Flat cable deviation rectification control method and device, electronic equipment and medium

Abstract

The invention provides a flat cable deviation rectification control method and device, electronic equipment and a medium. The control method comprises the steps that deviation rectification reference tension Tref is determined; the current actual tension Tact of the wire outlet end of the pay-off wheel is obtained; and according to the deviation rectification reference tension Tref and the current actual tension Tact of the wire outlet end of the pay-off wheel, the current deviation rectification speed Vsuper of the wire arrangement shaft is obtained.

Description

Technical Field

[0001] The present application relates to the field of multi-wire cutting technology, and in particular to a control method, device, electronic equipment and medium for wire deviation correction. Background Art

[0002] Multi-wire cutting is a highly efficient and high-precision cutting technology widely used for cutting hard and brittle materials such as semiconductors, photovoltaics, sapphire, and ceramics. During the payoff process, the wire guide wheel controls the orderly retraction and release of the cutting wire according to the preset wire spacing. The wire release direction should be perpendicular to the payoff wheel's axis of rotation. However, because the wire spacing stored in the payoff wheel is inconsistent with the preset wire spacing during payoff, the wire is tilted, meaning the wire release direction is not perpendicular to the payoff wheel's axis of rotation. The payoff wheel is an I-shaped wheel. When the wire outlet position is close to either end of the payoff wheel, the tilted wire rubs against the I-shaped wheel's flange, causing wire breakage, wire wear, or sudden tension changes. Summary of the Invention

[0003] In view of this, the present application provides a control scheme for wire deviation correction, which performs real-time correction on the speed of the wire spool according to the correction reference tension and the current actual tension of the wire, so that the wire output direction of the pay-off wheel is perpendicular to the rotation axis of the pay-off wheel.

[0004] According to a first aspect of an embodiment of the present application, a control method for cable deviation correction is provided, comprising:

[0005] Determine the reference tension T for correcting deviation ref ;

[0006] Get the current actual tension T at the outlet end of the pay-off wheel act ;

[0007] According to the correction reference tension T ref And the current actual tension T at the outlet end of the pay-off wheel act , get the current deviation correction speed V of the spool superimpose .

[0008] Optionally, the correction reference tension T is determined ref The steps include:

[0009] Get the tension setting value T set ;

[0010] According to the tension setting value T set , get the correction reference tension T ref .

[0011] Optionally, the tension setting value T set , get the correction reference tension T refThe steps further include:

[0012] Determine the current tension offset T offset ;

[0013] According to the current tension offset T offset And the tension setting value T set , get the current correction reference tension T ref .

[0014] Optionally, the current tension offset T is determined offset The steps further include:

[0015] Get the current swing arm offset angle Δα of the tension component in the pay-off area act ;

[0016] According to the current swing arm offset angle Δα of the tension assembly in the pay-off area act , get the current tension offset T offset .

[0017] Optionally, the current swing arm offset angle Δα of the tension assembly in the pay-off area is act , get the current tension offset T offset The steps are further implemented as follows:

[0018] According to the current swing arm offset angle Δα of the tension assembly in the pay-off area act Corresponding to the first relationship, the current tension offset T is obtained offset , wherein the first corresponding relationship is a one-to-one corresponding relationship between the preset rocker arm offset angle and the tension offset.

[0019] Optionally, the first corresponding relationship is obtained based on a second method, and the second method includes:

[0020] When the pay-out reel is releasing old line, perform the following steps:

[0021] In each processing cycle of the upper controller, the upper controller obtains the tension detection value and the swing arm offset angle acquisition value of the tension component in the pay-off area;

[0022] According to the tension detection value and the tension setting value T set , obtain the tension deviation detection value corresponding to each offset angle acquisition value;

[0023] According to the correspondence between the offset angle acquisition value and the tension deviation detection value, a first correspondence is obtained.

[0024] Optionally, the step of obtaining a first corresponding relationship according to the corresponding relationship between the offset angle acquisition value and the tension deviation detection value further includes:

[0025] The current pendulum offset angle Δα act Compare with the preset pendulum offset angle in the first corresponding relationship to determine the current pendulum offset angle Δα in the first corresponding relationship act Two adjacent preset offset angles, the tension offset corresponding to one of the two adjacent preset offset angles is used as the current tension offset T offset .

[0026] In a second aspect, the present application provides a control device for cable deviation correction, the control device comprising:

[0027] Reference tension module, which is used to determine the correction reference tension T ref ;

[0028] The acquisition module is used to obtain the current actual tension T at the outlet end of the pay-off wheel. act ;

[0029] The correction module is used to correct the reference tension T ref And the current actual tension T at the outlet end of the pay-off wheel act , get the current deviation correction speed V of the spool superimpose .

[0030] In a third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus;

[0031] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to any one of the methods described in the first aspect.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a processor, the processor executes any one of the methods described in the first aspect.

[0033] It can be seen from the above technical solution that the correction control solution provided by various aspects of this application makes real-time corrections to the speed of the wire arrangement shaft based on the correction reference tension and the current actual tension of the wire, thereby correcting the wire delivery direction of the pay-off wheel in real time, so that the wire delivery direction of the pay-off wheel is perpendicular to the rotation axis of the pay-off wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a flow chart of a cable deviation correction method according to an exemplary embodiment of the present application.

[0035] Figure 2 This is a flow chart of a second method according to an exemplary embodiment of the present application.

[0036] Figure 3 Schematic diagram of cutting principle.

[0037] Figure 4 This is a schematic diagram of the working principle of the cable assembly.

[0038] Figure 5 Schematic diagram of the correction principle.

[0039] Figure 6 Schematic diagram of the tension control principle of the tension component.

[0040] Figure 7 Schematic diagram of a cable deviation correction device according to an exemplary embodiment of the present application.

[0041] List of reference numerals:

[0042] 111: pay-off reel;

[0043] 112: pay-off wheel drive motor (pay-off area);

[0044] 121: Wire guide wheel (wire pay-off area);

[0045] 122: Wire guide wheel drive motor (wire pay-off area);

[0046] 131: tension wheel (pay-off area);

[0047] 132: Tension swing rod (pay-off area);

[0048] 141, 142, 181, 182: reversing wheels;

[0049] 151, 161, 171: spindle;

[0050] 191: tension wheel (take-up area);

[0051] 192: Tension swing bar (reeling area);

[0052] 211: Wire guide wheel (wire taking-up area);

[0053] 221: take-up wheel;

[0054] 301: line-out direction of the pay-off wheel;

[0055] 302: Force direction of the tension sensor installed on the cable guide wheel bearing;

[0056] 50: Control device for cable deviation correction;

[0057] 51: Reference tension module;

[0058] 52: Get module;

[0059] 53: Correction module; DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0061] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. The following embodiments and features thereof may be combined with one another unless they conflict with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit the present invention.

[0062] As an efficient and high-precision cutting technology, multi-wire cutting is widely used in cutting hard and brittle materials such as semiconductors, photovoltaics, sapphire, and ceramics. Figure 3 The working principle diagram of multi-wire cutting is shown as an example. Figure 3 As shown, the cutting line starts from the pay-off wheel 111, passes through the wire guide wheel 121 and the tension wheel 131 in the pay-off area, and then changes the direction of the cutting line through the reversing wheels 141 and 142, so as to enter the cutting area and be evenly wound on the main shafts 151, 161, and 171 to form a dense wire network. The cutting line is then drawn out from the cutting area, passes through the reversing wheels 181 and 182, the tension wheel 191, the wire guide wheel 211, and finally wound on the take-up wheel 221. Figure 3 The M in the figure represents a motor. The multi-wire cutting machine uses cutting wire as a cutting tool. The cutting wire is arranged into a dense wire network on the main shaft, and the workpiece to be cut moving in the vertical direction is cut through high-speed reciprocating motion. During the pay-off process of the pay-off wheel 111, the wire guide wheel 121 in the pay-off area controls the cutting wire to be retracted and released in an orderly manner according to the preset wire spacing. The wire release direction (the pay-off wheel wire outlet direction 301) should be perpendicular to the rotation axis of the pay-off wheel 111, as shown in FIG. Figure 4 However, since the wire arrangement spacing of the cutting wire stored in the pay-off wheel 111 is inconsistent with the preset wire arrangement spacing during pay-off, the wire arrangement is tilted, that is, the wire release direction is not perpendicular to the rotation axis of the pay-off wheel 111. The pay-off wheel 111 is an I-shaped wheel, such as Figure 4 As shown, when the wire outlet position is close to the two ends of the pay-off wheel 111, the inclined wire rubs against the flange of the spool, resulting in wire breakage, wire wear or sudden change in tension.

[0063] In view of this, the present application provides a control scheme for wire arrangement and correction, which corrects the speed of the wire arrangement shaft in real time according to the correction reference tension and the current actual tension of the wire, so that the wire output direction of the pay-off wheel is perpendicular to the rotation axis of the pay-off wheel.

[0064] The specific implementation of each embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0065] Control method of cable deviation correction

[0066] like Figure 1 As shown, the control method for cable deviation correction provided in this embodiment includes:

[0067] S102: Determine the reference tension T for deviation correction ref .

[0068] The reference tension for correction is the tension value that makes the wire release direction perpendicular to the rotation axis of the pay-off wheel 111 during the pay-off process of the pay-off wheel 111. It can be understood that during the pay-off process of the pay-off wheel 111, when the actual tension T act Equal to the correction reference tension T ref When , the line-out direction of the pay-off wheel 111 is perpendicular to the rotation axis of the pay-off wheel 111.

[0069] S104: Obtain the current actual tension T at the outlet end of the pay-off wheel 111 act .

[0070] For example, the actual tension T at the outlet end of the pay-off wheel can be obtained in real time through the tension sensor. act .

[0071] In some embodiments, a tension sensor is installed on the bearing of the wire guide wheel 121 in the pay-off area, and the current actual tension at the outlet end of the pay-off wheel 111 can be accurately obtained through the sensor.

[0072] S106: According to the deviation correction reference tension T ref And the current actual tension T of the outlet end of the pay-off wheel 111 act , get the current deviation correction speed V of the spool superimpose .

[0073] In this embodiment, the current deviation correction speed V of the cable spool is obtained according to formula 1-1: superimpose .

[0074] V superimpose =K p *(T ref -T act ) 1-1

[0075] In formula 1-1, K p Used to represent the adjustment coefficient.

[0076] In some embodiments, the adjustment coefficient K p Between 10-40.

[0077] In this application, the deviation correction speed is used to correct the given speed of the arranging shaft in real time, thereby correcting the direction 301 of the wire output of the pay-off wheel in real time. Figure 5 As shown, when the actual tension T at the outlet end of the pay-off wheel is act Less than the correction reference tension T ref When the outgoing line is tilted backward, T ref -T act >0, correction speed V superimpose >0, so the arranging axis adds the positive correction speed on the basis of the given speed until T ref =T act , thus correcting the tilted outgoing line direction. When the actual tension T at the outgoing line end of the pay-off wheel is act Less than the correction reference tension T ref When the outgoing direction is tilted forward, T ref -T act <0, correction speed V superimpose <0, the cable axis adds a negative correction speed on the basis of the given speed until T ref =T act , so as to correct the tilted outgoing direction. When the actual tension T at the outgoing end of the pay-off wheel is act Equal to the correction reference tension T ref When the pay-off is perpendicular to the rotation axis of the pay-off wheel, T ref -T act =0, correction speed V superimpose =0.

[0078] In some embodiments, step S102 further includes:

[0079] S1021: Get the tension setting value T set .

[0080] During the cutting process, the cutting wire needs to maintain a constant tension to ensure cutting accuracy and stability. The tension setting value is the tension that the operator pre-sets according to the cutting process requirements and needs to maintain during the cutting process.

[0081] S1023: Setting the tension value T according to the tension set , get the correction reference tension T ref .

[0082] For example, in some embodiments, the tension setting value T set As the reference tension for deviation correction, Tref .

[0083] The tension component outputs a constant torque according to the preset tension setting value. Figure 3 and Figure 6 As shown, the tension assembly includes a tension swing rod 132, which is connected to the output shaft of the motor. The left and right swing of the tension swing rod 132 represents the instantaneous tension fluctuation of the balance system. During the cutting process, the cutting line reciprocates at high speed. Under the influence of various factors, the frequency of tension fluctuation is high, and therefore the frequency of the swing of the tension swing rod 132 is also high. Therefore, when the tension swing rod 132 deviates, the correction reference tension also deviates, that is, the correction reference tension T ref Not equal to the tension setting value T set If the tension setting value T set Performing line deviation correction will result in erroneous correction behavior, causing the line outlet direction 301 of the pay-off wheel to become increasingly oblique, thereby causing line breakage.

[0084] To solve this problem, step S1023 further includes:

[0085] S10231: Determine the current tension offset T offset , where the current tension offset T offset It is used to represent the offset of the actual tension of the wire due to the fluctuation of the tension swing arm compared to the tension setting value when the wire outlet direction 301 of the wire pay-off wheel 111 is perpendicular to the rotation axis of the wire pay-off wheel 111 during the wire pay-off process.

[0086] S10232: Based on the current tension offset T offset And the tension setting value T set , get the current correction reference tension T ref .

[0087] In this embodiment, the current tension offset T offset And the tension setting value T set , we can get the reference tension T for deviation correction ref , current correction reference tension T ref Equal to the current tension offset T offset With the tension setting value T set The sum of T ref =T set +T offset .

[0088] In some embodiments, step S10231 further includes:

[0089] S10231A: Get the current swing arm offset angle Δα of the tension component in the pay-off area act .

[0090] S10231B: according to the current swing arm offset angle Δα of the tension assembly in the pay-off area act , get the current tension offset T offset .

[0091] In some implementations, step S10131B is further implemented as follows:

[0092] According to the current swing arm offset angle Δα of the tension assembly in the pay-off area act Corresponding to the first relationship, the current tension offset T is obtained offset , wherein the first corresponding relationship is a one-to-one corresponding relationship between the preset rocker arm offset angle and the tension offset.

[0093] In some embodiments, the preset pendulum arm offset angles in the first correspondence form an arithmetic progression, and the tolerance of the arithmetic progression is between 0.03° and 0.07°. For example, the minimum value of the arithmetic progression is -1°, the maximum value is +1°, and the tolerance is 0.05°.

[0094] In some embodiments, the current pendulum offset angle Δα act Compare with the preset pendulum offset angle in the first corresponding relationship to determine the current pendulum offset angle Δα in the first corresponding relationship act Two adjacent preset offset angles, the tension offset corresponding to one of the two adjacent preset offset angles is used as the current tension offset T offset .

[0095] For example, the current pendulum offset angle Δα act is -0.98°, and the two preset offset angles adjacent to -0.98° in the first corresponding relationship are -1° and -0.95°, then the tension offset corresponding to -1° or -0.95° in the first corresponding relationship is used as the current tension offset T offset .

[0096] In some embodiments, the first pair of relationships is obtained by a second method, such as Figure 2 As shown, the second method includes:

[0097] When the pay-off wheel 111 pays off the old line, the following steps are performed:

[0098] S201: In each processing cycle of the upper controller, the upper controller obtains the tension detection value and the swing arm offset angle acquisition value of the tension component in the pay-off area. For example, the swing arm offset angle acquisition value acquired at the i-th acquisition moment is x i , the tension detection value is z i , recorded as (x i , z i ).

[0099] The tension detection value obtained in step S201 is the same as the current actual tension T in step S104. act It is obtained through the same tension detection device.

[0100] S203: Based on the tension detection value and the tension setting value T set , get the tension deviation detection value corresponding to each offset angle collection value, the tension deviation detection value is equal to the tension setting value T set Subtract the tension detection value from the difference. For example, the tension deviation detection value y at the i-th acquisition moment is i =T set -z i .

[0101] S205: According to the corresponding relationship between the offset angle collection value and the tension deviation detection value (x i ,y i ), and obtain the first corresponding relationship.

[0102] During the cutting process, the wire is paid out and recovered by controlling the steering of each active wheel, causing the cutting wire to reciprocate. During the payout process, the cutting wire on the payout wheel 111 is transferred to the take-up wheel 221; during the recovery process, the cutting wire transferred from the payout wheel 111 to the take-up wheel 221 is recovered back to the payout wheel 111. The cutting wire wears due to friction and cutting resistance during high-speed reciprocating motion, so the payout length is greater than the recovery length. Therefore, each payout process first pays out the old wire (recovered cutting wire) and then the new wire (unrecovered cutting wire). For example, if the payout length is 100 meters and the recovery length is 80 meters, then during the payout process, 80 meters of recovered wire are first paid out, and then 20 meters of unrecovered new wire are paid out. Since the recovered wire is rearranged on the payout wheel 111 according to the preset payout spacing, the wire arrangement spacing of the recovered wire on the payout wheel 111 is equal to the preset wire arrangement spacing. Therefore, in this embodiment, based on the tension detection value collected when the pay-off wheel 111 pays off the old line and the rocker arm offset angle collection value, a one-to-one correspondence between the preset rocker arm offset angle and the tension offset amount can be accurately obtained.

[0103] Since the swing arm offset angle collection value and the tension detection value are obtained by the host computer through periodic communication, it is impossible to ensure that the tension detection value corresponding to each preset swing arm offset angle in the first correspondence relationship can be collected. To solve this problem, this embodiment uses the correspondence relationship between the offset angle collection value and the tension deviation detection value (x i ,y i ), the predicted value of the tension deviation corresponding to the preset swing arm offset angle that has not been collected can be obtained, as shown in Table 1.

[0104]

[0105] Table 1

[0106] In some embodiments, the predicted value of the tension deviation corresponding to the preset rocker arm offset angle that has not been collected can be obtained according to Formula 2-1, but is not limited thereto.

[0107]

[0108] in, It is used to represent the tension deviation prediction value, and Δα is used to represent the pendulum offset angle. The parameters in formula 2-1 are The formula is obtained according to formula 2-3, and the parameters It is obtained according to formula 2-2.

[0109]

[0110] In formulas 2-2 and 2-3, xi is used to represent the pendulum arm offset angle acquisition value, and yi is used to represent the tension deviation detection value corresponding to xi, that is, the pendulum arm offset angle acquisition value obtained at the i-th sampling moment is xi, and the tension deviation detection value is yi.

[0111] It will be appreciated that whenever a condition occurs that causes the correction error to exceed the threshold, the second method is executed. Conditions that cause the correction error to exceed the threshold include, but are not limited to: the tension sensor is damaged and needs to be replaced, requiring tension recalibration; the tension sensor itself has experienced zero point drift, requiring tension recalibration; changes have been made to the mechanical installation of the tension sensor; and the deviation exceeds the threshold during the correction process using the first method.

[0112] In some implementations, before step S102, the method further includes step S101:

[0113] Obtain the current pay-off length and the current acceleration of the pay-off wheel 111;

[0114] When the current pay-out length is greater than the preset retrieving length and the current acceleration of the pay-out wheel 111 is less than 0, steps S102 to S106 are executed.

[0115] It can be understood that in this embodiment, the first corresponding relationship is obtained when the pay-off wheel slows down to pay out the old line.

[0116] In this embodiment, it is only necessary to perform real-time correction on the wire arrangement direction when the pay-off wheel slows down and releases new wire, so that the wire output direction of the wire arrangement guide wheel during cutting is always perpendicular to the rotation axis of the pay-off wheel, thereby avoiding tension fluctuations, wire wear and wire breakage caused by the tilt of the wire output direction to a limited extent.

[0117] Control device for cable deviation correction

[0118] like Figure 7 As shown, the present application provides a control device 50 for correcting the deviation of the cable, which includes a reference tension module 51, an acquisition module 52, and a correction module 53. The reference tension module 51 is used to determine the correction reference tension T ref The acquisition module 52 is used to obtain the current actual tension T of the outlet end of the pay-off wheel 111 act The correction module 53 is used to correct the reference tension T ref And the current actual tension T of the outlet end of the pay-off wheel 111 act , get the current deviation correction speed V of the spool superimpose .

[0119] In some embodiments, the control device 50 for line arrangement and correction further includes a comparison module, which is used to obtain the current pay-off length and the current acceleration of the pay-off wheel 111, and compare the current pay-off length with the preset recovery length. When the current pay-off length is greater than the preset recovery length and the current acceleration of the pay-off wheel 111 is less than 0, a comparison signal is output to indicate that the reference tension module 51 is working.

[0120] It should be noted that the information interaction, execution process, etc. between the modules in the above-mentioned control device are based on the same concept as the above-mentioned control method embodiment for cable deviation correction. The specific contents can be found in the description of the above-mentioned control method embodiment for cable deviation correction, and will not be repeated here.

[0121] electronic devices

[0122] The specific embodiments of the present application do not limit the specific implementation of the electronic device. The electronic device provided in the embodiment of the present application includes: a processor, a communication interface, a memory, and a bus. Among them:

[0123] The processor, communication interface, and memory communicate with each other through the bus.

[0124] Communication interface, used to communicate with other electronic devices or servers.

[0125] The processor is used to execute the program, and specifically can execute the relevant steps in the above-mentioned control method embodiment of the cable deviation correction.

[0126] Specifically, the program may include program codes including computer operation instructions.

[0127] The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or different types of processors, such as one or more CPUs and one or more ASICs.

[0128] The memory is used to store programs. The memory may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk storage.

[0129] The program can be specifically used to enable the processor to execute the control method for cable deviation correction in any of the aforementioned embodiments.

[0130] The specific implementation of each step in the program can be found in the corresponding descriptions of the corresponding steps and units in the above-mentioned control method embodiment for cable deviation correction, and will not be repeated here. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the above-mentioned method embodiment, and will not be repeated here.

[0131] Computer-readable storage medium

[0132] This application also provides a computer-readable storage medium storing instructions for causing a machine to execute the cable deflection correction control method described herein. Specifically, a system or device equipped with a storage medium can be provided, wherein the storage medium stores software program code that implements the functions of any of the above-described embodiments, and a computer (or CPU or MPU) of the system or device can read and execute the program code stored in the storage medium.

[0133] In this case, the program code read from the storage medium itself can realize the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of this application.

[0134] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0135] Computer program product

[0136] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0137] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0138] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or can be implemented as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0139] It should be noted that not all steps and modules in the above processes and system structure diagrams are required, and certain steps or modules can be omitted according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by certain components in multiple independent devices.

[0140] Nouns and pronouns referring to persons in this patent application are not limited to a specific gender.

[0141] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include a permanent dedicated circuit or logic (such as a dedicated processor, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0142] The present invention has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the scope of protection of the present invention.

Claims

1. A control method for cable deviation correction, characterized in that: The following steps are involved: Determine the reference tension T for correcting deviation ref ; Get the current actual tension T at the outlet end of the pay-off wheel act ; According to the correction reference tension R ref And the current actual tension T at the outlet end of the pay-off wheel act , get the current deviation correction speed V of the spool superimpose .

2. The control method for cable deviation correction according to claim 1, wherein: Determining the deviation correction reference tension T ref The steps include: Get the tension setting value T set ; According to the tension setting value T set , get the correction reference tension T ref .

3. The control method for cable deviation correction according to claim 2, wherein: According to the tension setting value T set , get the correction reference tension T ref The steps further include: Determine the current tension offset T offset ; According to the current tension offset T offset And the tension setting value T set , get the current correction reference tension T ref .

4. The control method for cable deviation correction according to claim 3, wherein: Determining the current tension offset T offset The steps further include: Get the current swing arm offset angle Δα of the tension component in the pay-off area act ; According to the current swing arm offset angle Δα of the tension assembly in the pay-off area act , get the current tension offset T offset .

5. The control method for cable deviation correction according to claim 4, characterized in that: The current swing arm offset angle Δα of the tension assembly in the pay-off area act , get the current tension offset T offset The steps are further implemented as follows: According to the current swing arm offset angle Δα of the tension assembly in the pay-off area act Corresponding to the first relationship, the current tension offset T is obtained offset , wherein the first corresponding relationship is a one-to-one corresponding relationship between the preset rocker arm offset angle and the tension offset.

6. The control method for cable deviation correction according to claim 5, characterized in that: The first corresponding relationship is obtained based on a second method, and the second method includes: When the pay-out reel is releasing old line, perform the following steps: In each processing cycle of the upper controller, the upper controller obtains the tension detection value and the swing arm offset angle acquisition value of the tension component in the pay-off area; According to the tension detection value and the tension setting value T set , obtain the tension deviation detection value corresponding to each offset angle acquisition value; According to the correspondence between the offset angle acquisition value and the tension deviation detection value, a first correspondence is obtained.

7. The control method for cable deviation correction according to claim 1, wherein: The step of obtaining a first corresponding relationship based on the corresponding relationship between the offset angle acquisition value and the tension deviation detection value further includes: The current pendulum offset angle Δα act Compare with the preset pendulum offset angle in the first corresponding relationship to determine the current pendulum offset angle Δα in the first corresponding relationship act Two adjacent preset offset angles, the tension offset corresponding to one of the two adjacent preset offset angles is used as the current tension offset T offset .

8. A control device (50) for correcting the deviation of a cable arrangement, characterized in that: include: Reference tension module (51), which is used to determine the correction reference tension T ref ; The acquisition module (52) is used to obtain the current actual tension T of the outlet end of the pay-off wheel. act ; The correction module (53) is used to adjust the correction reference tension T ref And the current actual tension T at the outlet end of the pay-off wheel act , get the current deviation correction speed V of the spool superimpose .

9. An electronic device comprising: A processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, where the executable instruction enables the processor to perform an operation corresponding to the method according to any one of claims 1 to 7. 10 . A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to perform the method according to claim 1 .

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