Closed-loop control method and system for yarn density, electronic equipment and storage medium

Abstract

The invention provides a closed-loop control method and system for yarn density, electronic equipment and a storage medium, and relates to the technical field of spooling winding systems.The method comprises the steps that a closed-loop control target value Q * of the yarn density is set, and the weight G of yarn currently wound on a yarn drum is determined; determining a target volume V * of the yarn; determining the target diameter D * of the spool; determining a target angle value alpha * of the cradle; acquiring an actual angle value alpha of the cradle; according to the target angle value alpha * and the actual angle value alpha, the driving device is controlled to drive the cradle to rotate so that alpha can approach alpha *, the yarn density is adjusted by changing the diameter of the yarn drum, and closed-loop control over the yarn density is achieved. According to the technical scheme, closed-loop control over the yarn density is converted into closed-loop control over the cradle angle which is easier to achieve, control over the yarn tension and back pressure does not need to be directly considered in the control mode, only the angle value of the cradle needs to be considered, and the control capacity and control precision of the yarn density can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bobbin winding systems, and in particular to a closed-loop control method, system, electronic equipment and storage medium for yarn density. Background Art

[0002] In coning systems, yarn density is often required for processes such as forming and dyeing. Conventional closed-loop control of yarn density is typically achieved solely through yarn tension control. This approach suffers from limited control capabilities and precision, making it difficult to meet the density requirements of specific product applications. Summary of the Invention

[0003] In order to solve or improve the technical problem of insufficient control capability and control accuracy for yarn density in traditional control methods, one object of the present invention is to provide a closed-loop control method for yarn density.

[0004] Another object of the present invention is to provide a closed-loop control system for yarn density.

[0005] Another object of the present invention is to provide an electronic device.

[0006] Another object of the present invention is to provide a readable storage medium.

[0007] To achieve the above-mentioned objectives, the first aspect of the present invention provides a closed-loop control method for yarn density, which is used for a bobbin winding system. The bobbin winding system includes a roller roller, a yarn bobbin, a cradle and a driving device; the roller roller is used to be rotatably connected to a first fulcrum, and the cradle is used to be rotatably connected to a second fulcrum; one end of the cradle is rotatably connected to the yarn bobbin; the yarn bobbin is used to wind the yarn; the driving device is used to drive the cradle to rotate relative to the second fulcrum, and by adjusting the angle value of the cradle, the diameter of the yarn bobbin and the yarn density on the yarn bobbin are changed.

[0008] The closed-loop control method includes: setting the closed-loop control target value Q of the yarn density * , and determine the yarn weight G currently wound on the bobbin; according to the closed-loop control target value Q * and yarn weight G, determine the target volume V of the yarn * Based on the preset first functional relationship, according to the target volume V * , determine the target diameter D of the yarn cone * Based on the preset second functional relationship, according to the target diameter D * , determine the target angle value α of the cradle * ; Get the actual angle value α of the cradle; According to the target angle value α *and the actual angle value α, control the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * , by changing the diameter of the yarn bobbin to adjust the yarn density, closed-loop control of the yarn density is achieved.

[0009] The present invention aims to provide a closed-loop control method for yarn density, which converts the closed-loop control of yarn density into a more easily implemented closed-loop control of the cradle angle (the angle value of the cradle). This control method does not need to directly consider the control of yarn tension and back pressure, but only needs to consider the angle value of the cradle, which is beneficial to improving the control ability and control accuracy of yarn density, and has significant advantages for certain specific yarn winding application scenarios.

[0010] It's important to emphasize that in this invention, closed-loop control of yarn density is converted into closed-loop control of the cradle angle. The deviation between the target and actual cradle angles serves as the control basis, enabling the drive device to adjust the cradle's motion. This closed-loop control is achieved through a feedback loop of "target value - actual value - deviation - adjustment." The key difference from traditional open-loop control lies in the presence of feedback, allowing for dynamic correction of deviations to ensure control accuracy.

[0011] In some technical solutions, optionally, according to the target angle value α * and the actual angle value α, control the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * By changing the diameter of the yarn cone to adjust the yarn density, the closed-loop control of the yarn density is achieved, including: according to the target angle value α * and the actual angle value α, determine the rotation angle Δα and the rotation direction of the cradle; according to the rotation angle Δα and the rotation direction, control the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * , by changing the diameter of the yarn bobbin to adjust the yarn density, closed-loop control of the yarn density is achieved.

[0012] In this technical solution, according to the target angle value α * and the actual angle value α, determine the deviation value (the rotation angle that the cradle needs to rotate) Δα=α * -α, and transmits the deviation value Δα to the angle controller. The angle controller drives the screw motor according to the deviation value Δα as the control variable, so that the cradle rotates continuously. The above data processing steps and control process are repeated to achieve closed-loop control of yarn density.

[0013] In some technical solutions, optionally, the rotation angle Δα is the target angle value α * The difference between the actual angle value α.

[0014] In this technical solution, by determining the rotation angle Δα that the cradle needs to rotate, closed-loop control with a feedback loop mechanism is implemented, and the deviation can be dynamically corrected to ensure control accuracy.

[0015] In some technical solutions, optionally, according to the closed-loop control target value Q * and yarn weight G, determine the target volume V of the yarn * , including: based on the first calculation formula, according to the closed-loop control target value Q * and yarn weight G, calculate the target volume V of the yarn * ; The first calculation formula is V * =G / Q * .

[0016] In this technical solution, by determining the target volume V of the yarn * , which is convenient for determining the target diameter D of the yarn cone in subsequent steps * , and according to the target diameter D * Determine the target angle value α of the cradle * , converting the closed-loop control of yarn density into the more easily achievable closed-loop control of the cradle angle.

[0017] In some technical solutions, optionally, obtaining the actual angle value α of the cradle includes: obtaining the actual angle value α of the cradle through an angle sensor.

[0018] In this technical solution, the angle value of the cradle in the current state is obtained and determined in real time through the angle sensor, so that the target angle value α can be set in the subsequent steps. * The actual angle value α is compared and the deviation value Δα is sent to the angle controller.

[0019] In some technical solutions, optionally, the weight G of the yarn currently wound on the yarn bobbin is determined, including: calculating the weight G of the yarn currently wound on the yarn bobbin based on the length of the yarn already wound on the yarn bobbin and the yarn parameters; wherein the yarn parameters are any one of the yarn count, fineness and linear density.

[0020] In this technical solution, the yarn weight G can be calculated through the yarn length and yarn parameters. This method can determine the yarn weight G without relying on a weight sensor. It can serve as a redundant design for obtaining the yarn weight G, which is beneficial to improving the accuracy of the yarn weight G and thus improving the control accuracy of the yarn density.

[0021] In some technical solutions, optionally, determining the weight G of the yarn currently wound on the yarn bobbin includes: acquiring the weight G of the yarn currently wound on the yarn bobbin through a weight sensor.

[0022] In this technical solution, the yarn weight G is determined by means of a weight sensor, which does not require complicated calculation steps, is conducive to simplifying the data processing method and improving the efficiency of data processing.

[0023] The second aspect of the present invention provides a closed-loop control system for yarn density, comprising: a value setting unit for setting a closed-loop control target value Q of yarn density; * ; Yarn weight determination unit, for determining the current yarn weight G wound on the bobbin; target volume determination unit, for closed-loop control target value Q * and yarn weight G, determine the target volume V of the yarn * Target diameter determination unit, for determining the target volume V based on a preset first functional relationship * , determine the target diameter D of the yarn cone * Target angle value determination unit, for based on the preset second functional relationship, according to the target diameter D * , determine the target angle value α of the cradle * ; Actual angle value acquisition unit, used to obtain the actual angle value α of the cradle; closed-loop control unit, used to adjust the angle value according to the target angle value α * and the actual angle value α, control the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * , by changing the diameter of the yarn bobbin to adjust the yarn density, closed-loop control of the yarn density is achieved.

[0024] The present invention aims to provide a closed-loop control system for yarn density, which converts the closed-loop control of yarn density into a more easily implemented closed-loop control of the cradle angle (the angle value of the cradle). This control method does not need to directly consider the control of yarn tension and back pressure, but only needs to consider the angle value of the cradle, which is beneficial to improving the control ability and control accuracy of yarn density, and has significant advantages for certain specific yarn winding application scenarios.

[0025] It's important to emphasize that in this invention, closed-loop control of yarn density is converted into closed-loop control of the cradle angle. The deviation between the target and actual cradle angles serves as the control basis, enabling the drive device to adjust the cradle's motion. This closed-loop control is achieved through a feedback loop of "target value - actual value - deviation - adjustment." The key difference from traditional open-loop control lies in the presence of feedback, allowing for dynamic correction of deviations to ensure control accuracy.

[0026] A third aspect of the present invention provides an electronic device comprising: a memory and a processor, wherein the memory stores a program or instructions executable by the processor, and when the processor executes the program or instructions, it implements the steps of the closed-loop control method for yarn density in any of the above-mentioned technical solutions. The electronic device has the beneficial effects of any of the above-mentioned technical solutions and will not be further described here.

[0027] A fourth aspect of the present invention provides a readable storage medium storing a program or instructions. When executed by a processor, the program or instructions implement the steps of the closed-loop control method for yarn density described in any of the above technical solutions. The readable storage medium has the beneficial effects of any of the above technical solutions and will not be further described here.

[0028] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a bobbin winding system according to an embodiment of the present invention is shown;

[0030] Figure 2 A flow chart showing a closed-loop control method for yarn density according to one embodiment of the present invention is shown;

[0031] Figure 3 A flow chart showing a closed-loop control method for yarn density according to another embodiment of the present invention is shown;

[0032] Figure 4 A flow chart showing a closed-loop control method for yarn density according to another embodiment of the present invention is shown;

[0033] Figure 5 A flow chart showing a closed-loop control method for yarn density according to another embodiment of the present invention is shown;

[0034] Figure 6 A flow chart showing a closed-loop control method for yarn density according to another embodiment of the present invention is shown;

[0035] Figure 7 A flow chart showing a closed-loop control method for yarn density according to another embodiment of the present invention is shown;

[0036] Figure 8 A schematic diagram of a bobbin winding system according to another embodiment of the present invention is shown;

[0037] Figure 9 FIG2 shows a block diagram of a closed-loop control system for yarn density according to an embodiment of the present invention;

[0038] Figure 10 A structural block diagram of an electronic device according to an embodiment of the present invention is shown.

[0039] in, Figures 1 to 10 The corresponding relationship between the reference numerals and component names is as follows:

[0040] 100: bobbin winding system; 110: roller; 120: bobbin; 130: cradle; 140: drive device; 141: screw motor; 142: screw; 143: slider; 151: first fulcrum; 152: second fulcrum; 153: third fulcrum; 161: angle sensor; 162: angle controller; 300: closed-loop control system of yarn density; 310: numerical value setting unit; 320: yarn weight determination unit; 330: target volume determination unit; 340: target diameter determination unit; 350: target angle value determination unit; 360: actual angle value acquisition unit; 370: closed-loop control unit; 400: electronic device; 410: memory; 420: processor. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0042] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0043] Refer to the following Figures 1 to 10 The invention describes a closed-loop control method, system, electronic device and storage medium for yarn density according to some embodiments of the present invention.

[0044] In one embodiment of the present invention, Figure 1 As shown, the bobbin winding system 100 includes a roller 110, a bobbin 120, a cradle 130 and a driving device 140. The roller 110 is used to be rotatably connected to the first fulcrum 151, and the roller 110 can rotate relative to the first fulcrum 151.

[0045] Optionally, the roller 110 is rotatably connected to the first fulcrum 151 via a first shaft.

[0046] In a specific embodiment, the first shaft passes through the roller 110 and the first fulcrum 151 . The first shaft and the roller 110 are relatively fixed in the circumferential direction, and the first shaft can rotate relative to the first fulcrum 151 .

[0047] In another specific embodiment, the first shaft passes through the roller 110 and the first fulcrum 151, and the roller 110 can rotate relative to the first shaft.

[0048] It should be noted that the roller 110 is a friction roller. The first fulcrum 151 is a roller fulcrum, which can be a bracket structure. The friction roller is used to abut against the bobbin 120 and provide a certain supporting force (i.e., a supporting force) to the bobbin 120.

[0049] The cradle 130 is configured to be rotatably connected to the second fulcrum 152. Optionally, the cradle 130 and the second fulcrum 152 are rotatably connected via a first pin, and the cradle 130 can rotate relative to the second fulcrum 152 around the first pin.

[0050] It should be noted that the second fulcrum 152 is a cradle fulcrum.

[0051] One end of the cradle 130 is rotatably connected to the bobbin 120, which is used to wind the yarn. The cradle 130 has a first end and a second end that oppose each other. The first end of the cradle 130 is rotatably connected to the bobbin 120, which abuts and frictionally engages the roller 110. The bobbin 120 can rotate relative to the cradle 130 to wind the yarn or thread.

[0052] Optionally, the bobbin 120 and the cradle 130 are rotatably connected via a second shaft. The second shaft passes through the bobbin 120 and the cradle 130 , and the bobbin 120 can rotate relative to the cradle 130 around the second shaft.

[0053] Optionally, the second end of the cradle 130 is used to connect to the driving device 140 .

[0054] The driving device 140 is used to drive the cradle 130 to rotate relative to the second fulcrum 152 , and the diameter of the bobbin 120 and the yarn density on the bobbin 120 are changed by adjusting the angle value of the cradle 130 .

[0055] During the yarn winding process on the bobbin 120, the tightness of the yarn must be controlled. The tightness of the yarn determines the yarn density. Yarn density is one of the important parameters for measuring product quality. Therefore, by controlling the yarn density, product quality can be improved and enhanced.

[0056] In some embodiments, optionally, as Figure 1 As shown, the driving device 140 includes a screw motor 141 and a slider 143. The screw motor 141 is used to be rotatably connected to the third fulcrum 153.

[0057] In a specific embodiment, the screw motor 141 and the third fulcrum 153 are rotationally connected via a second pin shaft, and the screw motor 141 can rotate relative to the third fulcrum 153 around the second pin shaft.

[0058] It should be noted that the third fulcrum 153 is a screw fulcrum.

[0059] The screw motor 141 has a rotatable screw 142. Optionally, a drive shaft of the screw motor 141 is connected to and coaxially arranged with the screw 142. The screw motor 141 can drive the screw 142 to rotate in a circumferential direction.

[0060] In a specific embodiment, the drive shaft of the screw motor 141 and the screw 142 are relatively fixed in the circumferential direction via a coupling, that is, when the drive shaft rotates in the circumferential direction, it can drive the screw 142 to rotate together through the coupling.

[0061] The slider 143 is rotatably mounted on the screw 142. The screw 142 can rotate relative to the slider 143. During the rotation of the screw 142 relative to the slider 143, the relative position between the slider 143 and the screw 142 is constantly changing. Figure 1 , the arrow near the slider 143 indicates the moving direction of the slider 143.

[0062] In a specific embodiment, the slider 143 is provided with a through hole, the screw 142 is passed through the through hole of the slider 143, and the outer wall of the screw 142 is threadedly connected to the hole wall of the through hole. The slider 143 is moved forward or backward along the length direction of the screw 142 by rotating the screw 142.

[0063] Optionally, a limit stop is provided at one end of the screw rod 142 away from the screw rod fulcrum. The limit stop is used to limit the movement range of the slider 143 along the length direction of the screw rod 142.

[0064] Optionally, a buffer layer is provided on the limit end stop. By providing the buffer layer, a buffering effect can be achieved, effectively preventing the slider 143 from rigidly colliding with the limit end stop.

[0065] The second end of the cradle 130 is rotatably connected to the slider 143. The cradle 130 can rotate relative to the slider 143.

[0066] It should be noted that the position where the cradle 130 is rotatably connected to the second fulcrum 152 is between the first end and the second end.

[0067] Optionally, the bobbin winding system 100 further includes an angle sensor 161. This angle sensor 161 is located on the cradle 130 and is used to obtain the position angle of the cradle 130 (the angle value of the cradle 130). In other words, the angle sensor 161 is used to collect angle information or angle data to determine the position angle of the cradle 130. The angle sensor 161 is used to obtain and determine the angle value of the cradle 130 in its current state in real time.

[0068] Optionally, the bobbin winding system 100 further includes a weight sensor. The weight sensor is provided on the bobbin 120 or the yarn supply reel. The weight sensor is used to collect weight information or weight data to determine the weight of the yarn currently wound on the bobbin 120.

[0069] In some embodiments, optionally, as Figure 8 As shown, the bobbin winding system 100 further includes an angle controller 162. The angle controller 162 is electrically connected to the angle sensor 161, and the angle controller 162 is electrically connected to the drive device 140. The angle controller 162 can obtain angle information or angle data from the angle sensor 161 and control the drive device 140 to rotate the cradle 130 based on the angle information or angle data.

[0070] It should be noted that in Figure 8 In, Q * represents the closed-loop control target value of the yarn density; G represents the weight of the yarn currently wound on the yarn bobbin 120; V * represents the target volume of the yarn; V * =G / Q * Indicates the first calculation formula; D * =d(V * ) represents the first functional relationship, where “d” represents D * and V * The functional relationship between α * =alpha(D * ) represents the second functional relationship, where “alpha” represents α * and D * The functional relationship between α * represents the target angle value of the cradle 130; α represents the actual angle value of the cradle 130; "+" and "-" represent the operation relationship; Q represents the current value of the yarn density. In addition, the "cradle mechanism" is composed of the drive device 140 and the cradle 130.

[0071] In one embodiment of the present invention, a closed-loop control method for yarn density is used in the bobbin winding system 100 .

[0072] like Figure 2 As shown, the steps of the closed-loop control method of yarn density include:

[0073] S202, setting the closed-loop control target value Q of the yarn density * , and determine the weight G of the yarn currently wound on the bobbin.

[0074] During the yarn bobbin winding process, the tightness of the yarn must be controlled. Different tightnesses can result in different yarn densities (yarn density is the yarn weight divided by the yarn volume). By controlling yarn density, product quality can be improved.

[0075] In the technical solution of the present invention, the closed-loop control of yarn density is converted into a more easily achievable closed-loop control of the cradle angle (angle value of the cradle). It is only necessary to input a reasonable closed-loop control target value Q of yarn density at the initial stage of the control process. * That is, there is no need to directly consider controlling yarn tension and back pressure.

[0076] Optionally, staff can set Q through the cloud, mobile terminal or directly through the key * The specific value of .

[0077] Optionally, the weight G of the yarn currently wound on the bobbin is obtained or calculated.

[0078] S204, according to the closed-loop control target value Q * and yarn weight G, determine the target volume V of the yarn * .

[0079] The target volume V here * It refers to the volume of the yarn after it is wound on the yarn cone.

[0080] Optionally, based on the first calculation formula, according to the closed-loop control target value Q * and yarn weight G, calculate the target volume V of the yarn * ; The first calculation formula is V * =G / Q * .

[0081] By determining the target volume V of the yarn * , which is convenient for determining the target diameter D of the yarn cone in subsequent steps * , and according to the target diameter D * Determine the target angle value α of the cradle * , converting the closed-loop control of yarn density into the more easily achievable closed-loop control of the cradle angle.

[0082] Optionally, when determining the target volume V of the yarn * Previously, the yarn weight G was corrected for temperature compensation, and the correction formula was G ’ =G×(1+β×(T-T0)). Where, G ’ Indicates the corrected weight, β indicates the thermal expansion coefficient of the yarn material, T is the current temperature, and T0 is the standard temperature. * =G ’ / Q *, calculate the target volume V of the yarn * Eliminating the influence of ambient temperature on yarn weight measurement through temperature compensation is beneficial to improving the control accuracy of yarn density.

[0083] S206, based on the preset first functional relationship, according to the target volume V * , determine the target diameter D of the yarn cone * .

[0084] The first functional relationship D * =d(V * ) is the dynamic calibration function. Where, “d” represents D * and V * The functional relationship between them.

[0085] When the yarn bobbin is a standard cylindrical bobbin, the first functional relationship is:

[0086]

[0087] Where h is the height of the yarn cone and D0 is the diameter of the empty cone.

[0088] When the yarn bobbin is a standard conical bobbin, the first functional relationship is:

[0089]

[0090] Where h represents the height of the bobbin, D0 represents the diameter of the empty bobbin, and θ represents the cone angle of the bobbin.

[0091] It should be noted that when the yarn bobbin is a standard conical bobbin, the cone angle of the yarn bobbin is: in the axial section formed by cutting the conical bobbin along its axis (center axis), the intersection of the two side generatrixes (i.e., the edge lines of the side of the conical bobbin) is extended and formed.

[0092] S208, based on the preset second functional relationship, according to the target diameter D * , determine the target angle value α of the cradle * .

[0093] In the second functional relationship α * =alpha(D * ) in which "alpha" represents α * and D * The functional relationship between them.

[0094] In an optional embodiment, the second functional relationship α * =alpha(D * ) Specifically:

[0095]

[0096] Among them, L1 is the distance between the cradle fulcrum (second fulcrum) and the center of the yarn tube (i.e., the length of the upper rocker arm of the cradle); L2 is the distance between the cradle fulcrum (second fulcrum) and the roller fulcrum (first fulcrum); D0 is the initial diameter of the yarn tube (i.e., the diameter of the empty tube); α0 is the initial angle value of the cradle.

[0097] S210: Acquire the actual angle value α of the cradle.

[0098] The actual angle value α of the cradle is obtained through an angle sensor. The angle sensor is used to collect angle information or angle data to determine the position angle of the cradle. The angle sensor can be used to obtain and determine the cradle's current angle value in real time.

[0099] S212, according to the target angle value α * and the actual angle value α, control the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * , by changing the diameter of the yarn bobbin to adjust the yarn density, closed-loop control of the yarn density is achieved.

[0100] According to the target angle value α * and the actual angle value α, determine the deviation value Δα=α * -α, and transmits the deviation value Δα to the angle controller. The angle controller drives the screw motor according to the deviation value Δα as the control variable, so that the cradle rotates continuously. The above data processing steps and control process are repeated to achieve closed-loop control of yarn density.

[0101] The present invention aims to provide a closed-loop control method for yarn density, which converts the closed-loop control of yarn density into a more easily implemented closed-loop control of the cradle angle (the angle value of the cradle). This control method does not need to directly consider the control of yarn tension and back pressure, but only needs to consider the angle value of the cradle, which is beneficial to improving the control ability and control accuracy of yarn density, and has significant advantages for certain specific yarn winding application scenarios.

[0102] It's important to emphasize that in this invention, closed-loop control of yarn density is converted into closed-loop control of the cradle angle. The deviation between the target and actual cradle angles serves as the control basis, enabling the drive device to adjust the cradle's motion. This closed-loop control is achieved through a feedback loop of "target value - actual value - deviation - adjustment." The key difference from traditional open-loop control lies in the presence of feedback, allowing for dynamic correction of deviations to ensure control accuracy.

[0103] In some embodiments, optionally, as Figure 3 As shown, S212 (according to the target angle value α *and the actual angle value α, control the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * , by changing the diameter of the yarn bobbin to adjust the yarn density, and realize closed-loop control of the yarn density) including:

[0104] S2122, according to the target angle value α * and the actual angle value α, determine the rotation angle Δα and rotation direction that the cradle needs to rotate.

[0105] According to the target angle value α * and the actual angle value α, determine the deviation value (the rotation angle that the cradle needs to rotate) Δα=α * -α, and transmits the deviation value Δα to the angle controller. The angle controller drives the screw motor according to the deviation value Δα as the control variable, so that the cradle rotates continuously. The above data processing steps and control process are repeated to achieve closed-loop control of yarn density.

[0106] If Δα>0, the driving device rotates the cradle in the first direction (increasing the angle); if Δα<0, the driving device rotates the cradle in the second direction (decreasing the angle).

[0107] S2124: Control the driving device to drive the cradle to rotate according to the rotation angle Δα and the rotation direction, so that the actual angle value α approaches the target angle value α. * , by changing the diameter of the yarn bobbin to adjust the yarn density, closed-loop control of the yarn density is achieved.

[0108] The closed-loop control of yarn density is converted into closed-loop control of the cradle angle. The deviation between the target and actual values ​​of the cradle angle is used as the control basis, allowing the drive device to adjust the cradle movement. Closed-loop control is achieved through a feedback loop of "target value-actual value-deviation-adjustment". The core difference from traditional open-loop control is the presence of a feedback link, which can dynamically correct deviations to ensure control accuracy.

[0109] In some embodiments, optionally, the rotation angle Δα is the target angle value α * The difference between the actual angle value α.

[0110] By determining the rotation angle Δα that the cradle needs to rotate, a closed-loop control with a feedback loop mechanism ("target value-actual value-deviation-adjustment") is implemented, and the deviation can be dynamically corrected to ensure control accuracy.

[0111] In some embodiments, optionally, as Figure 4 As shown, S204 (according to the closed-loop control target value Q * and yarn weight G, determine the target volume V of the yarn * )include:

[0112] S2042, based on the first calculation formula, according to the closed-loop control target value Q * and yarn weight G, calculate the target volume V of the yarn * ; The first calculation formula is V * =G / Q * .

[0113] The target volume V here * It refers to the volume of the yarn after it is wound on the yarn cone.

[0114] By determining the target volume V of the yarn * , which is convenient for determining the target diameter D of the yarn cone in subsequent steps * , and according to the target diameter D * Determine the target angle value α of the cradle * , converting the closed-loop control of yarn density into the more easily achievable closed-loop control of the cradle angle.

[0115] Optionally, when determining the target volume V of the yarn * Previously, the yarn weight G was corrected for temperature compensation, and the correction formula was G ’ =G×(1+β×(T-T0)). Where, G ’ Indicates the corrected weight, β indicates the thermal expansion coefficient of the yarn material, T is the current temperature, and T0 is the standard temperature. * =G ’ / Q * , calculate the target volume V of the yarn * Eliminating the influence of ambient temperature on yarn weight measurement through temperature compensation is beneficial to improving the control accuracy of yarn density.

[0116] In some embodiments, optionally, as Figure 5 As shown, S210 (obtaining the actual angle value α of the cradle) includes:

[0117] S2102: Acquire the actual angle value α of the cradle through the angle sensor.

[0118] The angle sensor is used to collect angle information or angle data to determine the position angle of the cradle. Through the angle sensor, the angle value of the cradle in the current state is obtained and determined in real time, so that the target angle value α can be set in the subsequent steps. * The actual angle value α is compared and the deviation value Δα is sent to the angle controller.

[0119] The forms of angle controllers include but are not limited to P controller (Proportional), PI controller (Proportional-Integral), PD controller (Proportional-Derivative), and PID controller (Proportional-Integral-Derivative).

[0120] In some embodiments, optionally, as Figure 6 As shown, determining the weight G of the yarn currently wound on the bobbin includes:

[0121] S2022: Calculate the weight G of the yarn currently wound on the bobbin based on the length of the yarn already wound on the bobbin and the yarn parameters; wherein the yarn parameter is any one of yarn count, fineness, and linear density.

[0122] Among them, yarn parameters are units for measuring the thickness of yarn.

[0123] Optionally, the yarn parameter is any one of yarn count (Nm or Ne), fineness (denier) and linear density (tex or dtex).

[0124] Yarn count (Nm or Ne) indicates the length of the yarn per unit weight. A higher count indicates a finer yarn. Yarn count is commonly used for natural fibers such as cotton and wool. Denier (denier) and linear density (tex or dtex) indicate the weight of the yarn per unit length. Higher denier and linear density values ​​indicate a thicker yarn. Denier and linear density are commonly used for synthetic fibers such as nylon and polyester.

[0125] The yarn weight G can be calculated through the yarn length and yarn parameters. This method can determine the yarn weight G without relying on a weight sensor. It can be used as a redundant design for obtaining the yarn weight G, which is beneficial to improving the accuracy of the yarn weight G and thus improving the control accuracy of the yarn density.

[0126] In a specific embodiment, the weight G of the yarn currently wound on the yarn bobbin is calculated based on the length and yarn count of the yarn already wound on the yarn bobbin.

[0127] In another specific embodiment, the weight G of the yarn currently wound on the yarn bobbin is calculated based on the length and denier of the yarn already wound on the yarn bobbin.

[0128] In another specific embodiment, the weight G of the yarn currently wound on the yarn bobbin is calculated based on the length and tex number of the yarn already wound on the yarn bobbin.

[0129] In some embodiments, optionally, as Figure 7 As shown, determining the weight G of the yarn currently wound on the bobbin includes:

[0130] S2024: Obtain the weight G of the yarn currently wound on the bobbin through a weight sensor.

[0131] The weight sensor is located on the yarn bobbin or the yarn supply reel. The weight sensor is used to collect weight information or weight data and determine the total weight of the yarn bobbin currently wound with yarn based on the weight information or weight data. If the weight sensor is located on the yarn bobbin, the weight of the yarn bobbin in the empty state is a fixed value. Therefore, the total weight of the yarn bobbin currently wound with yarn minus the weight of the yarn bobbin in the empty state can be used to obtain the weight G of the yarn currently wound on the yarn bobbin. If the weight sensor is located on the yarn supply reel (there must be no oiling process in the yarn path), the reduction in the weight of the yarn bobbin on the yarn supply reel from the start of winding to the current moment is the weight G of the yarn currently wound on the yarn bobbin.

[0132] Determining the yarn weight G by means of a weight sensor does not require complicated calculation steps, which is conducive to simplifying the data processing method and improving the efficiency of data processing.

[0133] In one embodiment of the present invention, a closed-loop control system 300 for yarn density is used in the bobbin winding system 100 .

[0134] like Figure 9 As shown, the closed-loop control system 300 of yarn density includes a value setting unit 310, a yarn weight determination unit 320, a target volume determination unit 330, a target diameter determination unit 340, a target angle value determination unit 350, an actual angle value acquisition unit 360 and a closed-loop control unit 370.

[0135] The value setting unit 310 is used to set the closed-loop control target value Q of the yarn density. * .

[0136] During the winding process of the yarn bobbin 120, the tightness of the yarn needs to be controlled. Different tightness of the yarn may result in different yarn densities (yarn density is the yarn weight divided by the yarn volume). By controlling the yarn density, product quality can be improved and enhanced.

[0137] In the technical solution of the present invention, the closed-loop control of yarn density is converted into a closed-loop control of the cradle angle (angle value of the cradle 130) which is easier to implement. It only needs to input a reasonable closed-loop control target value Q of yarn density at the initial stage of the control process.* That is, there is no need to directly consider controlling yarn tension and back pressure.

[0138] Optionally, staff can set Q through the cloud, mobile terminal or directly through the key * The specific value of .

[0139] The yarn weight determination unit 320 is used to determine the weight G of the yarn currently wound on the yarn bobbin 120 .

[0140] The target volume determination unit 330 is used to determine the target volume according to the closed-loop control target value Q * and yarn weight G, determine the target volume V of the yarn * .

[0141] The target volume V here * It refers to the volume of the yarn after it is wound on the yarn cone 120.

[0142] Optionally, based on the first calculation formula, according to the closed-loop control target value Q * and yarn weight G, calculate the target volume V of the yarn * ; The first calculation formula is V * =G / Q * .

[0143] By determining the target volume V of the yarn * , which facilitates the subsequent steps to determine the target diameter D of the bobbin 120 * , and according to the target diameter D * Determine the target angle value α of the cradle 130 * , converting the closed-loop control of yarn density into the more easily achievable closed-loop control of the cradle angle.

[0144] Optionally, when determining the target volume V of the yarn * Previously, the yarn weight G was corrected for temperature compensation, and the correction formula was G ’ =G×(1+β×(T-T0)). Where, G ’ Indicates the corrected weight, β indicates the thermal expansion coefficient of the yarn material, T is the current temperature, and T0 is the standard temperature. * =G ’ / Q * , calculate the target volume V of the yarn * Eliminating the influence of ambient temperature on yarn weight measurement through temperature compensation is beneficial to improving the control accuracy of yarn density.

[0145] The target diameter determination unit 340 is used to determine the target diameter based on the target volume V according to a preset first functional relationship. * , determine the target diameter D of the bobbin 120 *.

[0146] The first functional relationship D * =d(V * ) is the dynamic calibration function. Where, “d” represents D * and V * The functional relationship between them.

[0147] When the yarn bobbin 120 is a standard cylindrical bobbin, the first functional relationship is:

[0148]

[0149] Here, h represents the height of the yarn bobbin 120, and D0 represents the initial diameter of the yarn bobbin 120 (ie, the empty bobbin diameter).

[0150] When the yarn bobbin 120 is a standard conical bobbin, the first functional relationship is:

[0151]

[0152] Wherein, h is the height of the yarn bobbin 120 , D0 is the initial diameter of the yarn bobbin 120 , and θ is the taper angle of the yarn bobbin 120 .

[0153] It should be noted that, when the yarn tube 120 is a standard conical tube, the cone angle of the yarn tube 120 is: in the axial section formed after the conical tube is cut along its axis (center axis), the two side generatrixes (i.e., the edge lines of the side of the conical tube) are extended and intersected.

[0154] The target angle value determination unit 350 is used to determine the target angle value based on the preset second functional relationship according to the target diameter D * , determine the target angle value α of the cradle 130 * .

[0155] In the second functional relationship α * =alpha(D * ) in which "alpha" represents α * and D * The functional relationship between them.

[0156] In an optional embodiment, the second functional relationship α * =alpha(D * ) Specifically:

[0157]

[0158] Among them, L1 is the distance between the cradle fulcrum (the second fulcrum 152) and the center of the yarn tube 120 (i.e., the length of the upper rocker arm of the cradle 130); L2 is the distance between the cradle fulcrum (the second fulcrum 152) and the roller fulcrum (the first fulcrum 151); D0 is the initial diameter of the yarn tube 120 (i.e., the empty tube diameter); α0 is the initial angle value of the cradle 130.

[0159] The actual angle value acquiring unit 360 is configured to acquire the actual angle value α of the cradle 130 .

[0160] The actual angle value α of the cradle 130 is obtained by the angle sensor 161. The angle sensor 161 is used to collect angle information or angle data to determine the position angle of the cradle 130. The angle value of the cradle 130 in the current state is obtained and determined in real time by the angle sensor 161.

[0161] The closed-loop control unit 370 is used to adjust the target angle value α * and the actual angle value α, the control driving device 140 drives the cradle 130 to rotate so that the actual angle value α approaches the target angle value α * The yarn density is adjusted by changing the diameter of the yarn tube 120, thereby achieving closed-loop control of the yarn density.

[0162] According to the target angle value α * and the actual angle value α, determine the deviation value Δα=α * -α, and transmits the deviation value Δα to the angle controller 162. The angle controller 162 drives the screw motor 141 according to the deviation value Δα as a control variable, so that the cradle 130 rotates continuously. The above data processing steps and control process are repeated to achieve closed-loop control of the yarn density.

[0163] The present invention aims to provide a closed-loop control system 300 for yarn density, which converts the closed-loop control of yarn density into a more easily implemented closed-loop control of the cradle angle (the angle value of the cradle 130). This control method does not need to directly consider the control of yarn tension and back pressure, but only needs to consider the angle value of the cradle 130. It is beneficial to improve the control ability and control accuracy of yarn density, and has significant advantages for certain specific yarn winding application scenarios.

[0164] It's important to emphasize that in the present invention, closed-loop control of yarn density is converted into closed-loop control of cradle angle. The deviation between the target and actual cradle angles serves as the control basis for drive device 140 to adjust the movement of cradle 130. This closed-loop control is achieved through a "target value - actual value - deviation - adjustment" feedback loop. The core difference from traditional open-loop control lies in the presence of a feedback loop, allowing for dynamic correction of deviations to ensure control accuracy.

[0165] In one embodiment of the present invention, Figure 10 As shown, electronic device 400 includes memory 410 and processor 420. Memory 410 stores programs or instructions that can be executed on processor 420. When processor 420 executes the programs or instructions, the steps of the closed-loop control method for yarn density described in any of the above-mentioned embodiments are implemented. Electronic device 400 has the beneficial effects of any of the above-mentioned embodiments and will not be further elaborated here.

[0166] In one embodiment of the present invention, a readable storage medium stores a program or instructions that, when executed by a processor, implements the steps of the closed-loop control method for yarn density in any of the above-described embodiments. The readable storage medium has the beneficial effects of any of the above-described embodiments and will not be further described herein.

[0167] In the present invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0168] In the description of the present invention, it should be understood that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0169] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0170] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A closed-loop control method for yarn density, characterized in that: Used in a bobbin winding system, the bobbin winding system includes a roller, a bobbin, a cradle and a drive device; The roller is used to be rotatably connected to the first fulcrum, and the cradle is used to be rotatably connected to the second fulcrum; one end of the cradle is rotatably connected to the yarn drum; and the yarn drum is used to wind the yarn; The driving device is used to drive the cradle to rotate relative to the second fulcrum, and to change the diameter of the yarn bobbin and the yarn density on the yarn bobbin by adjusting the angle value of the cradle; The closed-loop control method comprises: Set the closed-loop control target value Q of the yarn density * , and determining the weight G of the yarn currently wound on the yarn bobbin; According to the closed-loop control target value Q * and the yarn weight G, determine the target volume V of the yarn * ; Based on the preset first functional relationship, according to the target volume V * , determine the target diameter D of the bobbin * ; Based on the preset second functional relationship, according to the target diameter D * , determine the target angle value α of the cradle * ; Obtaining an actual angle value α of the cradle; According to the target angle value α * and the actual angle value α, controlling the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * The yarn density is adjusted by changing the diameter of the yarn bobbin to achieve closed-loop control of the yarn density.

2. The closed-loop control method for yarn density according to claim 1, characterized in that: The target angle value α * and the actual angle value α, controlling the driving device to drive the cradle to rotate so that the actual angle value α approaches the target angle value α * , adjusting the yarn density by changing the diameter of the yarn bobbin to achieve closed-loop control of the yarn density, comprising: According to the target angle value α * and the actual angle value α, determining the rotation angle Δα and the rotation direction of the cradle; According to the rotation angle Δα and the rotation direction, the driving device is controlled to drive the cradle to rotate so that the actual angle value α approaches the target angle value α. * The yarn density is adjusted by changing the diameter of the yarn bobbin to achieve closed-loop control of the yarn density.

3. The closed-loop control method for yarn density according to claim 2, characterized in that: The rotation angle Δα is the target angle value α * The difference between the actual angle value α.

4. The closed-loop control method for yarn density according to any one of claims 1 to 3, characterized in that: The closed-loop control target value Q * and the yarn weight G, determine the target volume V of the yarn * ,include: Based on the first calculation formula, according to the closed-loop control target value Q * and the yarn weight G, the target volume V of the yarn is calculated * ; The first calculation formula is V * =G / Q * .

5. The closed-loop control method for yarn density according to any one of claims 1 to 3, characterized in that: The step of obtaining the actual angle value α of the cradle comprises: The actual angle value α of the cradle is acquired through an angle sensor.

6. The closed-loop control method for yarn density according to any one of claims 1 to 3, characterized in that: Determining the weight G of the yarn currently wound on the yarn bobbin includes: The weight G of the yarn currently wound on the yarn bobbin is calculated based on the length of the yarn already wound on the yarn bobbin and the yarn parameters; wherein the yarn parameter is any one of yarn count, fineness and linear density.

7. The closed-loop control method for yarn density according to any one of claims 1 to 3, characterized in that: Determining the weight G of the yarn currently wound on the yarn bobbin includes: The weight G of the yarn currently wound on the yarn bobbin is obtained by a weight sensor.

8. A closed-loop control system for yarn density, characterized in that: include: A numerical setting unit (310) is used to set a closed-loop control target value Q of the yarn density. * ; a yarn weight determination unit (320) for determining the weight G of the yarn currently wound on the yarn bobbin (120); A target volume determination unit (330) is used to determine the target volume according to the closed-loop control target value Q * and the yarn weight G, determine the target volume V of the yarn * ; The target diameter determination unit (340) is configured to determine the target diameter based on the target volume V according to a preset first functional relationship. * , determine the target diameter D of the bobbin (120) * ; The target angle value determination unit (350) is used to determine the target angle value based on the target diameter D * , determine the target angle value α of the cradle (130) * ; an actual angle value acquisition unit (360), configured to acquire an actual angle value α of the cradle (130); A closed-loop control unit (370) is configured to adjust the target angle value α according to the target angle value α. * and the actual angle value α, controlling the driving device (140) to drive the cradle (130) to rotate so that the actual angle value α approaches the target angle value α * The yarn density is adjusted by changing the diameter of the yarn tube (120), thereby achieving closed-loop control of the yarn density.

9. An electronic device, characterized in that: include: A memory (410) and a processor (420), wherein the memory (410) stores a program or instruction that can be run on the processor (420), and when the processor (420) executes the program or the instruction, the steps of the closed-loop control method of yarn density as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the closed-loop control method for yarn density according to any one of claims 1 to 7 are implemented.

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