Multifunctional tension control platform and method based on circular cutting

Abstract

The invention provides a multifunctional tension control platform and method based on circular cutting, and belongs to the technical field of control. The tension value and the running state of a material are synchronously collected in real time through a tension sensor and a floating roller device; the tension value collected by the tension sensor and the displacement value, collected by the displacement sensor, of the floating roller are input into a PID controller; according to the deviation between the set target tension value and the actual tension value, the displacement value fed back by the floating roller device is combined, and corresponding control output is calculated; the control output is used for adjusting the rotating speed and the output torque of the motor connected with the guide roller where the tension sensor is located, and dynamic correction of the material tension is achieved. Therefore, a double feedback mechanism of the floating roller and the tension sensor is introduced, and the PID control algorithm is combined to adjust the speed and the torque of the motor in real time, so that the problems of large tension fluctuation and low response speed in the prior art are solved, high-precision and high-stability control of the tension in the circular cutting process is realized, and the dependence on manual intervention is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of control technology, and particularly relates to a multi-functional tension control platform and method based on circular cutting. Background Art

[0002] As mentioned in the prior art solution with the patent publication number "CN117021226A", a segmented film laminating and circular cutting integrated machine and its usage method provide a circular cutting process for corresponding materials.

[0003] During the circular cutting process, the stability of the material tension directly affects the processing quality and accuracy. Traditional tension control methods mostly rely on manual adjustment, which not only has low efficiency but also is difficult to maintain the stability and consistency of the tension. In recent years, some platforms have introduced tension sensors and PID control strategies to achieve automatic tension adjustment. However, the existing solutions still have deficiencies in dynamic response and control accuracy. Especially when the operating state of the material changes suddenly, the platform adjustment lags, resulting in large tension fluctuations and affecting processing stability. Therefore, it is necessary to propose a more efficient tension control method to improve the platform response speed and control accuracy. Summary of the Invention

[0004] To solve the defects in the prior art, the present invention proposes a multi-functional tension control platform and method based on circular cutting. By introducing a dual feedback mechanism of a floating roller and a tension sensor, and combining the PID control algorithm to adjust the motor speed and torque in real time, the problems of large tension fluctuations and slow response speed in the prior art are solved, high-precision and high-stability control of the tension during circular cutting is achieved, and the dependence on manual intervention is reduced.

[0005] The present invention uses the following technical solutions.

[0006] A multi-functional tension control method based on circular cutting includes: Step 1: Set a tension sensor and a floating roller device in the material conveying path for circular cutting. The tension sensor and the floating roller device are used to respectively and synchronously collect the tension value and the operating state of the material in real time; Step 2: Input the tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor into the PID controller; Step 3: The PID controller calculates the corresponding control output according to the deviation between the set target tension value and the actual tension value, combined with the displacement value feedback by the floating roller device; Step 4: The control output is used to adjust the speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to achieve dynamic correction of the material tension.

[0007] Further, in Step 1, in the material conveying path of the circular cutting mechanism, a tension sensor and a floating roller device are integrated, which are respectively used to synchronously collect the tension value of the material for circular cutting during operation and the displacement value of the floating roller in real time. The displacement value of the floating roller is the running state of the material; the displacement value of the floating roller is collected by a displacement sensor.

[0008] Further, in Step 1, the floating roller device includes a floating roller, a guiding mechanism, a displacement sensor, and an elastic reset mechanism, where: The floating roller is movably mounted on the floating roller bracket through the guiding mechanism, and the material drives the floating roller to float up and down during operation; The displacement sensor is used to collect the displacement value of the floating roller in real time and feed the displacement value back to the PID controller; The elastic reset mechanism is used to provide an initial balance force for the floating roller so that it can move up and down stably when the material tension changes; The floating roller device is arranged between two guiding rollers on the material conveying path for circular cutting, forming an S-shaped material path. One of the two guiding rollers is the corresponding guiding roller of the floating roller device, which is defined as the first guiding roller, and the other guiding roller of the two guiding rollers is the adjacent guiding roller behind the corresponding guiding roller, which is defined as the second guiding roller.

[0009] Further, in Step 1, the floating roller of the floating roller device is arranged between the first guiding roller and the second guiding roller, forming an S-shaped material path. The axes of the floating roller, the first guiding roller, and the second guiding roller respectively form the three vertices of an isosceles triangle.

[0010] Further, in Step 1, the guiding mechanism includes a double-row ball linear guide rail and a base. The floating roller is installed on the floating roller bracket, and the floating roller bracket is installed on the base through the double-row ball linear guide rail.

[0011] Further, in Step 1, the bottom of the base is connected to a magnetorheological elastomer actuator, which includes: An elastomeric material, and the elastomeric material is a silicone rubber-based magnetorheological elastomer; A magnetic field generating device wound around the elastomeric material, and the magnetic field generating device is a toroidal electromagnetic coil; The multi-functional tension control platform for circular cutting realizes dynamic stiffness adjustment by controlling the magnetic field intensity through current, specifically as follows: First, connect the PID controller to the current regulator, and connect the current regulator to the magnetic field generating device wound around the elastomeric material; Then, control the current regulator to output the corresponding exciting current to control the magnetic field intensity through the PID controller according to the following formula to realize dynamic stiffness adjustment: ; Among them, is the magnetic field intensity of the magnetic field generating device, is the number of turns of the exciting coil, is the exciting current output by the current regulator controlled by the PID controller, is the effective magnetic path length of the magnetic field generating device, is the stiffness formed by dynamically adjusting the elastomer material under the condition that the magnetic field intensity is , is the initial stiffness of the elastomer material without magnetic field, is the stiffness coefficient of the elastomer material, is the set maximum value of the magnetic field intensity.

[0012] Furthermore, in step 2, the tension sensor collects the tension value of the material in real time and transmits it to the PID controller. The tension values are arranged in the order of their collection times and denoted as , represents the th tension value after arrangement. The displacement sensor collects the displacement value of the floating roller in real time and transmits it to the PID controller. The displacement values are arranged in the order of their collection times and denoted as , represents the th displacement value after arrangement. The PID controller sets the target tension value , and the value of the displacement sensor corresponding to the middle position of the floating roller is .

[0013] Furthermore, in step 3, a PID control structure with double inputs and single output is adopted, which includes: Obtain the tension deviation of the th tension value; Obtain the change rate of the floating roller displacement deviation of the th displacement value; According to and control the output of the th motor torque correction amount , The calculation formula of is: Among them is the set proportionality coefficient, is the set integral coefficient, is the set differential coefficient, is the feedback gain coefficient of the floating roller, is The sign function of is the sampling period of the tension value.

[0014] Further, in step 4, according to the calculated torque correction amount , the PID controller adjusts the th output torque of the motor connected thereto through the frequency converter to be : ; where is the basic torque calculated according to the set value of the material tension: ; wherein, is the radius of the guide roller; When the absolute value of the difference obtained by subtracting the value of the displacement sensor corresponding to the middle position of the floating roller from the displacement value of the floating roller detected exceeds the set safety threshold, the PID controller enters the tension abnormality handling mode and performs the following operations: The PID controller controls the frequency converter to reduce the motor speed to the safe speed .

[0015] A multi-functional tension control platform based on circular cutting, comprising: A tension sensor and a floating roller device, the tension sensor is installed on the support structure of the guide roller of the circular cutting mechanism; the floating roller device includes a floating roller and a displacement sensor arranged on the floating roller, and both the tension sensor and the displacement sensor are connected to the PID controller; the PID controller, the frequency converter and the motor are connected in sequence; the motor is connected to the guide roller where the tension sensor is located; The multi-functional tension control platform based on circular cutting further includes: An acquisition module, which is used to synchronously acquire the tension value and the running state of the material in real time through the tension sensor and the floating roller device respectively; An input module, which is used to input the tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor into the PID controller; A calculation module, which is used to calculate the corresponding control output according to the deviation between the set target tension value and the actual tension value, combined with the displacement value feedback by the floating roller device; A correction module, which is used to control the output to adjust the speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize the dynamic correction of the material tension.

[0016] Further, the support structure of the guide roller of the circular cutting mechanism is the bearing of the guide roller of the circular cutting mechanism.

[0017] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include: The present invention synchronously collects the tension value and running state of the material in real time through a tension sensor and a floating roller device respectively; inputs the tension value collected by the tension sensor and the displacement value of the floating roller collected by a displacement sensor into a PID controller; calculates a corresponding control output according to the deviation between the set target tension value and the actual tension value, in combination with the displacement value fed back by the floating roller device; the control output is used to adjust the rotational speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize the dynamic correction of the material tension. Thus, by introducing a dual feedback mechanism of the floating roller and the tension sensor, and combining the PID control algorithm to adjust the motor speed and torque in real time, the problems of large tension fluctuation and slow response speed in the prior art are solved, the high-precision and high-stability control of the tension during the circular cutting process is realized, and the dependence on manual intervention is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flowchart of the tension multi-functional control method based on circular cutting described in the present invention; Figure 2 is a module structure diagram of the tension multi-functional control platform based on circular cutting described in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described herein are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the spirit of the present invention shall fall within the protection scope of the present invention.

[0020] As Figure 1 shown, a tension multi-functional control method based on circular cutting described in the present invention includes: Step 1: A tension sensor and a floating roller device are arranged in the material conveying path for circular cutting, and the tension sensor and the floating roller device are used to synchronously collect the tension value and running state of the material in real time respectively; Step 1 is to set up a tension feedback and running state monitoring device.

[0021] In a preferred but non-limiting embodiment of the present invention, in step 1, in the material conveying path of the circular cutting mechanism, a high-precision tension sensor and a floating roller device are integrated, which are respectively used to synchronously collect the tension value of the material for circular cutting during operation and the displacement value of the floating roller in real time. The displacement value of the floating roller is the operating state of the material. The tension sensor is installed on the support structure of the guide roller of the circular cutting mechanism, and the tension value is obtained through strain measurement technology. The guide roller of the circular cutting mechanism where the tension sensor is installed corresponds to a floating roller device. The floating roller device includes a floating roller and a displacement sensor arranged on the floating roller. The floating roller serves as a mechanical feedback element for dynamic tension changes, and its displacement value is collected through the displacement sensor. Two signals, that is, the tension value of the material for circular cutting during operation and the displacement value of the floating roller, are synchronously input into the PID controller to construct a double-feedback closed-loop control structure to achieve high-sensitivity monitoring of the material tension.

[0022] In an embodiment, the circular cutting mechanism is used to process PET film materials with a width of 300 mm and a thickness of 0.1 mm, and the running speed is 60 m / min. The platform configuration includes: a strain type tension sensor (range 50 N, accuracy ±0.5%F.S.) installed on the bearing of the guide roller, a floating roller device (stroke ±20 mm), a high-resolution incremental encoder (2048P / R) serving as a displacement sensor, and a frequency converter supporting torque mode control.

[0023] In practical applications, in the circular cutting mechanism, material tension control is one of the key factors to ensure processing quality. As an important element for tension detection and feedback, the displacement state of the floating roller can reflect the tension change trend during the operation of the material. However, there are still problems in the arrangement method and structural design of the floating roller in the prior art, such as slow response, low detection accuracy, and poor mechanical stability, resulting in limited dynamic performance of the tension control system. Therefore, it is necessary to propose an optimized arrangement structure and mechanical design scheme for the floating roller device to improve the platform response speed and control accuracy.

[0024] The present invention improves the response sensitivity of the floating roller to material tension changes, enhances the detection accuracy and mechanical stability by optimizing the installation position and guiding structure of the floating roller in the material conveying path for circular cutting, thereby improving the overall performance of the tension control system.

[0025] In a preferred but non-limiting embodiment of the present invention, in step 1, the floating roller device includes a floating roller, a guiding mechanism, a displacement sensor, and an elastic reset mechanism, where: The floating roller is movably installed on the floating roller bracket through the guiding mechanism, and the material drives the floating roller to float up and down during operation. The displacement sensor is used to collect the displacement value of the floating roller in real time and feedback the displacement value to the PID controller. The elastic reset mechanism is used to provide an initial balance force for the floating roller, enabling it to move up and down stably when the material tension changes; The floating roller device is arranged between two guide rollers on the material conveying path for circular cutting, forming an S-shaped material path to improve the detection sensitivity and the platform response speed. One of the two guide rollers is the corresponding guide roller for the floating roller device, which is defined as the first guide roller, and the other guide roller is the adjacent guide roller after the corresponding guide roller, which is defined as the second guide roller. The support structure of the last guide roller of the circular cutting mechanism does not have a tension sensor. Mainly, adjusting the tension of the guide roller before the last guide roller can achieve good tension control.

[0026] The floating roller device can effectively reflect the change trend of the material tension, improve the dynamic response ability of the tension control system, and achieve high-precision control of the material tension during the circular cutting process.

[0027] The present invention needs to solve the problems of the position and structure of the floating roller device arranged in the material conveying path of the circular cutting system. The floating roller is usually arranged between two fixed guide rollers, forming an S-shaped material path. This position helps to improve the detection sensitivity, but it is necessary to consider how to optimize the position to reduce friction and improve the response speed. For the guide structure using rolling bearings, linear rolling bearings need to be adopted to reduce friction and improve the response speed.

[0028] In terms of structure, the guide mechanism and the elastic reset mechanism of the floating roller are crucial. Rolling bearings and magnetorheological elastomers can be used respectively.

[0029] In a preferred but non-limiting embodiment of the present invention, in step 1, the floating roller of the floating roller device is arranged between the first guide roller and the second guide roller, forming an S-shaped material path. The axes of the floating roller, the first guide roller, and the second guide roller respectively form the three vertices of an isosceles triangle. Just like the base length L of the isosceles triangle is 300 mm, the vertical stroke range of the floating roller is ±25 mm, corresponding to the material tension change range of 0.5 - 20 N.

[0030] In a preferred but non-limiting embodiment of the present invention, in step 1, the guide mechanism includes a double-row ball linear guide rail and a base. The floating roller is installed on a floating roller bracket, and the floating roller bracket is installed on the base through the double-row ball linear guide rail. Just like its specific parameters can be: Model of the ball linear guide rail: THK HSR15MN; Ball diameter of the ball linear guide rail: 3.969 mm; Contact angle of the ball linear guide rail: 45°; Preload force level of the ball linear guide rail: C2 level; Friction coefficient of the ball linear guide: μ = 0.0015 (μ = 0.15 for traditional sliding guide); The ball bearing group of the ball linear guide adopts a ceramic hybrid bearing (silicon nitride balls + stainless steel rings), and its self-lubricating coating is composed of molybdenum disulfide (MoS2) and polytetrafluoroethylene (PTFE) compounded in a mass ratio of 3:7, with the friction coefficient reduced to 0.06.

[0031] In the preferred but non-limiting embodiment of the present invention, in step 1, a magnetorheological elastomer actuator is connected to the bottom of the base, which includes: An elastomer material, which is a silicone rubber-based magnetorheological elastomer (iron particle content 30%); A magnetic field generating device wound around the elastomer material, which is an annular electromagnetic coil (number of turns N = 200, resistance R = 5Ω); Stiffness adjustment range of the magnetorheological elastomer actuator: K = 50 - 800 kN / m (corresponding to magnetic field strength H = 0 - 1.2 T); Response time of the magnetorheological elastomer actuator: < 8 ms.

[0032] The tension multi-functional control platform based on circle cutting realizes dynamic stiffness adjustment by controlling the magnetic field strength through current, specifically as follows: First, connect the PID controller to the current regulator, and connect the current regulator to the magnetic field generating device wound around the elastomer material; Then, the following formula is used to control the current regulator to output the corresponding excitation current through the PID controller to control the magnetic field strength and realize dynamic stiffness adjustment: ; Among them, is the magnetic field strength of the magnetic field generating device, is the number of turns of the excitation coil, is the excitation current output by the PID controller to control the current regulator, is the effective magnetic path length of the magnetic field generating device, is the stiffness dynamically adjusted for the elastomer material under the condition of magnetic field strength , is the initial stiffness of the elastomer material without magnetic field, just as , is the stiffness coefficient of the elastomer material, is the set maximum value of the magnetic field strength, just as .

[0033] Technical parameters of the displacement sensor are: Measurement range: 0 - 50 mm; Resolution: 1 μm; Repeating accuracy: ±2μm.

[0034] Through the combination of low-friction rolling guidance and magnetorheological elastomer technology, the present invention significantly improves the dynamic response ability and control accuracy of the floating roller device, while extending the service life of the mechanical components of the floating roller device, verifying the effectiveness of the floating roller device.

[0035] Step 2: Input the tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor into the PID controller; In a preferred but non-limiting embodiment of the present invention, in Step 2, the tension sensor collects the tension value of the material in real time and transmits it to the PID controller. The tension values are arranged in the order of their collection times and denoted as , indicating the th tension value after arrangement. The displacement sensor collects the displacement value of the floating roller in real time and transmits it to the PID controller. The displacement values are arranged in the order of their collection times and denoted as , indicating the th displacement value after arrangement. is related to the change trend of the tension value of the material. The PID controller sets the target tension value , just as , the value of the displacement sensor corresponding to the middle position of the floating roller is , just as (12-bit resolution).

[0036] Step 3: The PID controller calculates the corresponding control output according to the deviation between the set target tension value and the actual tension value, combined with the displacement value feedback from the floating roller device; The purpose of Step 3 is: The PID controller adopts a dual-input PID control algorithm to perform a difference operation on the actual tension value collected by the tension sensor and the set target tension value to obtain the tension deviation value; at the same time, the displacement value of the floating roller is used to judge the dynamic trend of the material operation and identify the tension mutation or the state of material relaxation / tightening. The PID controller combines the two-way feedback signals and calculates the correction amounts of the motor speed and torque in real time through proportional, integral, and differential operations to ensure that the tension adjustment responds quickly and transitions smoothly, avoiding overshoot or oscillation phenomena.

[0037] In a preferred but non-limiting embodiment of the present invention, in Step 3, the key is to establish an adaptive PID control algorithm, which is specifically as follows: Adopt a dual-input single-output PID control structure, which includes: Obtain the tension deviation of the th tension value; Obtain the fluctuating roll displacement deviation change rate of the -th displacement value; According to and control the output of the -th motor torque correction amount , and its calculation formula is: ; where is the set proportionality coefficient, is the set integral coefficient, is the set differential coefficient, is the feedback gain coefficient of the floating roll, is sign function of is the sampling period of the tension value.

[0038] , , , can be set according to the actual situation. Just as can be 1.2, can be 0.05, can be 0.3, can be 0.15.

[0039] Step 4: Control the output to adjust the rotational speed and output torque of the motor connected to the guide roll where the tension sensor is located, and realize the dynamic correction of the material tension.

[0040] The purpose of Step 4 is: The control output signal is sent to the frequency converter to dynamically adjust the rotational speed and output torque of the motor. When it is detected that the material tension is lower than the set value, the PID controller increases the motor speed or increases the torque to tighten the material; conversely, when the tension is higher than the set value, the PID controller decreases the motor speed or decreases the torque to release the tension. This adjustment process runs continuously throughout the circular cutting process to ensure that the tension is always within the set range and achieve high-precision closed-loop control.

[0041] In a preferred but non-limiting embodiment of the present invention, in Step 4, according to the calculated torque correction amount , the PID controller adjusts the -th output torque of the motor it is connected to through the frequency converter to be : ; where is the basic torque calculated according to the material tension set value: ; Among them, is the radius of the guide roller; just as can be 50 mm.

[0042] When the absolute value of the difference obtained by subtracting the value of the displacement sensor corresponding to the middle position of the floating roller from the displacement value of the floating roller detected exceeds the set safety threshold, the safety threshold can be set according to specific requirements. Just as the safety threshold can be 15 mm, that is when, the PID controller enters the tension abnormal handling mode and performs the following operations: The PID controller reduces the motor speed to a safe speed by controlling the frequency converter , which can be set according to specific requirements. Just as can be 30 m / min.

[0043] The present invention has the following advantages by introducing the floating roller displacement feedback and the adaptive PID parameter tuning mechanism: Improved dynamic response speed: Through practical verification, the tension disturbance recovery time of the present invention is shortened from 400 ms of the traditional PID controller to 180 ms; Improved parameter tuning efficiency: Through practical verification, the on-site commissioning time is shortened from 3 days to 2 hours to complete the basic parameter setting; Improved control accuracy: Through practical verification, the tension control accuracy reaches ±1.5%, which is 3 times higher than the traditional scheme; Enhanced robustness: Under the working conditions of ±10% change in material thickness, the PID controller can still maintain stable control.

[0044] The control processes of steps 1 to 4 are continuously carried out to form a closed-loop feedback to ensure that the material tension is stable within the set range.

[0045] The method of the present invention improves the dynamic response ability and control accuracy of tension control through a double feedback mechanism, effectively suppresses tension fluctuations, and improves the automation level and stability of circular cutting processing.

[0046] As Figure 2 shown, a tension multi-functional control platform based on circular cutting according to the present invention includes: A tension sensor and a floating roller device. The tension sensor is installed on the support structure of the guide roller of the circular cutting mechanism, and the tension value is obtained through strain measurement technology; the floating roller device includes a floating roller and a displacement sensor arranged on the floating roller. Both the tension sensor and the displacement sensor are connected to the PID controller; the PID controller, the frequency converter and the motor are connected in sequence; the motor is connected to the guide roller where the tension sensor is located, and the motor is used to drive the guide roller to rotate; The tension multi-functional control platform based on circular cutting further includes: An acquisition module, which is used to synchronously acquire the tension value and running state of the material in real time through a tension sensor and a floating roller device respectively; An input module, which is used to input the tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor into the PID controller; A calculation module, which is used to calculate the corresponding control output according to the deviation between the set target tension value and the actual tension value, combined with the displacement value fed back by the floating roller device; A correction module, which is used to control the output to adjust the rotation speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize the dynamic correction of the material tension.

[0047] In a preferred but non-limiting embodiment of the present invention, the support structure of the guide roller of the circular cutting mechanism is the bearing of the guide roller of the circular cutting mechanism.

[0048] The beneficial effect of the present invention is that, compared with the prior art, the technical effects of the present invention include: The present invention synchronously acquires the tension value and running state of the material in real time through a tension sensor and a floating roller device respectively; inputs the tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor into the PID controller; calculates the corresponding control output according to the deviation between the set target tension value and the actual tension value, combined with the displacement value fed back by the floating roller device; the control output is used to adjust the rotation speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize the dynamic correction of the material tension. Thus, by introducing a dual feedback mechanism of the floating roller and the tension sensor, and combining the PID control algorithm to adjust the motor speed and torque in real time, the problems of large tension fluctuation and slow response speed in the prior art are solved, the high-precision and high-stability control of the tension in the circular cutting process is realized, and the dependence on manual intervention is reduced.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that: still can modify the specific embodiments of the present invention or make equivalent replacements, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A multi-functional tension control method based on circular cutting, characterized in that, Including: Step 1: Set a tension sensor and a floating roller device in the material conveying path for circular cutting. The tension sensor and the floating roller device are used to respectively and synchronously collect the tension value and the running state of the material in real time. Step 2: Input the tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor into the PID controller. Step 3: The PID controller calculates the corresponding control output according to the deviation between the set target tension value and the actual tension value, combined with the displacement value feedback by the floating roller device. Step 4: The control output is used to adjust the rotational speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize the dynamic correction of the material tension.

2. The tension multi-functional control method based on circle cutting according to claim 1, characterized in that, In Step 1, in the material conveying path of the circular cutting mechanism, a tension sensor and a floating roller device are integrated, which are respectively used to synchronously collect the tension value of the material for circular cutting during operation and the displacement value of the floating roller in real time. The displacement value of the floating roller is the running state of the material; the displacement value of the floating roller is collected by the displacement sensor.

3. The tension multi-functional control method based on circular cutting according to claim 2, wherein, In Step 1, the floating roller device includes a floating roller, a guiding mechanism, a displacement sensor and an elastic reset mechanism, where: The floating roller is movably installed on the floating roller bracket through the guiding mechanism, and the material drives the floating roller to float up and down during operation. The displacement sensor is used to collect the displacement value of the floating roller in real time and feedback the displacement value to the PID controller. The elastic reset mechanism is used to provide an initial balance force for the floating roller so that it can move up and down stably when the material tension changes. The floating roller device is arranged between two guide rollers in the material conveying path for circular cutting, forming an S-shaped material path. One of the two guide rollers is the corresponding guide roller of the floating roller device, which is defined as the first guide roller, and the other guide roller of the two guide rollers is the adjacent guide roller behind the corresponding guide roller, which is defined as the second guide roller.

4. The tension multi-functional control method based on circular cutting according to claim 3, characterized in that In Step 1, the floating roller of the floating roller device is arranged between the first guide roller and the second guide roller, forming an S-shaped material path. The axes of the floating roller, the first guide roller and the second guide roller respectively form the three vertices of an isosceles triangle. In Step 1, the guiding mechanism includes a double-row ball linear guide rail and a base. The floating roller is installed on the floating roller bracket, and the floating roller bracket is installed on the base through the double-row ball linear guide rail.

5. The tension multi-functional control method based on circular cutting according to claim 4, characterized in that, In Step 1, the bottom of the base is connected to a magnetorheological elastomer actuator, which includes: An elastomeric material, and the elastomeric material is a silicone rubber-based magnetorheological elastomer. A magnetic field generating device wound around the elastomeric material, and the magnetic field generating device is a toroidal electromagnetic coil. The multi-functional tension control platform based on circular cutting realizes the dynamic adjustment of stiffness by controlling the magnetic field intensity through current, specifically as follows: First, connect the PID controller with the current regulator, and connect the current regulator with the magnetic field generating device wound around the elastomeric material. Then, the following formula is used to control the current regulator to output the corresponding excitation current through the PID controller to control the magnetic field intensity and realize the dynamic adjustment of stiffness: ； Among them, is the magnetic field strength of the magnetic field generating device, is the number of turns of the exciting coil, is the exciting current output by the current regulator controlled by the PID controller, is the effective magnetic path length of the magnetic field generating device, is the stiffness formed by dynamically adjusting the elastomer material under the condition that the magnetic field strength is , is the initial stiffness of the elastomer material without magnetic field, is the stiffness coefficient of the elastomer material, is the set maximum value of the magnetic field strength.

6. The tension multi-functional control method based on circular cutting according to claim 5, characterized in that In step 2, the tension sensor collects the tension value of the material in real time and transmits it to the PID controller. The tension values are arranged in the order of their acquisition times and denoted as , representing the -th tension value after arrangement. The displacement sensor collects the displacement value of the floating roller in real time and transmits it to the PID controller. The displacement values are arranged in the order of their acquisition times and denoted as , representing the -th displacement value after arrangement. The PID controller sets the target tension value , and the value of the displacement sensor corresponding to the middle position of the floating roller is .

7. The tension multi-functional control method based on circular cutting according to claim 6, characterized in that In Step 3, a double-input single-output PID control structure is adopted, which includes: Obtain the tension deviation of the th tension value; Obtain the floating roller displacement deviation change rate of the th displacement value; According to and control the output of the th motor torque correction amount , The calculation formula is as follows: ； wherein is the set proportionality coefficient, is the set integral coefficient, is the set differential coefficient, is the feedback gain coefficient of the floating roller, is the sign function of, is the sampling period of the tension value.

8. The tension multi-functional control method based on circular cutting according to claim 7, characterized in that In step 4, according to the calculated torque correction amount , the PID controller adjusts the th output torque of the motor connected thereto through the frequency converter to be : ； Among them is the basic torque calculated according to the set value of the material tension: ； wherein, is the radius of the guide roller; When the absolute value of the difference obtained by subtracting the value of the displacement sensor corresponding to the middle position of the floating roller from the displacement value of the floating roller exceeds the set safety threshold, the PID controller enters the tension abnormal handling mode and performs the following operations: The PID controller reduces the motor speed to a safe speed by controlling the frequency converter .

9. A tension multi-functional control platform based on circle cutting, characterized in that Including: A tension sensor and a floating roller device. The tension sensor is installed on the support structure of the guide roller of the circular cutting mechanism; the floating roller device includes a floating roller and a displacement sensor arranged on the floating roller. Both the tension sensor and the displacement sensor are connected to the PID controller; the PID controller, the frequency converter, and the motor are connected in sequence; the motor is connected to the guide roller where the tension sensor is located; Based on the tension multi-functional control platform for circular cutting, it further includes: An acquisition module, which is used to synchronously acquire the tension value and the running state of the material in real time through the tension sensor and the floating roller device respectively; An input module, which is used to input the tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor into the PID controller; A calculation module, which is used to calculate the corresponding control output according to the deviation between the set target tension value and the actual tension value, combined with the displacement value fed back by the floating roller device; A correction module, which is used to control the output to adjust the rotation speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize the dynamic correction of the material tension.

10. The tension multi-functional control platform based on circular cutting according to claim 9, characterized in that The support structure of the guide roller of the circular cutting mechanism is the bearing of the guide roller of the circular cutting mechanism.

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