Multifunctional tension control platform and method based on circular cutting

Abstract

The present invention provides a multifunctional tension control platform and method for circular cutting, belonging to the field of control technology. The platform uses a tension sensor and a floating roller device to synchronously collect material tension and operating status in real time. The tension value collected by the tension sensor and the displacement value of the floating roller collected by a displacement sensor are input into a PID controller. A corresponding control output is calculated based on 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 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, achieving dynamic correction of material tension. By introducing a dual feedback mechanism of the floating roller and the tension sensor, combined with a PID control algorithm to adjust the motor speed and torque in real time, the platform solves the problems of large tension fluctuations and slow response speed in the prior art, achieving high-precision and high-stability tension control during the circular cutting process, and reducing reliance on manual intervention.

Description

Technical Field

[0001] The present invention belongs to the field of control technology, and in particular relates to a tension multifunctional control platform and method based on circular cutting. Background Art

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

[0003] During the circular cutting process, the stability of material tension directly affects the processing quality and precision. Traditional tension control methods mostly rely on manual adjustment, which is not only inefficient but also difficult to maintain stable and consistent tension. In recent years, some platforms have introduced tension sensors and PID control strategies to achieve automated tension adjustment. However, existing solutions still have shortcomings in dynamic response and control accuracy. In particular, when the material's operating state suddenly changes, 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's response speed and control accuracy. Summary of the Invention

[0004] In order to solve the defects in the existing technology, the present invention proposes a multifunctional tension control platform and method based on circular cutting. By introducing a dual feedback mechanism of floating roller and tension sensor, and combining with 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 existing technology are solved, and high-precision and high-stability control of tension in the circular cutting process is achieved, reducing dependence on manual intervention.

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

[0006] A multifunctional tension control method based on circular cutting, comprising:

[0007] Step 1: A tension sensor and a floating roller device are set in the material conveying path for circular cutting, and the tension sensor and the floating roller device are used to respectively and synchronously collect the tension value and the running status of the material in real time;

[0008] 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;

[0009] Step 3: The PID controller calculates the corresponding control output based on the deviation between the set target tension value and the actual tension value, combined with the displacement value fed back by the dancing roller device;

[0010] 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.

[0011] Furthermore, in step 1, a tension sensor and a floating roller device are integrated in the material conveying path of the circular cutting mechanism, which are used to synchronously collect the tension value of the material used for circular cutting and the displacement value of the floating roller during operation in real time. The displacement value of the floating roller is the operating status of the material; the displacement value of the floating roller is collected by the displacement sensor.

[0012] Furthermore, in step 1, the floating roller device includes a floating roller, a guide mechanism, a displacement sensor and an elastic reset mechanism, wherein:

[0013] The floating roller is installed on the floating roller bracket so that it can move up and down through the guide mechanism. The material passes through the floating roller during the operation, driving the floating roller to float up and down.

[0014] 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;

[0015] The elastic reset mechanism is used to provide an initial balancing force for the floating roller, so that it can move up and down stably when the material tension changes;

[0016] The floating roller device is arranged between two guide rollers in the material conveying path for circular cutting to form an S-shaped material direction. One of the two guide rollers is the corresponding guide roller of the floating roller device, and the guide roller is defined as the first guide roller. The other guide roller of the two guide rollers is the next adjacent guide roller of the corresponding guide roller, and the guide roller is defined as the second guide roller.

[0017] Furthermore, in step 1, the floating roller of the floating roller device is arranged between the first guide roller and the second guide roller to form an S-shaped material direction, and the axis of the floating roller, the axis of the first guide roller and the axis of the second guide roller respectively form three vertices of an isosceles triangle.

[0018] Furthermore, in step 1, the guide mechanism includes a double-row ball linear guide and a base, the floating roller is mounted on a floating roller bracket, and the floating roller bracket is mounted on the base through the double-row ball linear guide.

[0019] Furthermore, in step 1, the bottom of the base is connected to a magnetorheological elastomer actuator, which includes:

[0020] Elastomer material, the elastomer material is a silicone rubber-based magnetorheological elastomer;

[0021] A magnetic field generating device wound on the elastomer material, the magnetic field generating device being a ring-shaped electromagnetic coil;

[0022] The circular-cut tension multifunctional control platform controls the magnetic field strength through current to achieve dynamic stiffness adjustment, as follows:

[0023] First, the PID controller is connected to the current regulator, which is then connected to a magnetic field generator wrapped around an elastomer material.

[0024] Then, the PID controller is used to control the current regulator to output the corresponding excitation current to control the magnetic field strength and realize dynamic adjustment of stiffness through the following formula:

[0025] ;

[0026] in, is the magnetic field strength of the magnetic field generating device, is the number of turns of the excitation coil, The PID controller controls the excitation current output by the current regulator. is the effective magnetic path length of the magnetic field generating device, For a magnetic field strength of The stiffness of the elastic material is dynamically adjusted under the conditions of is the initial stiffness of the elastic material in the absence of a magnetic field, is the stiffness coefficient of the elastic material, is the maximum value of the set magnetic field strength.

[0027] Furthermore, in step 2, the tension sensor collects the tension value of the material in real time and transmits it to the PID controller, and arranges the tension values ​​in the order of their collection time, which is recorded as , Indicates the order after 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 time and recorded as , Indicates the order after displacement value, the PID controller sets the target tension value , the value of the displacement sensor corresponding to the middle position of the floating roller is .

[0028] Furthermore, in step 3, a dual-input single-output PID control structure is adopted, which includes:

[0029] Get the Tension deviation of each tension value ;

[0030] Get the The change rate of the floating roller displacement deviation for each displacement value ;

[0031] according to and Control output Motor torque correction , The calculation formula is:

[0032] ;

[0033] in is the set proportional coefficient, is the set integral coefficient, is the set differential coefficient, is the feedback gain coefficient of the dancing roller, for The symbolic function of is the sampling period of the tension value.

[0034] Furthermore, in step 4, according to the calculated torque correction amount The PID controller adjusts the speed of the motor it is connected to through the frequency converter. The output torque is : ;

[0035] in The basic torque calculated based on the material tension setting value:

[0036] ;

[0037] in, is the radius of the guide roller;

[0038] When the absolute value of the difference between the displacement value of the floating roller and the displacement sensor value corresponding to the floating roller's mid-position is detected and exceeds the set safety threshold, the PID controller enters the tension abnormality processing mode and performs the following operations:

[0039] The PID controller reduces the motor speed to a safe speed by controlling the inverter .

[0040] A multifunctional tension control platform based on circular cutting, comprising:

[0041] The tension sensor and the floating roller device are 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 installed on the floating roller. The tension sensor and the displacement sensor are both 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.

[0042] The multifunctional tension control platform based on circular cutting also includes:

[0043] A collection module, which is used to synchronously collect the tension value and running status of the material in real time through the tension sensor and the floating roller device;

[0044] 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;

[0045] A calculation module is used to calculate the corresponding control output based on 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;

[0046] The correction module is used to control the output and adjust the speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize dynamic correction of the material tension.

[0047] Furthermore, the supporting structure of the guide roller of the circular cutting mechanism is a bearing of the guide roller of the circular cutting mechanism.

[0048] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0049] The present invention uses a tension sensor and a floating roller device to synchronously collect material tension and operating status in real time. The tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor are input into a PID controller. A corresponding control output is calculated based on the deviation between the set target tension value and the actual tension value, combined with the displacement value feedback from the floating roller device. This 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, achieving dynamic correction of material tension. By introducing a dual feedback mechanism of the floating roller and the tension sensor, and combining it with a PID control algorithm to adjust the motor speed and torque in real time, the present invention solves the problems of large tension fluctuations and slow response speed in the prior art, achieving high-precision and high-stability tension control during the circular cutting process, and reducing reliance on manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a flow chart of the multifunctional tension control method based on circular cutting described in the present invention;

[0051] Figure 2 This is a module structure diagram of the tension multifunctional control platform based on circular cutting described in the present invention. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely express the technical solutions of the present invention. The embodiments expressed in this application are only some embodiments of the present invention, not all embodiments. Based on the spirit of the present invention, other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0053] like Figure 1 As shown, the present invention provides a multifunctional tension control method based on circular cutting, comprising:

[0054] Step 1: A tension sensor and a floating roller device are set in the material conveying path for circular cutting, and the tension sensor and the floating roller device are used to respectively and synchronously collect the tension value and the running status of the material in real time;

[0055] Step 1 is to set up the tension feedback and operation status monitoring device.

[0056] In a preferred but non-limiting embodiment of the present invention, in step 1, a high-precision tension sensor and a floating roller device are integrated in the material conveying path of the circular cutting mechanism, which are respectively used to synchronously collect the tension value of the material used for circular cutting and the displacement value of the floating roller during operation in real time. The displacement value of the floating roller is the operating state of the material; the tension sensor is installed on the supporting structure of the guide roller of the circular cutting mechanism, and obtains the tension value through strain measurement technology. The guide roller of the circular cutting mechanism on which the tension sensor is installed corresponds to a floating roller device; the floating roller device includes a floating roller and a displacement sensor provided on the floating roller. The floating roller serves as a mechanical feedback element for dynamic tension changes, and its displacement value is collected by the displacement sensor; two signals, namely the tension value of the circularly cut material during operation and the displacement value of the floating roller, are synchronously input into the PID controller for constructing a dual-feedback closed-loop control structure to achieve high-sensitivity monitoring of material tension.

[0057] In one embodiment, the circular cutting mechanism processes PET film with a width of 300 mm and a thickness of 0.1 mm at a speed of 60 m / min. The platform configuration includes a strain gauge tension sensor (50 N range, ±0.5% FS accuracy) mounted on the guide roller bearing, a floating roller mechanism (±20 mm travel), a high-resolution incremental encoder (2048 P / R) as a displacement sensor, and a frequency converter supporting torque-mode control.

[0058] In practical applications, material tension control is a key factor in ensuring process quality in circular cutting mechanisms. The floating roller, a crucial element for tension detection and feedback, reflects the tension trend during material movement. However, existing floating roller layout and structural design still suffer from issues such as slow response, low detection accuracy, and poor mechanical stability, limiting the dynamic performance of tension control systems. Therefore, it is necessary to propose an optimized floating roller layout and mechanical design to improve platform response speed and control accuracy.

[0059] The present invention optimizes the installation position and guide structure of the floating roller in the material conveying path for circular cutting, thereby improving its response sensitivity to changes in material tension, enhancing detection accuracy and mechanical stability, and thus improving the overall performance of the tension control system.

[0060] In a preferred but non-limiting embodiment of the present invention, in step 1, the floating roller device includes a floating roller, a guide mechanism, a displacement sensor and an elastic reset mechanism, wherein:

[0061] The floating roller is installed on the floating roller bracket so that it can move up and down through the guide mechanism. The material passes through the floating roller during the operation, driving the floating roller to float up and down.

[0062] 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;

[0063] The elastic reset mechanism is used to provide an initial balancing force for the floating roller, so that it can move up and down stably when the material tension changes;

[0064] The floating roller assembly is positioned between the two guide rollers in the material conveying path used for circular cutting, creating an S-shaped material path to enhance detection sensitivity and platform response speed. One of the two guide rollers serves as the corresponding guide roller for the floating roller assembly and is defined as the first guide roller. The other guide roller is the guide roller immediately adjacent to the corresponding guide roller and is defined as the second guide roller. The support structure for the final guide roller in the circular cutting mechanism does not include a tension sensor; instead, optimal tension control is achieved by adjusting the tension of the guide roller immediately preceding the final guide roller.

[0065] The floating roller device can effectively reflect the changing trend of material tension, improve the dynamic response capability of the tension control system, and achieve high-precision control of material tension during circular cutting.

[0066] The present invention addresses the positioning and structural issues of the floating roller device within the material conveying path of a circular cutting system. The floating roller is typically positioned between two fixed guide rollers, creating an S-shaped material flow path. This placement improves detection sensitivity, but optimization is necessary to reduce friction and improve response speed. Using a rolling bearing guide structure requires the use of linear rolling bearings to reduce friction and improve response speed.

[0067] In terms of structure, the guiding mechanism and elastic reset mechanism of the floating roller are key, and rolling bearings and magnetorheological elastomers can be used respectively.

[0068] 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 to form an S-shaped material direction, and the axis of the floating roller, the axis of the first guide roller and the axis of the second guide roller respectively form the three vertices of an isosceles triangle. Just as the base length L of the isosceles triangle is 300 mm, the vertical stroke range of the floating roller is ±25 mm, and the corresponding material tension variation range is 0.5-20 N.

[0069] In a preferred but non-limiting embodiment of the present invention, in step 1, the guide mechanism includes a double-row ball linear guide and a base, the floating roller is mounted on a floating roller bracket, and the floating roller bracket is mounted on the base via the double-row ball linear guide. Specific parameters thereof may be:

[0070] Ball linear guide model: THK HSR15MN;

[0071] Ball diameter of ball linear guide: 3.969mm;

[0072] Contact angle of ball linear guide: 45°;

[0073] The preload level of the ball linear guide is C2.

[0074] The friction coefficient of the ball linear guide is μ = 0.0015 (the traditional sliding guide μ = 0.15);

[0075] The ball bearing group of the ball linear guide adopts ceramic hybrid bearings (silicon nitride balls + stainless steel rings). Its self-lubricating coating is composed of molybdenum disulfide (MoS2) and polytetrafluoroethylene (PTFE) in a mass ratio of 3:7, and the friction coefficient is reduced to 0.06.

[0076] In a preferred but non-limiting embodiment of the present invention, in step 1, the bottom of the base is connected to a magnetorheological elastomer actuator, which includes:

[0077] Elastomer material, the elastomer material is a silicone rubber-based magnetorheological elastomer (iron particle content 30%);

[0078] A magnetic field generating device wound on the elastomer material, the magnetic field generating device being a ring-shaped electromagnetic coil (number of turns N = 200, resistance R = 5Ω);

[0079] The stiffness adjustment range of the magnetorheological elastomer actuator is: K = 50-800kN / m (corresponding to magnetic field strength H = 0-1.2T);

[0080] Response time of magnetorheological elastomer actuator: <8ms.

[0081] The circular-cut tension multifunctional control platform controls the magnetic field strength through current to achieve dynamic stiffness adjustment, as follows:

[0082] First, the PID controller is connected to the current regulator, which is then connected to a magnetic field generator wrapped around an elastomer material.

[0083] Then, the PID controller is used to control the current regulator to output the corresponding excitation current to control the magnetic field strength and realize dynamic adjustment of stiffness through the following formula:

[0084] ;

[0085] in, is the magnetic field strength of the magnetic field generating device, is the number of turns of the excitation coil, The PID controller controls the excitation current output by the current regulator. is the effective magnetic path length of the magnetic field generating device, For a magnetic field strength of The stiffness of the elastic material is dynamically adjusted under the conditions of is the initial stiffness of the elastic material in the absence of a magnetic field, as , is the stiffness coefficient of the elastic material, is the maximum value of the magnetic field strength, as .

[0086] The technical parameters of the displacement sensor are:

[0087] Measuring range: 0-50mm;

[0088] Resolution: 1 μm;

[0089] Repeatability: ±2μm.

[0090] The present invention significantly improves the dynamic response capability and control accuracy of the floating roller device by combining low-friction rolling guide with magnetorheological elastomer technology, while extending the service life of the mechanical components of the floating roller device, verifying the effectiveness of the floating roller device.

[0091] 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;

[0092] 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, and the tension values ​​are arranged in the order of their collection time, which is recorded as , Indicates the order after 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 time and recorded as , Indicates the order after displacement values, Tension value of the material The PID controller sets the target tension value. , as , the value of the displacement sensor corresponding to the middle position of the floating roller is , as (12-bit resolution).

[0093] Step 3: The PID controller calculates the corresponding control output based on the deviation between the set target tension value and the actual tension value, combined with the displacement value fed back by the dancing roller device;

[0094] The purpose of step 3 is to use a dual-input PID control algorithm to calculate the difference between the actual tension value collected by the tension sensor and the set target tension value to obtain the tension deviation value. Simultaneously, the displacement of the floating roller is used to determine the dynamic trend of the material's movement and identify sudden changes in tension or loose / taut material conditions. The PID controller combines the two feedback signals and calculates the motor speed and torque corrections in real time through proportional, integral, and differential operations. This ensures a fast response and smooth transition in tension adjustment, avoiding overshoot or oscillation.

[0095] In a preferred but non-limiting embodiment of the present invention, in step 3, the key is to establish an adaptive PID control algorithm, as follows:

[0096] A dual-input single-output PID control structure is used, which includes:

[0097] Get the Tension deviation of each tension value ;

[0098] Get the The change rate of the floating roller displacement deviation for each displacement value ;

[0099] according to and Control output Motor torque correction , The calculation formula is:

[0100] ;

[0101] in is the set proportional coefficient, is the set integral coefficient, is the set differential coefficient, is the feedback gain coefficient of the dancing roller, for The symbolic function of is the sampling period of the tension value.

[0102] 、 、 、 It can be set according to actual situation, as Can be 1.2, It can be 0.05, Can be 0.3, It can be 0.15.

[0103] 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.

[0104] The purpose of step 4 is to control the output signal sent to the inverter, which dynamically adjusts the motor speed and output torque. If the material tension is below the set value, the PID controller increases the motor speed or torque to tighten the material. Conversely, if the tension exceeds the set value, the PID controller decreases the motor speed or torque to release the tension. This adjustment process continues throughout the circular cutting process, ensuring that the tension remains within the set range and achieving high-precision closed-loop control.

[0105] In a preferred but non-limiting embodiment of the present invention, in step 4, the torque correction amount is calculated based on The PID controller adjusts the speed of the motor it is connected to through the frequency converter. The output torque is :

[0106] ;

[0107] in The basic torque calculated based on the material tension setting value:

[0108] ;

[0109] in, is the radius of the guide roller; It can be 50mm.

[0110] When the absolute value of the difference between the displacement value of the floating roller and the displacement sensor value corresponding to the mid-position of the floating roller is detected to exceed the set safety threshold, the safety threshold can be set according to specific needs, such as the safety threshold can be 15mm, that is, When , the PID controller enters the tension abnormality processing mode and performs the following operations:

[0111] The PID controller reduces the motor speed to a safe speed by controlling the inverter , Can be customized according to specific needs, just like It can be 30m / min.

[0112] The present invention has the following advantages by introducing floating roller displacement feedback and adaptive PID parameter setting mechanism:

[0113] Improved dynamic response speed: After practical verification, the tension disturbance recovery time of the present invention is shortened from 400ms of the traditional PID controller to 180ms;

[0114] Improved parameter setting efficiency: After practical verification, on-site debugging time has been shortened from 3 days to 2 hours to complete basic parameter setting;

[0115] Improved control accuracy: After practical verification, the tension control accuracy reaches ±1.5%, which is three times higher than the traditional solution;

[0116] Enhanced robustness: The PID controller can maintain stable control even when the material thickness varies by ±10%.

[0117] The control process from step 1 to step 4 is carried out continuously, forming a closed-loop feedback to ensure that the material tension is stable within the set range.

[0118] The method of the present invention improves the dynamic response capability and control accuracy of tension control through a dual feedback mechanism, effectively suppresses tension fluctuations, and improves the automation level and stability of circular cutting processing.

[0119] like Figure 2 As shown, the present invention provides a multifunctional tension control platform based on circular cutting, comprising:

[0120] The tension sensor and floating roller device are installed on the support structure of the guide roller of the circular cutting mechanism and obtain the tension value through strain measurement technology. The floating roller device includes a floating roller and a displacement sensor installed on the floating roller. The tension sensor and displacement sensor are both connected to the PID controller. The PID controller, frequency converter and motor are connected in sequence. The motor is connected to the guide roller where the tension sensor is located and is used to drive the guide roller to rotate.

[0121] The multifunctional tension control platform based on circular cutting also includes:

[0122] A collection module, which is used to synchronously collect the tension value and running status of the material in real time through the tension sensor and the floating roller device;

[0123] 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;

[0124] A calculation module is used to calculate the corresponding control output based on 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;

[0125] The correction module is used to control the output and adjust the speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize dynamic correction of the material tension.

[0126] In a preferred but non-limiting embodiment of the present invention, the support structure of the guide roller of the circular cutting mechanism is a bearing of the guide roller of the circular cutting mechanism.

[0127] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0128] The present invention uses a tension sensor and a floating roller device to synchronously collect material tension and operating status in real time. The tension value collected by the tension sensor and the displacement value of the floating roller collected by the displacement sensor are input into a PID controller. A corresponding control output is calculated based on the deviation between the set target tension value and the actual tension value, combined with the displacement value feedback from the floating roller device. This 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, achieving dynamic correction of material tension. By introducing a dual feedback mechanism of the floating roller and the tension sensor, and combining it with a PID control algorithm to adjust the motor speed and torque in real time, the present invention solves the problems of large tension fluctuations and slow response speed in the prior art, achieving high-precision and high-stability tension control during the circular cutting process, and reducing reliance on manual intervention.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific implementation methods of the present invention can still be modified or replaced with equivalents, and any modifications or equivalent replacements that do not deviate from the spirit and scope of the present invention should be covered within the protection space of the claims of the present invention.

Claims

1. A multifunctional tension control method based on circular cutting, characterized in that: include: Step 1: A tension sensor and a floating roller device are set in the material conveying path for circular cutting, and the tension sensor and the floating roller device are used to respectively and synchronously collect the tension value and the running status 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 based on the deviation between the set target tension value and the actual tension value, combined with the displacement value fed back by the dancing 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; In step 2, the tension sensor collects the tension value of the material in real time and transmits it to the PID controller, and arranges the tension values ​​in the order of their collection time, which is recorded as , Indicates the order after 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 time and recorded as , Indicates the order after displacement value, the PID controller sets the target tension value , the value of the displacement sensor corresponding to the middle position of the floating roller is ; In step 3, a dual-input single-output PID control structure is adopted, which includes: Get the Tension deviation of each tension value ; Get the The change rate of the floating roller displacement deviation for each displacement value ; according to and Control output Motor torque correction , The calculation formula is: ； in is the set proportional coefficient, is the set integral coefficient, is the set differential coefficient, is the feedback gain coefficient of the dancing roller, for The symbolic function of is the sampling period of the tension value; In step 4, the torque correction value is calculated based on The PID controller adjusts the speed of the motor it is connected to through the frequency converter. The output torque is : ； in The basic torque calculated based on the material tension setting value: ； in, is the radius of the guide roller; When the absolute value of the difference between the displacement value of the floating roller and the displacement sensor value corresponding to the floating roller's mid-position is detected and exceeds the set safety threshold, the PID controller enters the tension abnormality processing mode and performs the following operations: The PID controller reduces the motor speed to a safe speed by controlling the inverter .

2. The multifunctional tension control method based on circular cutting according to claim 1, characterized in that: In step 1, a tension sensor and a floating roller device are integrated in the material conveying path of the circular cutting mechanism, which are used to synchronously collect the tension value of the material used for circular cutting and the displacement value of the floating roller during operation in real time. The displacement value of the floating roller is the operating status of the material; the displacement value of the floating roller is collected by the displacement sensor.

3. The multifunctional tension control method based on circular cutting according to claim 2, characterized in that: In step 1, the floating roller device includes a floating roller, a guide mechanism, a displacement sensor and an elastic reset mechanism, wherein: The floating roller is installed on the floating roller bracket so that it can move up and down through the guide mechanism. The material passes through the floating roller during the operation, driving the floating roller to float up and down. 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 balancing 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 to form an S-shaped material direction. One of the two guide rollers is the corresponding guide roller of the floating roller device, and the guide roller is defined as the first guide roller. The other guide roller of the two guide rollers is the next adjacent guide roller of the corresponding guide roller, and the guide roller is defined as the second guide roller.

4. The multifunctional tension control method based on circular cutting according to claim 3, characterized in that: In step 1, a floating roller of the floating roller device is arranged between a first guide roller and a second guide roller to form an S-shaped material flow, and the axis of the floating roller, the axis of the first guide roller, and the axis of the second guide roller respectively form the three vertices of an isosceles triangle; In step 1, the guide mechanism includes a double-row ball linear guide and a base, the floating roller is mounted on a floating roller bracket, and the floating roller bracket is mounted on the base through the double-row ball linear guide.

5. The multifunctional tension control method based on circular cutting according to claim 4 is characterized in that: In step 1, the bottom of the base is connected to a magnetorheological elastomer actuator, which includes: Elastomer material, the elastomer material is a silicone rubber-based magnetorheological elastomer; A magnetic field generating device wound on the elastomer material, the magnetic field generating device being a ring-shaped electromagnetic coil; The circular-cut tension multifunctional control platform controls the magnetic field strength through current to achieve dynamic stiffness adjustment, as follows: First, the PID controller is connected to the current regulator, which is then connected to a magnetic field generator wrapped around an elastomer material. Then, the PID controller is used to control the current regulator to output the corresponding excitation current to control the magnetic field strength and realize dynamic adjustment of stiffness through the following formula: ； in, is the magnetic field strength of the magnetic field generating device, is the number of turns of the excitation coil, The PID controller controls the excitation current output by the current regulator. is the effective magnetic path length of the magnetic field generating device, For a magnetic field strength of The stiffness of the elastic material is dynamically adjusted under the conditions of is the initial stiffness of the elastic material in the absence of a magnetic field, is the stiffness coefficient of the elastic material, is the maximum value of the set magnetic field strength.

6. A multifunctional tension control platform based on circular cutting for the method according to claim 1, characterized in that: include: The tension sensor and the floating roller device are 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 installed on the floating roller. The tension sensor and the displacement sensor are both 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 multifunctional tension control platform based on circular cutting also includes: A collection module, which is used to synchronously collect the tension value and running status of the material in real time through the tension sensor and the floating roller device; 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 is used to calculate the corresponding control output based on 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 correction module is used to control the output and adjust the speed and output torque of the motor connected to the guide roller where the tension sensor is located, so as to realize dynamic correction of the material tension.

7. The multifunctional tension control platform based on circular cutting according to claim 6 is characterized in that: The supporting 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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