Tension control method and system of winding machine

Abstract

The invention relates to the technical field of equipment control, in particular to a tension control method and system for a winding machine, and the method comprises the steps: obtaining winding tension data when the winding machine executes a winding task, and determining a first stability degree value of the winding tension data in a target time period before the current moment, adjusting the initial number of iterations by using the first stability degree value to obtain a target number of iterations; and the winding speed at the current moment and the outer side radius of the to-be-wound object are obtained, iteration of the target number of iterations is carried out on the winding tension according to a pre-constructed target function to obtain target winding tension, and the winding machine is controlled to wind the to-be-wound object at the next moment according to the target winding tension. By means of the technical scheme, the winding tension of the winding machine on the object to be wound can be controlled more effectively.

Description

Technical Field

[0001] This application relates to the technical field of equipment control, and particularly to a method and system for controlling the tension of a winding machine. Background Art

[0002] A winding machine is an automated packaging device used to wind materials such as films, papers, and shrink films around products or pallets, capable of fixing and protecting the products; when the product to be wound is within the working position range of the winding machine, the winding machine can automatically or execute the winding task on the product to be wound according to the received instructions.

[0003] For example, the winding machine can wind the film drawn from the film supply component onto the product to be wound according to the preset winding parameters such as the tightness, number of winding layers, and winding speed after winding; after the number of winding layers reaches the preset number or after the total winding length is greater than the preset length, the winding film between the winding machine and the product to be wound is cut off to complete the winding task of the product to be wound.

[0004] In the related art, the winding machine is mainly controlled to wind the product to be wound with a fixed tension. However, since different products to be wound have different shape characteristics, for example, the diameters of different products to be wound in the horizontal direction are different; or the horizontal distances from the same product to be wound to the center of the product to be wound may also be different at different positions. For example, the distance from the product stacked on the pallet at the corner to the center of the product to be wound is greater, and the distance from the product stacked on the pallet at the flat place to the center of the product to be wound is smaller.

[0005] Since the outer radii of different positions of the product to be wound are different, or the outer radii of different products to be wound are different, when winding the product to be wound with a fixed winding tension, there may be a situation where some positions are not effectively wound, while some other positions are wound too tightly. Therefore, it is difficult to effectively control the tension of the winding machine during the winding process in the related art. Summary of the Invention

[0006] To overcome the problem that it is difficult to effectively control the tension of the winding machine during the winding process in the related art, this application provides a method and system for controlling the tension of a winding machine.

[0007] According to the first aspect of the embodiments of the present application, a method for controlling the tension of a winding machine is provided, including: obtaining the winding tension data of the winding machine when performing a winding task, and determining a first stability degree value of the winding tension data within a target time period before the current moment, so as to adjust the initial number of iterations by using the first stability degree value to obtain a target number of iterations; obtaining the winding speed at the current moment and the outer radius of the object to be wound, and iterating the winding tension for the target number of iterations according to a pre-constructed target function to obtain a target winding tension, so as to control the winding machine to wind the object to be wound at the next moment according to the target winding tension; wherein, the target function is used to balance the average energy consumption rate of winding the object to be wound and the firmness degree value after winding; the average energy consumption rate and the firmness degree value are determined according to the winding speed, the outer radius and the winding tension.

[0008] In this way, since the target function is used to balance the average energy consumption rate of winding the object to be wound and the firmness degree value, and the target winding tension is obtained by iterating the winding tension for the target number of iterations according to the pre-constructed target function, the obtained target winding tension can take into account the average energy consumption rate and the firmness degree value of winding, so as to reduce the energy consumption required for winding while ensuring the winding effect of the object to be wound.

[0009] Optionally, the first stability degree value is determined in the following manner: determining a second stability degree value of the winding tension data within a target time period before the current moment according to the average value and the median of the winding tension data within the target time period; the second stability degree value is used to characterize the stability degree of the winding tension data within the target time period; determining the positive correlation coefficient between the current moment current data and the winding tension data according to the winding tension data of the winding machine within the target time period and the current data of the motor; determining the first stability degree value at the current moment according to the second stability degree value and the positive correlation coefficient corresponding to the current moment.

[0010] In this way, the positive correlation coefficient can characterize the correlation between the current data and the winding tension data at the current moment, so as to reflect the probability that the current data or the winding tension data is affected by noise interference. Determining the first stability degree value at the current moment according to the second stability degree value and the positive correlation coefficient corresponding to the current moment can make the first stability degree value more accurately reflect the actual stability degree of the winding machine within the target time period before the current moment while avoiding noise interference.

[0011] Optionally, the second stability degree value is determined in the following manner: , where T is the second stability degree value, Z is the quantity corresponding to the mode of the winding tension data within the target time period, and exp is the exponential function with the natural constant as the base. is the median of the winding tension data within the target time period, It is the average value of the winding tension data within the target time period.

[0012] In this way, the median of the winding tension data within the target time period is compared with the average of the winding tension data, and the obtained second stability value can reflect the stability of the winding tension data within the target time period.

[0013] Optionally, the positive correlation coefficient between the current data and the winding tension data at the current moment is determined by: , where H is the positive correlation coefficient, exp is an exponential function with a natural constant as the base, and G is a preset number, is the time at which the gth current data with values ​​from large to small in the target time period is located. It is the moment at which the gth winding tension data with values ​​from large to small is located within the target time period.

[0014] In this way, since under normal circumstances the current data of the motor is correlated with the winding tension data, the moment when the current data is larger is usually also the moment when the winding tension data is larger. Therefore, comparing the moment when the top-ranked current data is located with the moment when the top-ranked winding tension data is located can better reflect the correlation between the current data and the winding tension data.

[0015] Optionally, determining the first stability value at the current moment according to the second stability value corresponding to the current moment and the positive correlation coefficient includes: , where Q is the first stability value at the current moment, T is the second stability value corresponding to the current moment, exp is an exponential function with a natural constant as the base, and H is the positive correlation coefficient between the current data and the winding tension data at the current moment.

[0016] In this way, the positive correlation coefficient can be used to adjust the second stability value. Compared with the second stability value, the first stability value obtained after the adjustment can better reflect the actual stability of the winding machine.

[0017] Optionally, adjusting the initial number of iterations by using the first stability value to obtain a target number of iterations includes: ,in, is the target iteration number, is the preset first iteration number, is an exponential function with a natural constant as the base, Q is the first stability value at the current moment, t is the second iteration number, and the second iteration number is equal to the minimum iteration number required to output the target iteration number in the iterative algorithm.

[0018] Optionally, according to a pre-constructed objective function, perform iterations for a target number of iterations on the winding tension to obtain the target winding tension, including: according to the pre-constructed objective function, use the random hill climbing algorithm to perform iterations on the winding tension for the target number of iterations, and take the winding tension corresponding to the minimum objective function during the iteration process of the target number of iterations as the target winding tension.

[0019] Optionally, the average energy consumption rate is positively correlated with the winding tension, the winding speed, and the outer radius; the firmness value is determined according to the winding speed, the winding tension, and a preset corresponding relationship; wherein, the preset corresponding relationship is used to represent the corresponding relationship between the winding speed and the winding tension and the firmness value; the firmness value is used to represent the firmness of the object to be wound after winding.

[0020] Optionally, the objective function , where a is a first positive number, norm is a normalization function, G is the average energy consumption rate for winding the object to be wound, b is a second positive number, exp is an exponential function with the natural constant as the base, and M is the firmness value; the sum of the first positive number and the second positive number is equal to 1.

[0021] According to the second aspect of the embodiments of the present application, there is provided a tension control system for a winding machine, including: a processor and a memory, the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the steps of the tension control method for the winding machine provided in the first aspect of the present application are implemented.

[0022] The technical solutions provided by the embodiments of the present application may include the following beneficial effects: Since the target winding tension for winding the object to be wound at the next moment is determined according to the winding speed at the current moment and the outer radius of the object to be wound, the target winding tension can adapt to different winding speeds and different objects to be wound, and since the objective function is used to balance the average energy consumption rate for winding the object to be wound and the firmness value, the obtained target winding tension can take into account the winding effect of the object to be wound and the energy consumption required for winding according to the winding speed when winding the object to be wound. Therefore, more effective control of the winding tension of the winding machine for the object to be wound can be achieved.

[0023] The target number of iterations for iterating the winding tension is determined according to the first stability value of the winding tension data within the target time period before the current moment, and can adaptively determine the number of iterations according to the stability of the winding tension in the previous period of time, taking into account the efficiency and computational amount of the iteration process, and ensuring the effective progress of the iteration process of the winding tension.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Description of the Drawings

[0025] Figure 1 is a flowchart of a method for controlling the tension of a winding machine shown according to an exemplary embodiment; Figure 2 is a schematic structural diagram of a tension control system of a winding machine shown according to an exemplary embodiment. Detailed Implementation Manner

[0026] First, a simple introduction to the application scenario of the embodiments of the present application is given. In the application scenario of the present application, the winding machine can wind the object to be wound with a fixed winding tension. However, due to the different shapes of different objects to be wound or the different characteristics of the same object to be wound at different positions, when winding with a fixed winding tension, it may cause the situation that some areas of the object to be wound are too loose or too tight, and it is difficult to obtain a good winding effect on the object to be wound.

[0027] To solve the above technical problems, the embodiments of the present application provide a method and system for controlling the tension of a winding machine, Figure 1 is a flowchart of a method for controlling the tension of a winding machine shown according to an exemplary embodiment, as Figure 1 shown, the method includes the following steps.

[0028] In step S101, obtain the winding tension data of the winding machine when performing the winding task, and determine the first stability degree value of the winding tension data within the target time period before the current moment, so as to adjust the initial iteration times by using the first stability degree value to obtain the target iteration times.

[0029] A tension sensor can be set on the winding machine to obtain the winding tension data of the winding machine when performing the winding task; the tension sensor can be set at the outlet of the winding film conveying mechanism of the winding machine. The winding film conveying mechanism is used to extract the winding film from the winding reel and provide the winding film to the robotic arm of the winding machine through the outlet, so that the robotic arm of the winding machine winds the winding film onto the product to be wound.

[0030] The first stability degree value of the winding tension data within the target time period before the current moment is at least used to characterize the stability degree of the winding tension data of the winding machine within the target time period before the current moment; the target time period can be a time period with the current moment as the end moment and a duration equal to the preset duration. The preset duration can be set according to actual needs. For example, the preset duration can be between 10 seconds and 15 seconds.

[0031] The greater the first stability degree value of the winding tension data within the target time period before the current moment, the more stable the winding tension data of the winding machine within the target time period before the current moment, indicating that the probability or degree of disturbance to the winding machine within the target time period is lower. In the iterative process corresponding to the winding tension at subsequent moments, iteration can be performed with a smaller number of iterations, thereby improving the efficiency of iterating the winding tension while ensuring the iterative effect.

[0032] On the contrary, the smaller the first stability degree value of the winding tension data within the target time period before the current moment, the more unstable the winding tension data of the winding machine within the target time period before the current moment, indicating that the probability or degree of disturbance to the winding machine within the target time period is higher. In the iterative process corresponding to the winding tension at subsequent moments, iteration can be performed with a larger number of iterations, thereby ensuring the iterative effect of the winding tension.

[0033] In one embodiment, the first stability degree value is determined in the following manner: according to the average value and median of the winding tension data within the target time period, determine the second stability degree value of the winding tension data within the target time period before the current moment; the second stability degree value is used to characterize the stability degree of the winding tension data within the target time period; according to the winding tension data of the winding machine within the target time period and the current data of the motor, determine the positive correlation coefficient between the current data and the winding tension data at the current moment; according to the second stability degree value and the positive correlation coefficient corresponding to the current moment, determine the first stability degree value at the current moment.

[0034] The average value and median of the winding tension data within the target time period can reflect the central tendency and fluctuation range of the data, thereby quantifying the stability of the winding tension within the target time period. Therefore, according to the average value and median of the winding tension data within the target time period, the second stability degree value that can effectively characterize the stability degree of the winding tension data within the target time period before the current moment can be determined.

[0035] The current data when the motor performing the winding task in the winding machine is working can be obtained through a current sensor; the voltage when the motor is working is relatively fixed, and the winding tension data of the winding machine within the target time period is negatively correlated with the current data when the motor is working.

[0036] If the current when the motor of the winding machine is working within the target time period gradually increases, and the winding tension data of the winding machine within the target time period also gradually increases, it indicates that the working state of the winding machine during the winding operation is relatively normal, or the degree of influence of the acquired current data by noise is relatively small.

[0037] If the current gradually increases when the motor of the winding machine is working within the target time period, and the winding tension data of the winding machine gradually decreases within the target time period, it indicates that there is an abnormality in the working state of the winding machine during the winding operation, or the degree of influence of the acquired current data by noise is relatively large. Therefore, the positive correlation coefficient between the current data at the current moment and the winding tension data can reflect the probability or degree of influence of the current data by noise, so as to avoid the adverse impact of the noise data in the current data on the iterative process of the winding tension.

[0038] Since the second stability degree reflects the stability degree of the winding machine within the target time period before the current moment, and the positive correlation coefficient reflects the probability or degree of influence of the current data of the motor within the target time period by noise, therefore, according to the second stability degree value and the positive correlation coefficient corresponding to the current moment, the first stability degree value at the current moment is determined. The obtained first stability degree value can better reflect the actual stability degree of the winding machine within the target time period before the current moment while avoiding the influence of noise.

[0039] In this way, the first stability degree value at the current moment is determined according to the second stability degree value and the positive correlation coefficient corresponding to the current moment. Compared with the second stability degree value corresponding to the current moment, the first stability degree value can more accurately reflect the actual stability degree of the winding machine within the target time period before the current moment.

[0040] In one embodiment, the second stability degree value is determined in the following manner: , where T is the second stability degree value, Z is the quantity corresponding to the mode of the winding tension data within the target time period, exp is the exponential function with the natural constant as the base, is the median of the winding tension data within the target time period, is the average value of the winding tension data within the target time period, is to take the absolute value.

[0041] In the calculation formula of the second stability degree value, since the second stability degree value is determined according to the quantity corresponding to the mode of the winding tension data within the target time period, and the mode is equal to the winding tension data with the largest frequency or frequency within the target time period. The larger the quantity of the mode of the winding tension data within the target time period, the more stable the winding tension of the winding machine is within the target time period; on the contrary, the smaller the quantity of the mode of the winding tension data within the target time period, the greater the fluctuation degree of the winding tension of the winding machine within the target time period.

[0042] When the fluctuation degree of the winding tension of the winding machine is relatively large within the target time period, the difference between the median and the average value of the winding tension of the winding machine within the target time period is larger; on the contrary, when the fluctuation degree of the winding tension of the winding machine is relatively small within the target time period, the median and the average value of the winding tension of the winding machine are closer within the target time period. Therefore, comparing the median and the average value of the winding tension of the winding machine within the target time period can reflect the stability degree of the winding tension of the winding machine within the target time period.

[0043] Processing the difference between the median and the average value of the winding tension of the winding machine within the target time period by using the reciprocal of the exponential function can not only make the value of the second stability degree negatively correlated with the difference between the median and the average value of the winding tension of the winding machine within the target time period, but also ensure that the value result of the difference between the median and the average value within the target time period is within the range of 0 to 1.

[0044] In this way, by considering the quantity corresponding to the mode of the winding tension data within the target time period and comparing the median of the winding tension data within the target time period with the average value of the winding tension data, the obtained second stability degree value can better reflect the stability degree of the winding tension data within the target time period.

[0045] In one embodiment, the positive correlation coefficient between the current data at the current moment and the winding tension data is determined by the following method: , where H is the positive correlation coefficient, exp is the exponential function with the natural constant as the base, G is the preset quantity, is the moment when the g-th largest current data within the target time period is taken from large to small, is the moment when the g-th largest winding tension data within the target time period is taken from large to small.

[0046] The preset quantity can be set according to actual needs, and the preset quantity is less than the total number of data points of the current data within the target time period; for example, the preset quantity can be between 5 and 10.

[0047] Since the current of the motor that performs the winding task of the winding machine is positively correlated with the winding tension, the moment when the current of the motor is larger usually corresponds to the moment when the winding tension is larger. Therefore, within the same time period, according to the moments corresponding to multiple currents with the largest current of the motor that performs the winding task within the target time period, they can be respectively compared with the moments corresponding to multiple winding tension data with the largest values within the target time period to determine the positive correlation between the winding tension and the current data within the target time period.

[0048] For example, if the duration of the target time period is 20 seconds, a total of 20 data points of current or winding tension are collected within these 20 seconds, such that the target time period includes 20 current data points corresponding to different moments, and 20 winding tension data points corresponding to different moments.

[0049] The five moments with the largest motor current of the winding machine within these 20 seconds can be, in sequence, the 10th second, the 11th second, the 12th second, the 15th second, and the 16th second. The five moments with the largest motor current of the winding machine within these 20 seconds can also be, in sequence, the 9th second, the 11th second, the 12th second, the 15th second, and the 16th second. There are only differences in some moments between the moments corresponding to the current data of the winding machine and the moments corresponding to the winding tension data. There is a strong positive correlation between the current of the motor performing the winding task of the winding machine and the winding tension within the target time period.

[0050] In this way, by comparing the moment where the g-th current data with values from large to small within the target time period is located with the moment where the g-th winding tension data with values from large to small within the target time period is located, the correlation between the current data and the winding tension data within the target time period can be better reflected.

[0051] Since multiple current data with the largest values and multiple winding tension data with the largest values are selected for comparison, compared with comparing all the current data and winding tension data at all moments within the target time period, it can not only effectively reflect the correlation between the current data and the winding tension data within the target time period, but also reduce the computational amount of comparing the current data and the winding tension data.

[0052] In one embodiment, determining the first stability value of the current moment according to the second stability value corresponding to the current moment and the positive correlation coefficient includes: , where Q is the first stability value of the current moment, T is the second stability value corresponding to the current moment, exp is the exponential function with the natural constant as the base, and H is the positive correlation coefficient between the current data and the winding tension data at the current moment.

[0053] The positive correlation coefficient H is used to characterize the positive correlation between the current data and the winding tension data at the current moment. The smaller the correlation between the current data and the winding tension data within the target time period before the current moment, the greater the probability that the current data of the motor is affected by noise at the current moment.

[0054] The larger the value of the positive correlation H between the current data and the winding tension data at the current moment, the greater the probability that the winding tension data is stable within the target time period before the current moment. The value is closer to 0, such that The closer the value of is to 1, the closer the obtained second stability degree value is to the first stability degree value itself.

[0055] The smaller the value of the positive correlation H between the current moment current data and the winding tension data, the greater the probability that the current data or the winding tension of the winding machine is disturbed at the current moment, or the greater the probability that the current data or the winding tension at the current moment is affected by noise.

[0056] When the positive correlation between the current moment current data and the winding tension data is smaller, due to the influence of noise on the current data or the winding tension at the current moment, if the winding tension data of the winding machine shows a certain volatility, it means that in the case of not being affected by noise, the winding tension data of the winding machine should actually show weaker volatility or stronger stability. Therefore, a second degree value with a larger value can be obtained on the basis of the first stability degree value.

[0057] In this way, through the positive correlation coefficient between the current moment current data and the winding tension data, the probability or degree of the current data or the winding tension data being affected by noise can be characterized. Therefore, the positive correlation coefficient can be used to adjust the second stability degree value to obtain the first stability degree value that can better reflect the actual stability of the winding machine.

[0058] In one embodiment, adjusting the initial iteration number by using the first stability degree value to obtain the target iteration number includes: , where is the target iteration number, is the preset first iteration number, is the exponential function with the natural constant as the base, Q is the first stability degree value at the current moment; t is the second iteration number, and the second iteration number is equal to the minimum iteration number required to output the target iteration number in the iterative algorithm.

[0059] The existence of the second iteration number can ensure that the iterative algorithm can effectively iterate the winding tension. For example, when using the random hill climbing algorithm to iterate the objective function, it can ensure that the objective function is iterated at least the second iteration number of times; the second iteration number can be preset according to actual needs. For example, the second iteration number can be between 20 and 30.

[0060] Using the reciprocal of the exponential function to process the first stability degree value can ensure that the target iteration number is negatively correlated with the first stability degree value, and the obtained value is within the range of 0 to 1, which is convenient for adjusting the first iteration number.

[0061] In this way, by adjusting the initial number of iterations using the first stability degree value to obtain the target number of iterations, it can not only ensure that the number of iterations meets the minimum number of iterations required for outputting the target number of iterations, but also make the target number of iterations negatively correlated with the first stability degree value.

[0062] Since the target number of iterations is negatively correlated with the first stability degree value, when the winding tension of the winding machine is more stable within the target time period, a more accurate target winding tension can be obtained with fewer iterations, which can improve the output efficiency of the target winding tension; when the fluctuation of the winding tension of the winding machine within the target time period is greater, more iterations can be used to ensure the accuracy of the obtained target winding tension.

[0063] In step S102, the winding speed at the current moment and the outer radius of the object to be wound are obtained, and according to the pre-constructed objective function, the target winding tension is obtained through iterative calculation of the target number of iterations for the winding tension, so as to control the winding machine to wind the object to be wound at the next moment according to the target winding tension.

[0064] The winding machine can wind the object to be wound at a preset winding speed. The speed sensor can be used to obtain the winding speed of the winding machine for the object to be wound; the outer radius of the position where the object to be wound by the winding machine is wound at the current moment can be determined through the distance data obtained by the distance sensor or the image data obtained by the image sensor.

[0065] Before winding the object to be wound, the image sensor can be used to scan the object to be wound from multiple angles to obtain the shape information of the object to be wound at different positions, so as to determine the outer radius information of the object to be wound at different positions using the determined shape information.

[0066] Alternatively, the distance sensor can be used to measure the distances of different positions relative to different parts of the object to be wound, and the outer radius information of the object to be wound at different positions can be determined using the distances of different positions relative to different parts of the object to be wound; or, the lidar can be used to scan the object to be wound from multiple angles to obtain the point cloud data of different parts of the object to be wound, so as to determine the outer radius information of the object to be wound at different positions.

[0067] When winding objects to be wound with different shapes, or when winding different-shaped parts of the same object to be wound, the winding machine can adaptively determine the winding tension for the object to be wound according to the outer radius of the part being wound at the current moment, so as to avoid over-loose or over-tight winding of the object to be wound.

[0068] The objective function is used to balance the average energy consumption rate for winding the object to be wound and the firmness value after winding; the smaller the value of the objective function, the better the balance between the average energy consumption rate for winding the object to be wound and the firmness value after winding; the average energy consumption rate and the firmness value are determined according to the winding speed, the outer radius, and the winding tension.

[0069] Since the energy consumption of the winding machine during the winding operation on the object to be wound is positively correlated with the winding duration and the energy consumption rate during winding, for example, the single energy consumption for winding the object to be wound is equal to the product of the duration required for a single winding and the average energy consumption rate during winding.

[0070] The winding machine usually operates at a pre-set winding speed during the winding operation. Therefore, the duration required for winding the same object to be wound can be determined according to the pre-set number of winding layers, the outer radius of the object to be wound, and the winding speed. The single energy consumption for winding the same object to be wound is positively correlated with the energy consumption rate during winding, and the energy consumption rate is positively correlated with the winding tension during the winding operation.

[0071] Since the objective function is used to balance the average energy consumption rate for winding the object to be wound and the firmness value after winding, therefore, the target winding tension is obtained by performing the iterative operation of the target iteration times on the winding tension, so as to control the winding machine to wind the object to be wound at the next moment according to the target winding tension. The obtained winding tension can take into account the average energy consumption rate during winding and the firmness value after winding, and can avoid the winding of the object to be wound being too tight or too loose under the condition of reducing the required energy consumption.

[0072] Among them, in order to avoid the determined winding tension being too large or too small, the iterative process of the objective function for the winding tension can be carried out when the winding tension is within the target tension range.

[0073] In one embodiment, the objective function , where a is a first positive number, norm is a normalization function, G is the average energy consumption rate for winding the object to be wound, b is a second positive number, exp is an exponential function with the natural constant as the base, and M is the firmness value; the sum of the first positive number and the second positive number is equal to 1.

[0074] The values of the first positive number a and the second positive number b can be determined according to the priority of the average energy consumption rate for winding and the priority of the firmness value after winding, so as to take into account the priority of the average energy consumption rate for winding and the firmness value after winding.

[0075] For example, the first positive number can be equal to 0.4 and the second positive number can be equal to 0.6.

[0076] The firmness value after winding is completed, which is used to characterize the firmness of the product wound by the winding machine after completing the winding task of the object to be wound. The firmness can be determined according to the winding speed, outer radius and winding tension during winding.

[0077] The object to be wound can be wound according to the preset winding speed and preset winding tension, and the firmness of the wound object to be wound can be determined and tested to obtain the firmness value corresponding to the preset winding speed and preset winding tension.

[0078] The object to be wound can be wound respectively according to different preset winding speeds or preset winding tensions, and the corresponding relationship between the winding speed and the winding tension and the firmness value can be constructed.

[0079] In this way, the influence directions of the average energy consumption rate and the firmness value on the value of the objective function are opposite. Through the objective function, the balance of the average energy consumption rate and the firmness value can be achieved, taking into account the reduction of energy consumption during winding and ensuring the firmness value of the object to be wound.

[0080] In one embodiment, the target winding tension is obtained by iterating the winding tension for the target number of iterations according to the pre-constructed objective function, including: iterating the winding tension for the target number of iterations by using the random hill climbing algorithm according to the pre-constructed objective function, and taking the winding tension corresponding to the minimum objective function during the iteration of the target number of iterations as the target winding tension.

[0081] A higher winding tension may lead to a higher energy consumption rate, but may also improve the packaging strength and stability of the product; a lower winding tension may reduce the energy consumption rate, but may also result in poor packaging strength and stability of the product. Therefore, iterating the winding tension for the target number of iterations by using the random hill climbing algorithm according to the pre-constructed objective function can obtain the target winding tension that takes into account both energy consumption and firmness.

[0082] In this way, since the objective function is used to balance the energy consumption rate and the firmness value, and the winding tension corresponding to the minimum objective function during the iteration of the target number of iterations is taken as the target winding tension, the obtained target tension can better achieve the balance of the energy consumption rate and the firmness value.

[0083] In one embodiment, obtaining the target winding tension through iterating the winding tension for a target number of iterations according to a pre-constructed objective function may include: iterating the winding tension for a target number of iterations in the solution space using a stochastic hill climbing algorithm according to the pre-constructed objective function; when the objective function corresponding to the solution of the current iteration is less than the objective function corresponding to the solution of the previous iteration, searching for the next solution within the neighborhood range of the solution of the current iteration; when the objective function corresponding to the solution of the current iteration is greater than or equal to the objective function corresponding to the solution of the previous iteration, searching for the next solution within the neighborhood range of the solution of the current iteration according to a preset probability; and taking the winding tension with the minimum objective function in the iteration process as the target winding tension.

[0084] The preset probability can be set in advance according to actual requirements. For example, the preset probability can be between 30% and 50%.

[0085] When the objective function corresponding to the solution of the current iteration is greater than or equal to the objective function corresponding to the solution of the previous iteration, by searching for the next solution within the neighborhood range of the solution of the current iteration according to a preset probability, there is still a chance to explore new neighborhoods in the solution space when the current solution is not the optimal solution, increasing the diversity of the search for solutions and thus avoiding local optimal solutions.

[0086] In one embodiment, the average energy consumption rate is positively correlated with the winding tension, winding speed, and outer radius; the firmness value is determined according to the winding speed, winding tension, and a preset corresponding relationship; wherein, the preset corresponding relationship is used to represent the corresponding relationship between the winding speed and the winding tension and the firmness value; and the firmness value is used to represent the firmness of the object to be wound after winding.

[0087] Through the pre-constructed preset corresponding relationship, when determining the outer radius of the product to be wound at the current moment, the product to be wound can be wound according to the preset winding speed and the matching winding tension, thereby reducing the average energy consumption rate during the winding process while ensuring the winding effect of the product to be wound.

[0088] Figure 2 is a schematic structural diagram of a tension control system 1000 of a winding machine shown according to an exemplary embodiment. Refer to Figure 2 , the tension control system 1000 of the winding machine includes: a processor 1100 and a memory 1200, the memory 1200 stores computer program instructions, and when the computer program instructions are executed by the processor 1100, all or part of the steps of the tension control method of the winding machine in this application are implemented.

[0089] Other embodiments of the present application will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only regarded as exemplary.

[0090] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A tension control method for a winding machine, characterized in that: include: Obtaining winding tension data of the winding machine when performing a winding task, and determining a first stability value of the winding tension data within a target time period before a current moment, so as to adjust the initial number of iterations using the first stability value to obtain a target number of iterations; The winding speed at the current moment and the outer radius of the object to be wound are obtained, and according to the pre-constructed objective function, the winding tension is iterated for a target number of iterations to obtain the target winding tension, so as to control the winding of the object to be wound by the winding machine at the next moment according to the target winding tension; The objective function is used to balance the average energy consumption rate of winding the object to be wound and the firmness value after winding; the average energy consumption rate and the firmness value are determined according to the winding speed, the outer radius and the winding tension.

2. The tension control method of the winding machine according to claim 1, characterized in that: The first stability value is determined in the following way: Determine a second stability value of the winding tension data in the target time period before the current moment according to the average value and the median value of the winding tension data in the target time period; The second stability value is used to characterize the stability of the winding tension data within the target time period; According to the winding tension data of the winding machine in the target time period and the current data of the motor, a positive correlation coefficient between the current data and the winding tension data at the current moment is determined; The first stability value at the current moment is determined according to the second stability value corresponding to the current moment and the positive correlation coefficient.

3. The tension control method of the winding machine according to claim 2, characterized in that: The second stability value is determined in the following manner: , where T is the second stability value, Z is the number corresponding to the mode of the winding tension data within the target time period, and exp is an exponential function with a natural constant as the base. is the median of the winding tension data within the target time period, It is the average value of the winding tension data within the target time period.

4. The tension control method of a wrapping machine according to claim 2, characterized in that: The positive correlation coefficient between the current data and the winding tension data at the current moment is determined by: , where H is the positive correlation coefficient, exp is an exponential function with a natural constant as the base, and G is a preset number, is the time at which the gth current data with values ​​from large to small in the target time period is located. It is the moment at which the gth winding tension data with values ​​from large to small is located within the target time period.

5. The tension control method of a wrapping machine according to claim 2, characterized in that: Determining the first stability value at the current moment according to the second stability value corresponding to the current moment and the positive correlation coefficient includes: , where Q is the first stability value at the current moment, T is the second stability value corresponding to the current moment, exp is an exponential function with a natural constant as the base, and H is the positive correlation coefficient between the current data and the winding tension data at the current moment.

6. The tension control method of a wrapping machine according to claim 1, characterized in that: The first stability value is used to adjust the initial number of iterations to obtain a target number of iterations, including: ,in, is the target iteration number, is the preset first iteration number, is an exponential function with a natural constant as the base, Q is the first stability value at the current moment, t is the second iteration number, and the second iteration number is equal to the minimum iteration number required to output the target iteration number in the iterative algorithm.

7. The tension control method of a wrapping machine according to claim 1, characterized in that: According to the pre-constructed objective function, the winding tension is iterated for a target number of iterations to obtain the target winding tension, including: According to the pre-constructed objective function, the winding tension is iterated for a target number of iterations using a random hill climbing algorithm, and the winding tension with the minimum objective function corresponding to the iteration process of the target number of iterations is taken as the target winding tension.

8. The tension control method of a wrapping machine according to claim 1, characterized in that: The average energy consumption rate is positively correlated with the winding tension, winding speed and outer radius; the firmness value is determined based on the winding speed, winding tension and the preset corresponding relationship; The preset corresponding relationship is used to characterize the corresponding relationship between the winding speed and the winding tension and the firmness value; the firmness value is used to characterize the firmness of the object to be wound after winding is completed.

9. The tension control method of a wrapping machine according to claim 1, characterized in that: The objective function , a is the first positive number, norm is the normalization function, G is the average energy consumption rate of winding the object to be wound, b is the second positive number, exp is an exponential function with a natural constant as the base, and M is the firmness value; the sum of the first positive number and the second positive number is equal to 1.

10. A tension control system for a winding machine, characterized in that: include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the tension control method of the winding machine according to any one of claims 1 to 9 is implemented.

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