Tension control method and system for winding machine

Abstract

The present application relates to the field of equipment control technology, and in particular to a tension control method and system for a winding machine. The method comprises: 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 the current moment, so as to adjust the initial number of iterations using the first stability 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 a target number of iterations according to a pre-constructed objective function to obtain a 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. Through the above technical solution, it is possible to achieve more effective control of the winding tension of the winding machine on the object to be wound.

Description

Technical Field

[0001] The present application relates to the field of equipment control technology, and in particular to a tension control method and system for a winding machine. Background Art

[0002] A wrapping machine is an automated packaging device used to wrap materials such as film, paper, and shrink film around products or pallets, securing and protecting the products. When the product to be wrapped is within the machine's operating range, the machine can wrap the product automatically or according to received instructions.

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

[0004] In the related art, the product to be wrapped is mainly wrapped at a fixed tension by controlling the wrapping machine. However, different products to be wrapped have different shape characteristics. For example, different products to be wrapped have different diameters in the horizontal direction; or the horizontal distances from the center of the same product to be wrapped to different positions may also be different. For example, the distance from the center of the product to be wrapped to the products stacked on the pallet is larger at the corners, and the distance from the center of the product to be wrapped to the products stacked on the pallet to the flat surface is smaller.

[0005] Since the outer radius of different positions of the product to be wound is different, or the outer radius of different products to be wound is different, when the product to be wound is wound using a fixed winding tension, it is possible that some positions are not effectively wound, while other positions are wound too tightly. Therefore, it is difficult for the relevant technology to achieve effective control of the tension of the winding machine during the winding process. Summary of the Invention

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

[0007] According to a first aspect of an embodiment of the present application, a tension control method for a winding machine is provided, comprising: 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; obtaining the winding speed at the current moment and the outer radius of the object to be wound, and iterating the winding tension for a target number of iterations according to a pre-constructed objective function to obtain a 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; wherein the objective function is used to balance the average energy consumption rate of winding the object to be wound and the firmness value after the winding is completed; the average energy consumption rate and the firmness value are determined based on the winding speed, the outer radius and the winding tension.

[0008] In this way, since the objective function is used to balance the average energy consumption rate and the firmness value of winding the object to be wound, according to the pre-constructed objective function, the winding tension is iterated a target number of times to obtain the target winding tension. The obtained target winding tension can take into account the average energy consumption rate and the firmness value of the winding, thereby reducing the energy consumption required for winding while ensuring the winding effect of the object to be wound.

[0009] Optionally, the first stability value is determined in the following manner: based on the average value and median of the winding tension data in the target time period, determining the second stability value of the winding tension data in the target time period before the current moment; the second stability value is used to characterize the stability of the winding tension data in the target time period; based on the winding tension data of the winding machine in the target time period and the current data of the motor, determining the positive correlation coefficient between the current data and the winding tension data at the current moment; based on the second stability value and the positive correlation coefficient corresponding to the current moment, determining the first stability value at 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, thereby reflecting the probability that the current data or the winding tension data is interfered with by noise. According to the second stability value corresponding to the current moment and the positive correlation coefficient, the first stability value at the current moment is determined, which can make the first stability value more accurately reflect the actual stability of the winding machine in the target time period before the current moment while avoiding noise interference.

[0011] Optionally, the second stability value is determined by: , 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.

[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, The moment when the gth current data is taken from large to small within the target time period, The moment at which the g-th winding tension data is taken from large to small within the target time period.

[0014] In this way, since under normal circumstances the motor current data 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 adjustment can better reflect the actual stability of the winding machine.

[0017] Optionally, adjusting the initial number of iterations using the first stability value to obtain a target number of iterations includes: ,in, is the target number of iterations, is the preset first iteration number, is an exponential function with a natural constant as its 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 number of iterations required to output the target iteration number in the iterative algorithm.

[0018] Optionally, according to a pre-constructed objective function, the winding tension is iterated a target number of times to obtain the target winding tension, including: according to the pre-constructed objective function, using a random hill climbing algorithm to iterate the winding tension a target number of times, and taking the winding tension with the minimum objective function corresponding to the iterative 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, winding speed and outer radius; the firmness value is determined based on the winding speed, winding tension and a preset corresponding relationship; wherein the preset corresponding relationship is used to characterize the correspondence between the winding speed and winding tension and the firmness value; the firmness value is used to characterize the firmness of the object to be wound after the winding is completed.

[0020] Optionally, the objective function , a is the first positive number, norm is the normalization processing function, G is the average energy consumption rate of winding the object to be wound, b is the second positive number, exp is the 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 a second aspect of an embodiment of the present application, a tension control system for a winding machine is provided, comprising: a processor and a memory, wherein 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 solution 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 based on 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 and the firmness value of winding the object to be wound, 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 when winding the object according to the winding speed, thereby enabling more effective control of the winding tension of the winding machine on the object to be wound.

[0023] The target number of iterations for the winding tension is determined based on the first stability value of the winding tension data within the target time period before the current moment. The number of iterations can be adaptively determined based on the stability of the winding tension within the previous period, taking into account both the efficiency and the amount of computation required for the iterative process, thereby ensuring the effective implementation of the iterative process for the winding tension.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a flow chart showing a tension control method of a winding machine according to an exemplary embodiment;

[0026] Figure 2 The figure is a schematic structural diagram of a tension control system of a winding machine according to an exemplary embodiment. DETAILED DESCRIPTION

[0027] First, a brief introduction is given to the application scenario of the embodiment of the present application. In the application scenario of the present application, the winding machine can use a fixed winding tension to wind the object to be wound. However, due to the different shapes of different winding objects, or the different characteristics of the same winding object at different positions, when using a fixed winding tension for winding, it may cause some areas of the winding object to be wound too loosely or too tightly, making it difficult to obtain a good winding effect on the object to be wound.

[0028] In order to solve the above technical problems, the present invention provides a method and system for controlling the tension of a winding machine. Figure 1 FIG. 1 is a flow chart of a tension control method for a winding machine according to an exemplary embodiment. Figure 1 As shown, the method includes the following steps.

[0029] In step S101, the winding tension data of the winding machine when performing the winding task is obtained, and the first stability value of the winding tension data in the target time period before the current moment is determined, so as to adjust the initial number of iterations using the first stability value to obtain the target number of iterations.

[0030] A tension sensor can be set on the wrapping machine to obtain the wrapping tension data of the wrapping machine when performing the wrapping task; the tension sensor can be set at the discharge port of the wrapping film conveying mechanism of the wrapping machine, and the wrapping film conveying mechanism is used to extract the wrapping film from the winding reel and provide the wrapping film to the robotic arm of the wrapping machine through the discharge port, so that the robotic arm of the wrapping machine wraps the wrapping film onto the product to be wrapped.

[0031] The first stability value of the winding tension data within the target time period before the current moment is at least used to characterize the stability 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 a 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.

[0032] The larger the first stability value of the winding tension data in the target time period before the current moment, the more stable the winding tension data of the winding machine is in the target time period before the current moment, and the lower the probability or degree of disturbance of the winding machine in the target time period. In the iteration process corresponding to the winding tension at subsequent moments, iteration can be performed with fewer iterations, thereby improving the efficiency of iterating the winding tension while ensuring the iteration effect.

[0033] On the contrary, the smaller the first stability value of the winding tension data in the target time period before the current moment, the more unstable the winding tension data of the winding machine is in the target time period before the current moment, and the higher the probability or degree of disturbance of the winding machine in the target time period. In the iteration process corresponding to the winding tension at subsequent moments, a greater number of iterations can be performed to ensure the iterative effect of the winding tension.

[0034] In one embodiment, the first stability value is determined in the following manner: based on the average value and median of the winding tension data in the target time period, the second stability value of the winding tension data in the target time period before the current moment is determined; the second stability value is used to characterize the stability of the winding tension data in the target time period; based on the winding tension data of the winding machine in the target time period and the current data of the motor, the positive correlation coefficient between the current data and the winding tension data at the current moment is determined; based on the second stability value and the positive correlation coefficient corresponding to the current moment, the first stability value at the current moment is determined.

[0035] 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, based on the average value and median of the winding tension data within the target time period, a second stability value that effectively characterizes the stability of the winding tension data within the target time period before the current moment can be determined.

[0036] The current data of the motor performing the winding task in the winding machine can be obtained through the current sensor; the voltage of the motor is relatively fixed when it is working, and the winding tension data of the winding machine within the target time period is negatively correlated with the current data of the motor when it is working.

[0037] If the current of the winding machine's motor gradually increases during operation within the target time period, and the winding tension data of the winding machine also gradually increases during the target time period, it indicates that the working state of the winding machine during winding is relatively normal, or the acquired current data is less affected by noise.

[0038] If the current of the winding machine's motor gradually increases when it is working during the target time period, while the winding tension data of the winding machine gradually decreases during the target time period, it means that there is an abnormality in the working state of the winding machine during the winding operation, or the acquired current data is greatly affected by noise. Therefore, the positive correlation coefficient between the current data and the winding tension data at the current moment can reflect the probability or degree of influence of the current data by noise, so as to avoid the adverse effects of the noise data in the current data on the iterative process of the winding tension.

[0039] Since the second stability level reflects the stability level of the winding machine in the target time period before the current moment, and the positive correlation coefficient reflects the probability or degree of the motor current data being affected by noise in the target time period, the first stability level value at the current moment is determined based on the second stability level value and the positive correlation coefficient corresponding to the current moment. The obtained first stability level value can better reflect the actual stability level of the winding machine in the target time period before the current moment while avoiding the influence of noise.

[0040] In this way, the first stability value at the current moment is determined based on the second stability value corresponding to the current moment and the positive correlation coefficient. Compared with the second stability value corresponding to the current moment, the first stability value can more accurately reflect the actual stability of the winding machine in the target time period before the current moment.

[0041] In one embodiment, the second stability value is determined by: , 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, is the average value of the winding tension data within the target time period, To take the absolute value.

[0042] In the calculation formula of the second stability value, since the second stability value is determined based on the number corresponding to the mode of the winding tension data within the target time period, the mode is equal to the winding tension data with the highest frequency or the highest frequency that appears within the target time period. The larger the number 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 number of the mode of the winding tension data within the target time period, the greater the degree of fluctuation of the winding tension of the winding machine within the target time period.

[0043] When the winding tension of the wrapping machine fluctuates greatly within the target time period, the difference between the median and the average value of the winding tension of the wrapping machine within the target time period is greater; on the contrary, when the winding tension of the wrapping machine fluctuates less within the target time period, the median and the average value of the winding tension of the wrapping machine within the target time period are closer. Therefore, comparing the median and the average value of the winding tension of the wrapping machine within the target time period can reflect the stability of the winding tension of the wrapping machine within the target time period.

[0044] The inverse of the exponential function is used to process the difference between the median and the average value of the winding tension of the winding machine within the target time period. This can not only make the value of the second stability value 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.

[0045] In this way, by considering the number 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 second stability value obtained can better reflect the stability of the winding tension data within the target time period.

[0046] In one embodiment, 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, The moment when the gth current data is taken from large to small within the target time period, The moment at which the g-th winding tension data is taken from large to small within the target time period.

[0047] The preset number can be set according to actual needs, and the preset number is smaller than the total number of data points of the current data in the target time period; for example, the preset number can be between 5 and 10.

[0048] Since the current of the motor performing the winding task of the winding machine is positively correlated with the winding tension, the moment when the motor current is larger usually corresponds to the moment when the winding tension is larger. Therefore, within the same time period, the moments corresponding to the multiple currents with the largest currents of the motor performing the winding task within the target time period can be compared with the moments corresponding to the multiple winding tension data with the largest values within the target time period to determine the positive correlation between the winding tension and current data within the target time period.

[0049] For example, if the target time period is 20 seconds, a total of 20 current or winding tension data points are collected within these 20 seconds, so that the target time period includes 20 current data points corresponding to different moments and 20 data points corresponding to different winding tensions.

[0050] The five moments when the motor current of the winding machine is the largest within these 20 seconds can be the 10th second, 11th second, 12th second, 15th second and 16th second, respectively. The five moments when the motor current of the winding machine is the largest within these 20 seconds can be the 9th second, 11th second, 12th second, 15th second and 16th second, respectively. The moments corresponding to the current data of the winding machine and the moments corresponding to the winding tension data differ only in some moments. The current of the motor performing the winding task of the winding machine within the target time period shows a strong positive correlation with the winding tension.

[0051] In this way, by comparing the time at which the gth current data, which takes values from large to small within the target time period, is located with the time at which the gth winding tension data, which takes 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.

[0052] Since the selected current data with the largest values are compared with the selected winding tension data with the largest values, compared with comparing the current data at all times in the target time period with the winding tension data, it can not only effectively reflect the correlation between the current data and the winding tension data in the target time period, but also reduce the amount of calculation for comparing the current data and the winding tension data.

[0053] In one embodiment, determining the first stability value at the current moment based on 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.

[0054] 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 in the target time period before the current moment, the greater the probability that the motor current data is affected by noise at the current moment.

[0055] 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 will be stable in the target time period before the current moment. The closer the value of is to 0, the The closer the value of is to 1, the closer the obtained second stability value is to the first stability value itself.

[0056] The smaller 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 current data or the winding tension of the winding machine at the current moment is disturbed, or the greater the probability that the current data or the winding tension at the current moment is affected by noise.

[0057] The smaller the positive correlation between the current data and the winding tension data at the current moment, the more likely that the current data or winding tension at the current moment is affected by noise. If the winding tension data of the winding machine shows a certain volatility, it means that when not affected by noise, the winding tension data of the winding machine should actually show weaker volatility, or the winding tension data of the winding machine should actually show stronger stability. Therefore, a second degree value with a larger value can be obtained on the basis of the first stability degree value.

[0058] In this way, the positive correlation coefficient between the current data and the winding tension data at the current moment can characterize the probability or degree to which the current data or winding tension data at the current moment is affected by noise. Therefore, the positive correlation coefficient can be used to adjust the second stability value to obtain the first stability value that can better reflect the actual stability of the winding machine.

[0059] In one embodiment, adjusting the initial number of iterations using the first stability value to obtain a target number of iterations includes: ,in, is the target number of iterations, is the preset first iteration number, is an exponential function with a natural constant as its 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 number of iterations required to output the target iteration number in the iterative algorithm.

[0060] The existence of the second number of iterations can ensure that the iterative algorithm can effectively iterate the winding tension. For example, when the objective function is iterated using the random hill climbing algorithm, it can be guaranteed that the objective function is iterated at least a second number of times. The second number of iterations can be pre-set according to actual needs. For example, the second number of iterations can be between 20 and 30.

[0061] Using the inverse of the exponential function to process the first stability value can ensure that the target number of iterations is negatively correlated with the first stability value, and the obtained value after processing can be The value of is in the range of 0 to 1, which is convenient for adjusting the number of first iterations.

[0062] In this way, the target number of iterations is obtained by adjusting the initial number of iterations using the first stability value, which can not only ensure that the number of iterations meets the minimum number of iterations required to output the target number of iterations, but also make the target number of iterations negatively correlated with the first stability value.

[0063] Since the target number of iterations is negatively correlated with the first stability 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 winding tension of the winding machine fluctuates more within the target time period, a greater number of iterations can be used to ensure the accuracy of the obtained target winding tension.

[0064] 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 winding tension is iterated a target number of times 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.

[0065] The winding machine can wind the object to be wound at a preset winding speed, and the speed at which the winding machine winds the object to be wound can be obtained through the speed sensor; the distance data obtained by the distance sensor or the image data obtained by the image sensor can determine the outer radius of the winding position of the object to be wound by the winding machine at the current moment.

[0066] Before winding the object to be wound, the image sensor can be used to scan the object to be wound at multiple angles to obtain shape information of the object to be wound at different positions, and the outer radius information of the object to be wound at different positions can be determined using the determined shape information.

[0067] Alternatively, a distance sensor can be used to measure the distances of different positions relative to different parts of the object to be wrapped, and the distances of different positions relative to different parts of the object to be wrapped can be used to determine the outer radius information of the object to be wrapped at different positions; or, a laser radar can be used to perform multi-angle scanning on the object to be wrapped to obtain point cloud data of different parts of the object to be wrapped to determine the outer radius information of the object to be wrapped at different positions.

[0068] When winding objects of different shapes, or when winding parts of different shapes of the same object, the winding machine can adaptively determine the winding tension of the object to be wound according to the outer radius of the part being wound at the current moment, so as to avoid winding the object too loosely or too tightly.

[0069] The objective function is used to balance the average energy consumption rate of winding the object to be wound and the firmness value after the winding is completed; the smaller the value of the objective function is, the more likely it is to achieve a balance between the average energy consumption rate of winding the object to be wound and the firmness value after the winding is completed; the average energy consumption rate and the firmness value are determined based on the winding speed, the outer radius and the winding tension.

[0070] The energy consumption of the winding machine during the winding operation of the object to be wound is positively correlated with the winding time and the energy consumption rate during the winding operation. For example, the single energy consumption of winding the object to be wound is equal to the product of the time required for a single winding and the average energy consumption rate during the winding operation.

[0071] The winding machine usually performs the winding operation at a preset winding speed. Therefore, the time required to wind the same object to be wound can be determined according to the preset number of winding layers, the outer radius of the object to be wound, and the winding speed. The single energy consumption required to wind 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.

[0072] Since the objective function is used to balance the average energy consumption rate of winding the object to be wound and the firmness value after the winding is completed, the target winding tension is obtained by iterating the winding tension a target number of times, 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 obtained winding tension can take into account the average energy consumption rate of winding and the firmness value after the winding is completed, and can avoid the object to be wound being too tight or too loose after the winding is completed while reducing the required energy consumption.

[0073] In order to prevent the determined winding tension from being too large or too small, the iterative process of the objective function on the winding tension may be performed when the winding tension is within the target tension range.

[0074] In one embodiment, the objective function , a is the first positive number, norm is the normalization processing function, G is the average energy consumption rate of winding the object to be wound, b is the second positive number, exp is the 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.

[0075] The values of the first positive number a and the second positive number b can be determined by the priority of the average energy consumption rate of winding and the priority of the firmness value after winding is completed, so as to take into account the priority of the average energy consumption rate of winding and the firmness value after winding is completed.

[0076] For example, the first positive number may be equal to 0.4, and the second positive number may be equal to 0.6.

[0077] The firmness value after winding 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.

[0078] The object to be wound can be wound according to a preset winding speed and a preset winding tension, and the firmness of the wound object to be wound can be tested to obtain a firmness value corresponding to the preset winding speed and the preset winding tension.

[0079] By winding the object to be wound according to different preset winding speeds or preset winding tensions, a corresponding relationship between the winding speed and the winding tension and the firmness value can be established.

[0080] In this way, the average energy consumption rate and the firmness value have opposite effects on the value of the objective function. The objective function can achieve a balance between the average energy consumption rate and the firmness value, taking into account both reducing the energy consumption of the winding process and ensuring the firmness value of the wound object.

[0081] In one embodiment, according to a pre-constructed objective function, the winding tension is iterated a target number of times to obtain the target winding tension, including: according to the pre-constructed objective function, using a random hill climbing algorithm to iterate the winding tension a target number of times, and taking the winding tension with the minimum objective function corresponding to the iterative process of the target number of times as the target winding tension.

[0082] Higher winding tension may lead to a higher energy consumption rate, but may also improve the packaging strength and stability of the product; reduced winding tension may reduce the energy consumption rate, but may also result in poor packaging strength and stability of the product. Therefore, according to the pre-constructed objective function, the random hill climbing algorithm is used to iterate the winding tension for a target number of iterations to obtain the target winding tension that takes into account both energy consumption and firmness.

[0083] In this way, since the objective function is used to balance the energy consumption rate and the firmness value, the winding tension with the minimum objective function corresponding to the iteration process of the target number of iterations is used as the target winding tension. The obtained target tension can better achieve the balance between the energy consumption rate and the firmness value.

[0084] In one embodiment, iterating the winding tension for a target number of iterations according to a pre-constructed objective function to obtain a target winding tension may include: iterating the winding tension for a target number of iterations using a random hill climbing algorithm in the solution space according to the pre-constructed objective function; searching for the next solution within the neighborhood of the solution of the current iteration when the objective function corresponding to the solution of the current iteration is smaller than the objective function corresponding to the solution of the previous iteration; searching for the next solution within the neighborhood of the solution of the current iteration according to a preset probability 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; and taking the winding tension with the minimum objective function corresponding to the iteration as the target winding tension.

[0085] The preset probability can be set in advance according to actual needs, for example, the preset probability can be between 30% and 50%.

[0086] 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, the next solution is searched within the neighborhood of the solution of the current iteration according to a preset probability. When the current solution is not optimal, there is still an opportunity to explore new neighborhoods in the solution space, which increases the diversity of the search for solutions and avoids local optimal solutions.

[0087] 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 based on the winding speed, winding tension and a preset corresponding relationship; wherein the preset corresponding relationship is used to characterize the correspondence 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 the winding is completed.

[0088] Through the pre-established preset correspondence, the outer radius of the product to be wrapped at the current moment can be determined, and the product to be wrapped can be wrapped according to the preset winding speed and matching winding tension, thereby reducing the average energy consumption rate of the winding process while ensuring the winding effect of the product to be wrapped.

[0089] Figure 2 FIG. 1 is a structural diagram of a tension control system 1000 for a winding machine according to an exemplary embodiment. Figure 2 The tension control system 1000 of the winding machine includes: a processor 1100 and a memory 1200, wherein 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.

[0090] Those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein, and the description and examples are to be considered merely as exemplary.

[0091] It will be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

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; Obtain the current winding speed and the outer radius of the object to be wound, and iterate the winding tension for a target number of iterations according to a pre-established objective function 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 and the firmness value after winding. The average energy consumption rate and firmness value are determined according to the winding speed, outer radius and winding tension. The first stability value is determined in the following way: Determining a second stability value of the winding tension data in the target time period before the current moment based on the average value and the median of the winding tension data in the target time period; the second stability value is used to represent the stability of the winding tension data in the target time period; Determine the positive correlation coefficient between the current data and the winding tension data at the current moment according to the winding tension data of the winding machine in the target time period and the current data of the motor; 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; 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.

2. The tension control method of the winding machine according to claim 1, characterized in that: The positive correlation coefficient between the current data and the winding tension data at the current moment is determined by the following method: , 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, The moment when the gth current data is taken from large to small within the target time period, The moment at which the g-th winding tension data is taken from large to small within the target time period.

3. The tension control method of a winding machine according to claim 1, 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.

4. The tension control method of a winding 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 number of iterations, is the preset first iteration number, is an exponential function with a natural constant as its 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 number of iterations required to output the target iteration number in the iterative algorithm.

5. The tension control method of a winding machine according to claim 1, characterized in that: According to the pre-established 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 iterative process of the target number of iterations is taken as the target winding tension.

6. 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.

7. The tension control method of a winding machine according to claim 1, characterized in that: The objective function , a is the first positive number, norm is the normalization processing function, G is the average energy consumption rate of winding the object to be wound, b is the second positive number, exp is the 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.

8. 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 7 is implemented.

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