obtained through a subtractor. This error is then input to the quadrature-axis current PI controller, which calculates the given quadrature-axis voltage.

[0153] The MTPA module outputs a given direct-axis current. With the actual direct-axis current i d The error between the given direct-axis current and the actual direct-axis current is obtained through a subtractor. This error is then input to the direct-axis current PI controller, which calculates the given direct-axis voltage. The formula is shown below:

[0154]

[0155] Among them, K piq K is the proportional gain of the quadrature-axis current PI controller; Iiq K is the integral coefficient of the quadrature-axis current PI controller; pid K is the proportional gain of the direct-axis current PI controller; Iid These are the integral coefficients of the direct-axis current PI controller. Given the quadrature-axis voltage... and given direct-axis voltage Both are input into the IPark converter module. Given the quadrature-axis voltage. Given direct-axis voltage The actual electrical angle θ1 is transformed into a given voltage in a stationary two-phase coordinate system by the IPark transformation module. and And input to the space vector pulse width modulation module, the voltage setpoint in the stationary two-phase coordinate system and The space vector pulse width modulation module generates six PWM signals as inputs to control the three-phase inverter. The three-phase inverter switches six transistors according to the six input PWM signals, and outputs three-phase voltage to the permanent magnet synchronous motor to drive the permanent magnet synchronous motor.

[0156] Step 4: Perform position synchronization and load torque identification, which specifically includes the following:

[0157] Once motor 1 reaches the given position, the PLC-based trajectory planning and position synchronization control module will assign the given X-direction position θ. x1 and θ x2 The values ​​are input to position servo system 2 and position servo system 3, respectively. Position servo system 2 combines the actual position θ2 of the permanent magnet synchronous motor acquired by the encoder with the input X-direction position setpoint θ. x1 The angular position error θ is obtained by inputting it into the subtractor. x1-θ2 is used as the input to the position loop P regulator. Following the same process as position servo system 1, it drives motor 2. Position servo system 3 operates similarly to position servo system 2. The current signal acquired by position servo system 2 undergoes Clark and Park transformations, and the Park transformation module outputs the actual quadrature and direct axis current i. q and i d The direct and quadrature axis currents output by the MTPA module are given. and The values ​​are subtracted, and the direct-axis and quadrature-axis currents are simultaneously output to the load torque identification module. The load torque identification module then uses the received actual rotational speed ω calculated by the differentiater. m (Since the load torque identification module is not the main invention of this patent, its principle will not be elaborated on here.) And the actual direct-axis and quadrature-axis current i q and i d The calculations are performed to ultimately obtain the identified load torque. The identified load torque of position servo system 2 is calculated by the load torque identification module. As the input for position synchronization control, position servo system 3 works similarly to position servo system 2, ultimately outputting the identified load torque. To the synchronization compensation module.

[0158] Step 5: Perform location synchronization compensation, which specifically includes the following:

[0159] The encoder feedback of the actual positions θ2 and θ3 of motors 2 and 3, and the estimated load torque output by the two-position servo system. and The input position synchronization control module calculates and then outputs a synchronization feedback compensation current. and It serves as the input for position servo system 2 and position servo system 3. The specific principle behind its implementation is as follows:

[0160] The voltage equation of the permanent magnet synchronous motor in the synchronous rotating coordinate system dq axis is:

[0161]

[0162] The torque equation of the permanent magnet synchronous motor in the dq coordinate axis is:

[0163]

[0164] In the formula, T e P is the electromagnetic torque. n L represents the number of pole pairs on the motor rotor. For a surface-mounted permanent magnet synchronous motor... d =L q Therefore, equation (5) can be simplified to:

[0165]

[0166] The kinematic equations of a permanent magnet synchronous motor are as follows:

[0167]

[0168] Define the state variables as follows:

[0169]

[0170] Write the state equations based on the torque and kinematic equations of the permanent magnet synchronous motor:

[0171]

[0172] The integral sliding surface s of the system is selected as:

[0173] s = c1x1 + c2x2 (10)

[0174] Choose the exponential reaching law and replace the sign function with a saturation function, as shown in the following equation:

[0175]

[0176] From equations (9) and (11), the expression for the sliding mode feedback compensation current can be obtained as follows:

[0177]

[0178] To ensure the system meets stability requirements, the Lyapunov function is chosen as follows:

[0179]

[0180] Differentiating the above equation, we get:

[0181]

[0182] According to Lyapunov's second theorem, the designed sliding mode controller must satisfy... Only then can the system satisfy the stability condition. In the formula, ε and k are both constants greater than 0. Therefore, regardless of the sign of s, s and its derivative have opposite signs, i.e. Once the conditions for reaching the sliding surface are met, the system can enter the sliding mode.

[0183] The calculated sliding mode feedback compensation current is passed through gains k1 and k2 to output the synchronous feedback compensation current. and In position servo system 2 and position servo system 3, ensure that the two sunflower wheel shafts operate synchronously.

[0184] Therefore, the method of the present invention can effectively reduce the error of synchronous control of the two sunflower wheels, improve the synchronous control accuracy and response speed, and provide a high-precision corrugated X and Y direction control system for accurately controlling the shape of the corrugated structure.

[0185] Furthermore, the position servo system and method of this invention, compared with existing sunflower wheel production equipment, can accurately control the distance between the two sunflower wheels in real time, thereby improving the production efficiency of corrugated structures; and the position synchronization control method of this invention can significantly reduce the synchronization error of the two motors; can recover synchronization faster when receiving disturbances; can reach the target speed faster when starting under load; and has stronger robustness.

[0186] An embodiment of a device applying the method of the present invention:

[0187] An electronic device comprising:

[0188] One or more processors;

[0189] Storage device for storing one or more programs;

[0190] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described method for controlling the position of a sunflower wheel in yarn forming.

[0191] An embodiment of a computer medium applying the method of the present invention:

[0192] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for controlling the position of a sunflower wheel in yarn forming.

[0193] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program code.

[0194] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0195] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0196] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0197] The model in this application is an object that uses physical or virtual representation to objectively describe the form and structure. The object is not the same as a physical object, and is not limited to physical or virtual. It can be a data processing function, software program, processing mode, usage method, operation mode, workflow, application process, electronic hardware, circuit module, processing system, system imitation or simulation object.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify or make equivalent substitutions to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for controlling the position of a sunflower wheel used in yarn forming, characterized in that: Includes the following steps: Step 1: Using a pre-built model with a first-direction position given, set the Y-direction motor position given according to the required yarn corrugation shape. And based on the motor position in the Y direction. The first motor position difference control information for controlling the Y-direction spacing is obtained; Step two: Using a pre-constructed first motor drive model, based on the first motor position difference control information, the first motor drive signal in the Y direction is obtained, and then the actual position of the first motor after operation is acquired. ; Step 3: Using the pre-built second-direction position given model, set the motor position given in the X direction according to the required yarn corrugation shape. And the motor position is given two And based on the motor position, a... And the motor position is given two And the actual position after the first motor starts running. This yields position difference control information used to control the second and third motors; Step four: Using a pre-built multi-motor drive model, based on the position difference control information of the second and third motors, the drive signals of the second and third motors in the X direction are obtained, and then the actual position of the second motor is acquired. and the actual position of the third motor ; Step 5: Based on the pre-built position synchronization compensation model, and according to the actual position of the second motor... and the actual position of the third motor Based on the required yarn ripple shape, synchronous feedback compensation information is obtained and used as feedback signals for the second and third motors to achieve position control of the yarn forming sunflower wheel. The Y direction is the vertical coordinate direction of the yarn wavy shape mapped onto the XY coordinate system; The X direction is the horizontal coordinate direction of the yarn wavy shape mapped onto the XY coordinate system. The first motor controls the spacing of the yarn ripples in the Y direction by controlling the distance between the two sunflower wheels; The second and third motors control the yarn ripple spacing in the X direction by controlling the rotational speed of the two sunflower wheels; When the distance between the two wheels decreases, the Y-direction spacing of the yarn ripples increases; conversely, when the distance between the two wheels increases, the Y-direction spacing of the yarn ripples decreases; when the rotational speed of the two wheels increases, the X-direction spacing of the yarn ripples decreases; when the rotational speed of the two wheels decreases, the X-direction spacing of the yarn ripples increases.

2. The method for controlling the position of a sunflower wheel for yarn forming as described in claim 1, characterized in that: Step 1: Using a pre-built model with a first-direction position given, set the Y-direction motor position given according to the required yarn corrugation shape. And based on the motor position in the Y direction. The method for obtaining the first motor position difference control information used to control the Y-direction spacing is as follows: Based on the required yarn corrugation shape, the motor position in the Y direction is set, and the yarn corrugation shape is a sine curve, which is formed on the yarn surface by thermoforming. The three-phase current of the first motor in the three-phase coordinate system is obtained by acquiring current signals using two Hall current sensors. , and This data is then input into the Clarke transform module, whose transform formula is: （1） Phase current in the formula Through formula Calculated; The output of the Clarke transform module is the actual current in a stationary two-phase coordinate system. and , as input to the Park transformation module; and Relative to the actual angular position of the first motor The input is fed into the Park transformation module to obtain the actual direct-axis current in the synchronous rotating coordinate system. and actual cross-axis current The Park transformation formula is: （2） The actual quadrature and direct axis currents in the synchronous rotating coordinate system output by the Park transformation module and The output AC and DC axis currents of the MTPA module and The difference is used as the input of the current loop PI regulator; The encoder acquires the actual position of the first motor. Given the motor position in the Y direction The angular position error is obtained by inputting it into the subtractor. And use it as the input to the position loop P regulator; The output of the position loop P regulator is the given speed. Then, the actual motor speed is obtained by using a differentiater to calculate the given rotational speed and the actual angular position of the motor. The input is given to the subtractor to obtain the speed error. As the input to the speed loop PI regulator; the output of the speed loop PI regulator is the electromagnetic torque command. This generates first motor position gap control information for controlling the Y-direction spacing and uses it as input to the MTPA module.

3. The method for controlling the position of a sunflower wheel for yarn forming as described in claim 2, characterized in that: Step two: Using a pre-constructed first motor drive model, based on the first motor position difference control information, obtain the first motor drive signal in the Y direction, and acquire the actual position of the first motor after it starts operating. The method is as follows: Input the position difference control information of the first motor into the MTPA module; The MTPA module outputs a given quadrature-axis current. With actual cross-axis current The error between the given quadrature-axis current and the actual quadrature-axis current is obtained through a subtractor. This error is then input to the quadrature-axis current PI controller, which calculates the given quadrature-axis voltage. ; The MTPA module outputs a given direct-axis current. With actual direct-axis current The error between the given direct-axis current and the actual direct-axis current is obtained through a subtractor. This error is then input to the direct-axis current PI controller, which calculates the given direct-axis voltage. The formula is shown below: （3） in, It is the proportional coefficient of the quadrature-axis current PI controller; It is the integral coefficient of the quadrature-axis current PI controller; It is the proportional coefficient of the direct-axis current PI controller; These are the integral coefficients of the direct-axis current PI controller; given quadrature-axis voltage... and given direct-axis voltage Input them together into the IPark transformation module; Given quadrature axis voltage Given direct-axis voltage and actual electrical angle The given voltage is transformed into a stationary two-phase coordinate system by the IPark transformation module. and And input to the space vector pulse width modulation module, the voltage setpoint in the stationary two-phase coordinate system and The space vector pulse width modulation module generates six PWM signals, which are used as inputs to control the three-phase inverter. The three-phase inverter switches six transistors according to the six input PWM signals, outputting three-phase voltage to obtain the first motor drive signal in the Y direction. This first motor drive signal in the Y direction is then input into the first motor to drive it. The actual position of the first motor after operation is obtained through an encoder. .

4. The method for controlling the position of a sunflower wheel for yarn forming as described in claim 1, characterized in that: Step 3: Using the pre-built second-direction position given model, set the motor position given in the X direction according to the required yarn corrugation shape. And the motor position is given two ; And based on the motor position in the X direction, a... And the motor position is given two And the actual position after the first motor starts running. The method for obtaining the position difference control information for controlling the second and third motors is as follows: Once the first motor reaches the given position, based on the required yarn ripple shape, the trajectory planning and position synchronization control module obtains the given motor position in the X direction. And the motor position is given two And input them into the second motor and the third motor respectively; The second motor will acquire its actual position from the encoder. Given the motor position in the X direction as input. The angular position error is obtained by inputting it into the subtractor. This information serves as the position difference control information for the second motor and is used as the input to the position loop P regulator; the third motor is controlled in the same way.

5. The method for controlling the position of a sunflower wheel for yarn forming as described in claim 3, characterized in that: Step four: Using a pre-built second motor drive model, based on the position difference control information between the second and third motors, obtain the second motor drive signal and the third motor drive signal in the X direction, and acquire the actual position of the second motor. and the actual position of the third motor The method is as follows: Based on the position difference control information between the second and third motors, the same process as for the first motor is followed to obtain the drive signals for the second and third motors in the X direction, and the actual position of the second motor is obtained through an encoder. and the actual position of the third motor .

6. The method for controlling the position of a sunflower wheel for yarn forming as described in claim 1, characterized in that: Step 5: Based on the pre-built position synchronization compensation model, and according to the actual position of the second motor... and the actual position of the third motor Based on the required yarn ripple shape, synchronous feedback compensation information is obtained, which serves as the feedback signal for the second and third motors, as follows: After the acquired current signal undergoes Clark and Park transformations, the Park transformation module outputs the actual direct and quadrature axis currents. and The direct and quadrature axis currents output by the MTPA module are given. and Subtract the two values ​​and simultaneously output the quadrature and direct axis currents to the load torque identification module; The load torque identification module receives the actual rotational speed calculated by the derivative. With respect to actual direct and quadrature axis currents and The calculations are performed to ultimately obtain the identified load torque. ; The identified load torque of the second motor is calculated by the load torque identification module. As input for position synchronization control; The third motor works similarly to the second motor, ultimately outputting the identified load torque. To the synchronization compensation module; The encoder provides feedback on the actual position of the second motor. and the actual position of the third motor and the identified load torque output by the two-position servo system and identify load torque The input position synchronization control module calculates and then outputs a synchronization feedback compensation current. and synchronous feedback compensation current three As synchronous feedback compensation information, it is input into the second and third motors to ensure that the two sunflower wheel shafts run synchronously.

7. The method for controlling the position of a sunflower wheel for yarn forming as described in claim 6, characterized in that: Output synchronous feedback compensation current II and synchronous feedback compensation current three The method is as follows: The voltage equation of the permanent magnet synchronous motor in the synchronous rotating coordinate system dq axis is: （4） The torque equation of the permanent magnet synchronous motor in the dq coordinate axis is: （5） In the formula, Electromagnetic torque; This represents the number of pole pairs on the motor rotor. For surface-mounted permanent magnet synchronous motors Therefore, the torque equation simplifies to: （6） The kinematic equations of a permanent magnet synchronous motor are as follows: （7） Define the state variables as follows: （8） Write the state equations based on the torque and kinematic equations of the permanent magnet synchronous motor: （9） The integral sliding surface s of the system is selected as: （10） Choosing the exponential reaching law and replacing the sign function with a saturation function, we obtain the sign function replacement formula, as shown in the following equation: （11） （12） From the state equations and the sign function substitution formula, the expression for the sliding mode feedback compensation current is obtained as follows: （13） To ensure the system meets stability requirements, the Lyapunov function is chosen as follows: （14） Differentiating the above equation, we get: （15） According to Lyapunov's second theorem, the designed sliding mode controller must satisfy... Only then can the system satisfy the stability condition; in the formula, ℇ and k are both constants greater than 0; therefore, regardless of the sign of s, s and its derivative have opposite signs, that is... When the conditions for reaching the sliding surface are met, the system enters the sliding mode; The calculated sliding mode feedback compensation current is passed through gains k1 and k2 to output the synchronous feedback compensation current II. and synchronous feedback compensation current three .

8. A sunflower wheel position control system for yarn forming, characterized in that: Including a Y-axis position servo system and an X-axis dual-axis position synchronous servo system; The Y-direction position servo system includes a PLC-based trajectory planning and position synchronization control module, a first position servo system, a first motor and encoder 1; The X-axis dual-axis position synchronous servo system includes a second position servo system, a third position servo system, a second motor, a third motor, two reducers, and two sunflower wheels; The output of the PLC-based trajectory planning and position synchronization control module is connected to the input of three position servo systems respectively, and is used to provide position servo commands. The output of the first position servo system is connected to the input of the first motor. The first motor is connected to the first reducer through a coupling. The reducer is connected to the lead screw, forming the Y-direction position servo system. The output of the second position servo system is connected to the input of the second motor. The second motor is connected to the second reducer through a coupling. The second reducer is connected to the sunflower wheel through a coupling, forming a sunflower wheel shaft. The third position servo system, the third motor, the third reducer, and the second sunflower wheel are assembled in the same manner to form another sunflower wheel shaft; The two sunflower wheel shafts are connected to the first reducer via a lead screw, forming a dual-axis position synchronous servo system in the X direction; The Y direction is the vertical coordinate direction of the yarn wavy shape mapped onto the XY coordinate system; The X direction is the horizontal coordinate direction of the yarn wavy shape mapped onto the XY coordinate system. The first motor controls the spacing of the yarn ripples in the Y direction by controlling the distance between the two sunflower wheels; The second and third motors control the yarn ripple spacing in the X direction by controlling the rotational speed of the two sunflower wheels; When the distance between the two wheels decreases, the Y-direction spacing of the yarn ripples increases; conversely, when the distance between the two wheels increases, the Y-direction spacing of the yarn ripples decreases; when the rotational speed of the two wheels increases, the X-direction spacing of the yarn ripples decreases; when the rotational speed of the two wheels decreases, the X-direction spacing of the yarn ripples increases.

9. A method for controlling the position of a sunflower wheel used in yarn forming, characterized in that: The sunflower wheel position control system for yarn forming as described in claim 8 includes the following: The PLC-based trajectory planning and position synchronization control module first provides the motor position setting. As input to the first position servo system; Input Motor angular position fed back by encoder The input to the position loop P regulator is calculated, and the output is the given speed. With motor speed Differential input speed loop PI regulator; The PI controller outputs the given electromagnetic torque after calculation. ; The MTPA module is based on a given electromagnetic torque. The optimal dq-axis current was found using a lookup table method. and The difference between the current and the dq-axis currents acquired after Clark and Park transformations is input to the current loop PI regulator. The current loop PI regulator outputs the given dq-axis voltage after calculation. and Then, the Ipark transformation module outputs the two-phase coordinate system voltage. and The signal is fed into the Space Vector Pulse Width Modulation (SVPWM) module, where it is processed and outputs six PWM signals to control the three-phase inverter to output voltage, thereby driving the permanent magnet synchronous motor. After passing through a reducer, the permanent magnet synchronous motor controls the two sunflower wheel shafts to slowly move closer or further apart via a lead screw. When the position feedback of the first motor equals the given motor position, that is... When the rotor of the first motor reaches the given position, it stops working; The PLC-based trajectory planning and position synchronization control module outputs the same motor position setpoint. and To the second and third motors; Input motor position given With encoder position feedback The difference is input into the second motor, and after passing through the position loop and speed loop, the given electromagnetic torque is output. The optimal dq-axis current is obtained using a lookup table method via the MTPA module. and ; The given q-axis current is synchronized with the feedback q-axis current received from the PLC-based trajectory planning and position synchronization control module. and the q-axis current obtained after Clark and Park transformations Simultaneously, the difference is calculated between the given d-axis current and the acquired d-axis current obtained after Clark and Park transformations. The difference is calculated and input to the current loop PI regulator; The inverse Park transform module and the space vector pulse width modulation module output six PWM signals to control the three-phase inverter to output three-phase voltage to control the motor; The dq-axis current, after being acquired through Park transformation, is input to the load torque identification module. Simultaneously, the rotor position acquired by the encoder is used by the derivative to calculate the rotational speed. The load torque is also input into the load torque identification module, and after calculation, an estimated load torque is output. ; The control process of the third motor is exactly the same as that of the second motor; The second and third position servo systems calculate the estimated load torque. and The current is input into the position synchronization control module for calculation, and the feedback synchronization q-axis current is input into the second position servo system and the third position servo system for compensation to ensure that the two sunflower wheel shafts run synchronously.

10. An electronic device, characterized in that: It includes: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a sunflower wheel position control method for yarn forming as described in any one of claims 1-7.

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