Tensioner control method and system

Abstract

The invention provides a tensioner control method and system, and is suitable for the technical field of wireless communication. The method comprises the following steps: according to a tensioner control signal, tensioner control signal transmission signal-to-noise ratio information, tensioner control signal transmission bit error rate information, initial tensioner control signal transmission antenna parameter information, a tensioner control signal interference suppression weight coefficient and tensioner control signal antenna parameter adjustment step length information, adjusting the tensioner control signal transmission bit error rate information according to the tensioner control signal, the tensioner control signal transmission signal-to-noise ratio information, the tensioner control signal transmission bit error rate information, the initial tensioner control signal transmission antenna parameter information and the tensioner control signal antenna parameter adjustment step length information; according to the tensioner control precision threshold value and the tensioner control response delay threshold value, parameter information of a target tensioner control signal transmission antenna is obtained and used for performing parameter configuration on the tensioner control signal transmission antenna; and generating a tensioner control signal transmission wave beam through the tensioner control signal transmission antenna after parameter configuration to perform transmission processing on the tensioner control signal so as to perform tensioner control through the tensioner control signal. According to the invention, the adaptability of the antenna beam to the control of the tensioner is improved through sidelobe suppression, so that the control efficiency and effectiveness of the tensioner are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wireless communication, and particularly relates to a tensioner control method and system. BACKGROUND

[0002] In the prior art, the tension of the belt or chain is usually monitored by a sensor, and a controller is used to adjust the tensioning device according to a specific threshold value. For example, in some belt drive systems, an automatic tensioning device is used, which mainly consists of an energy storage element and a damping element. The energy storage element can continuously tension the belt.

[0003] However, in the prior art, although the automatic tensioning device can achieve basic tension adjustment, it cannot monitor the tension in real time and accurately, and it is difficult to accurately control the tension adjustment process, resulting in low tension adjustment accuracy. It cannot well meet the strict requirements of high-precision transmission systems for tension, and when multiple tensioners work together, the control signal is easily disturbed, reducing the real-time and accuracy of tensioner control. SUMMARY

[0004] Therefore, the embodiments of the present application provide a tensioner control method and system, aiming to solve the problems of tensioner control signal interference and insufficient tension adjustment accuracy in the prior art.

[0005] The first aspect of the embodiments of the present application provides a tensioner control method, comprising: obtaining a plurality of tensioner control signals, a plurality of initial tensioner control signal transmission antenna parameter information, a plurality of tensioner control signal transmission signal-to-noise ratio information, and a plurality of tensioner control signal transmission bit error rate information; based on the preset tensioner control signal interference type number information, the plurality of initial tensioner control signal transmission antenna parameter information, the plurality of tensioner control signal transmission signal-to-noise ratio information, and the plurality of tensioner control signal transmission bit error rate information are associated, calculated and classified to generate a plurality of tensioner control signal interference set information; According to the plurality of tensioner control signals, the plurality of tensioner control signal interference set information, the plurality of initial tensioner control signal transmission antenna parameter information, the preset tensioner control signal interference suppression weight coefficient, the preset tensioner control signal antenna parameter adjustment step information, the preset tensioner control accuracy threshold value and the preset tensioner control response delay threshold value, a plurality of target tensioner control signal transmission antenna parameter information is obtained; According to the plurality of target tensioner control signal transmission antenna parameter information, the tensioner control signal transmission antenna is configured with parameters, so as to generate a plurality of tensioner control signal transmission beams through the tensioner control signal transmission antenna after parameter configuration; The tensioner control signals are transmitted according to the tensioner control signal transmission beams, and tensioner control is performed through the tensioner control signals.

[0006] A second aspect of the embodiment of the application provides a tensioner control system, comprising: A tensioner control signal and a tensioner control signal transmission information acquisition module are configured to acquire a plurality of tensioner control signals, a plurality of initial tensioner control signal transmission antenna parameter information, a plurality of tensioner control signal transmission signal-to-noise ratio information, and a plurality of tensioner control signal transmission bit error rate information. A tensioner control signal interference set information generation module is configured to perform associated calculation and classification processing on the plurality of initial tensioner control signal transmission antenna parameter information, the plurality of tensioner control signal transmission signal-to-noise ratio information, and the plurality of tensioner control signal transmission bit error rate information based on preset tensioner control signal interference type quantity information, and generate a plurality of tensioner control signal interference set information. A target tensioner control signal transmission antenna parameter information generation module is configured to obtain a plurality of target tensioner control signal transmission antenna parameter information according to the plurality of tensioner control signals, the plurality of tensioner control signal interference set information, the plurality of initial tensioner control signal transmission antenna parameter information, a preset tensioner control signal interference suppression weight coefficient, a preset tensioner control signal antenna parameter adjustment step information, a preset tensioner control precision threshold, and a preset tensioner control response delay threshold. A tensioner control signal transmission beam generation module is configured to perform parameter configuration on a tensioner control signal transmission antenna according to the plurality of target tensioner control signal transmission antenna parameter information, and generate a plurality of tensioner control signal transmission beams through the parameter configured tensioner control signal transmission antenna. A tensioner control signal transmission module is configured to perform transmission processing on the plurality of tensioner control signals according to the plurality of tensioner control signal transmission beams, and perform tensioner control through the plurality of tensioner control signals.

[0007] A third aspect of the embodiment of the application provides a terminal device, comprising a memory and a processor, the memory stores a computer program which can be run on the processor, and the processor implements the steps of the tensioner control method in the first aspect when executing the computer program.

[0008] A fourth aspect of the embodiment of the application provides a computer readable storage medium, comprising a computer program stored therein, and the computer program is executed by a processor to implement the steps of the tensioner control method in the first aspect.

[0009] Compared with the prior art, the application has the beneficial effects that: the application realizes accurate perception of the whole-link state of the tensioner control signal transmission and suppression of the sidelobe of the antenna directional beam, so that the antenna beam can accurately adapt to the transmission requirements of each tensioner control signal, reduce the interference exposure caused by wireless signal diffusion, ensure stable transmission of the tensioner control signal in a low-interference, high-signal-to-noise ratio, and low-bit error rate state, so that the tensioner can timely and accurately complete tension adjustment according to the accurate control signal, effectively avoid the tensioner control lag, insufficient precision and other faults caused by the tensioner control signal transmission problem, and thus improve the efficiency, accuracy and effectiveness of the tensioner control. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0011] Figure 1 is an implementation flow diagram of the tensioner control method provided by the first embodiment of the application; Figure 2 is an implementation flow diagram of the tensioner control method provided by the second embodiment of the application; Figure 3 is an implementation flow diagram of the tensioner control method provided by the third embodiment of the application; Figure 4 is an implementation flow diagram of the tensioner control method provided by the fourth embodiment of the application; Figure 5 is an implementation flow diagram of the tensioner control method provided by the fifth embodiment of the application; Figure 6 is an implementation flow diagram of the tensioner control method provided by the sixth embodiment of the application; Figure 7 is an implementation flow diagram of the tensioner control method provided by the seventh embodiment of the application; Figure 8 is a structural diagram of the tensioner control system provided by the embodiment of the application; Figure 9 is a schematic diagram of the terminal device provided by the embodiment of the application. DETAILED DESCRIPTION

[0012] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0013] In order to illustrate the technical solutions of the present application, the following is described by specific embodiments.

[0014] Figure 1 The implementation flowchart of the tensioner control method provided by the embodiment of the present application is shown, and the details are as follows: In step S101, a plurality of tensioner control signals, a plurality of initial tensioner control signal transmission antenna parameter information, a plurality of tensioner control signal transmission signal-to-noise ratio information, and a plurality of tensioner control signal transmission bit error rate information are obtained.

[0015] In the embodiment, the tensioner control signal can refer to a set of instruction signals for regulating the operating state of the plurality of tensioners, which can include target value setting of tensioner tension adjustment, start-stop control, operating mode switching, emergency handling of faults, and all signals related to core control functions of the tensioner. Each tensioner corresponds to independent control signals, and the control signals of the plurality of tensioners collectively constitute the signal set, which can be generated by a central control system matched with the tensioner, such as an industrial PLC control system or a distributed control system, according to the production process requirements. Specifically, the central control system can calculate the required control instructions for each tensioner by combining the load data, operating speed data, and preset tension standard of the transmission system composed of the transmission belt and the chain, and then output the control instructions in the form of electrical signals as the plurality of tensioner control signals. The initial tensioner control signal transmission antenna parameter information can refer to a set of hardware parameters directly related to signal transmission performance of the antenna for transmitting the plurality of tensioner control signals in the initial configuration state. Specifically, it can include core parameters such as the number of array elements, array element spacing, array element excitation amplitude, array element excitation phase, antenna operating frequency, antenna gain, and beam width. It can be understood that each antenna for transmitting the tensioner control signal corresponds to a set of initial tensioner control signal transmission antenna parameter information, which can be extracted from the hardware specification book and technical documents provided by the antenna manufacturer, and can also be obtained by on-site measurement during antenna installation and debugging. Professional measurement equipment is used to detect the actual measurement value of the array element spacing, the initial output value of the excitation amplitude and phase, and other initial tensioner control signal transmission antenna parameter information. The tensioner control signal transmission signal-to-noise ratio information can refer to the ratio of the power of the useful control signal to the power of various types of noise in the transmission link during the transmission of the plurality of tensioner control signals through the antenna. It can be understood that each transmission link of the tensioner control signal corresponds to a set of signal-to-noise ratio data, and the signal-to-noise ratio data of the plurality of tensioner control signals collectively constitute the information set, which directly reflects the anti-interference ability of the control signal transmission. For example, the higher the signal-to-noise ratio, the less the effective signal is affected by noise, and the better the signal transmission quality. The signal-to-noise ratio tester can be deployed at the receiving end of the tensioner control signal to obtain the signal-to-noise ratio information. The signal-to-noise ratio tester can collect the useful control signal power and background noise power at the receiving end in real time, and then obtain the signal-to-noise ratio value of each tensioner control signal through the built-in calculation module of the instrument. The transmission link of the plurality of tensioner control signals can also be detected sequentially or synchronously, so that the plurality of tensioner control signal transmission signal-to-noise ratio information can be obtained. Moreover, the tensioner control signal transmission signal-to-noise ratio information needs to be measured multiple times under different production conditions to ensure that it covers complex industrial environment scenarios.The tensioner control signal transmission bit error rate information can refer to a set of information of a ratio of a number of error signal symbols received by a receiving end to a total number of transmitted signal symbols of a plurality of tensioner control signals during transmission through an antenna. It can be understood that the transmission process of each tensioner control signal corresponds to a set of bit error rate data, and the bit error rate data of the plurality of tensioner control signals collectively constitute the information set, which is a core index for measuring the transmission reliability of the control signal. For example, the lower the bit error rate, the higher the consistency between the control signal obtained by the receiving end and the original signal emitted by the transmitting end, and the more accurate the control instruction executed by the tensioner. The data acquisition and comparison devices can be deployed at the transmitting end and the receiving end of the tensioner control signal to obtain the bit error rate information. Specifically, the transmitting end device can record the total number of control signal symbols and the original symbol sequence for each transmission, the receiving end device can synchronously record the received control signal symbol sequence, and then the symbol sequences at both ends can be compared bit by bit through data comparison software to count the number of error symbols inconsistent between the receiving end and the transmitting end. Then, the bit error rate of each tensioner control signal can be calculated according to the bit error rate = error symbol number / total symbol number, so as to continuously monitor and calculate the transmission process of all tensioner control signals to obtain the transmission bit error rate information of the plurality of tensioner control signals.

[0016] In step S102, based on the preset number of tensioner control signal interference types, the plurality of initial tensioner control signal transmission antenna parameter information, the plurality of tensioner control signal transmission signal-to-noise ratio information, and the plurality of tensioner control signal transmission bit error rate information are associated, calculated and classified to generate a plurality of tensioner control signal interference set information.

[0017] In the embodiment, the preset tensioner control signal interference type quantity information can be set artificially in combination with the actual environment and historical operation data of the industrial field tensioner control signal transmission. Specifically, the interference phenomena occurring in the tensioner control signal transmission process can be recorded through long-term monitoring first. For example, when a high-power motor in the workshop is started during production line operation, the tensioner control signal transmission signal-to-noise ratio decreases by 15 to 20, and the bit error rate rises to more than 0.001, which is determined as electromagnetic radiation interference. When the load of the conveying belt suddenly changes, causing the vibration amplitude of the tensioner to exceed 5 mm, the control signal transmission is intermittently interrupted, which is determined as mechanical vibration interference. When the spacing between multiple tensioner control signal transmission antennas is less than 0.3 m, the signal-to-noise ratio decreases by 8 to 10 due to signal crosstalk interference. When the industrial environment humidity exceeds 85% and the temperature is higher than 40 degrees Celsius, the antenna transmission performance decays, causing the bit error rate to stabilize at about 0.0005, which is determined as environmental factor interference. In this way, the specific types of interference are determined, and then the frequency and impact of each type of interference are counted. If electromagnetic radiation interference occurs 15 to 20 times per month, mechanical vibration interference occurs 8 to 10 times per month, signal crosstalk interference occurs 5 to 8 times per month, and environmental factor interference occurs 3 to 5 times per month, and the impact of the first three types of interference on the tensioner control accuracy exceeds the preset tensioner control accuracy threshold, and the impact of the environmental factor interference does not exceed, then the electromagnetic radiation interference, mechanical vibration interference, and signal crosstalk interference, which have a significant impact on the control performance, are set as the interference types that need to be focused on. Therefore, the number of interference types of the tensioner control signal is set to 3. Each type of interference can be taken as an analysis unit, and different parameters in the multiple initial tensioner control signal transmission antenna parameter information are respectively associated with the multiple tensioner control signal transmission signal-to-noise ratio information and the multiple tensioner control signal transmission bit error rate information. By analyzing the change amplitude of the signal-to-noise ratio and the fluctuation of the bit error rate under different antenna parameter combinations, the correlation between the antenna parameters and the impact of different interference types on the signal transmission quality is determined. Then, according to the correlation calculation results, the antenna parameter information, the corresponding signal-to-noise ratio information, and the bit error rate information that have a significant correlation with the same type of interference are grouped together as a set of tensioner control signal interference set information that matches the preset tensioner control signal interference type quantity information.

[0018] In step S103, multiple target tensioner control signal transmission antenna parameter information is obtained according to the multiple tensioner control signals, the multiple tensioner control signal interference set information, the multiple initial tensioner control signal transmission antenna parameter information, the preset tensioner control signal interference suppression weight coefficient, the preset tensioner control signal antenna parameter adjustment step information, the preset tensioner control accuracy threshold, and the preset tensioner control response delay threshold.

[0019] In the embodiment, the preset tensioner control signal interference suppression weight coefficient, the preset tensioner control signal antenna parameter adjustment step information, the preset tensioner control precision threshold, and the preset tensioner control response delay threshold can all be artificially set. For example, if the electromagnetic interference induced control failure accounts for 60%, the signal superposition interference accounts for 30%, and the environmental noise interference accounts for 10%, the electromagnetic interference suppression weight coefficient is set to 0.6, the signal superposition interference is set to 0.3, and the environmental noise interference is set to 0.1, to ensure that high-impact interference is prioritized for optimization. The preset tensioner control signal antenna parameter adjustment step information can be artificially set in combination with the antenna hardware adjustment accuracy and the tensioner control signal transmission stability requirements. For example, the inter-element spacing adjustment step is set to 0.05, the element excitation amplitude adjustment step is set to 0.05, and the element excitation phase adjustment step is set to 5. The preset tensioner control precision threshold can be artificially set. For example, in the conveyor drive scene, the preset tensioner control precision threshold is set to 0.2 kN. The preset tensioner control response delay threshold can be artificially set in combination with the production line equipment collaborative operation rhythm. For example, the preset tensioner control response delay threshold is set to 30 ms. The initial tensioner control signal transmission antenna parameter information, the signal-to-noise ratio, the bit error rate, and the corresponding interference type association rule in each tensioner control signal interference set information can be analyzed one by one in combination with multiple tensioner control signal interference set information. The influence degree of different interference types on tensioner control signal transmission is determined, and then the artificially preset tensioner control signal interference suppression weight coefficient is introduced. The interference types with different influence degrees are assigned with corresponding weights. Based on the multiple initial tensioner control signal transmission antenna parameter information, the antenna parameters are gradually adjusted according to the preset tensioner control signal antenna parameter adjustment step information. After each adjustment, the adjusted parameters are verified in combination with multiple tensioner control signals to determine whether the tensioner control signal transmission meets the preset tensioner control precision threshold and the preset tensioner control response delay threshold. If the adjusted signal-to-noise ratio is improved, the bit error rate is reduced, the tensioner control precision meets the standard, and the response delay is within the limited range, the adjusted antenna parameters are taken as the candidate tensioner control signal transmission antenna parameter information. Through multiple iteration adjustment and verification, the antenna parameters for each tensioner control signal are selected as the target tensioner control signal transmission antenna parameter information.

[0020] In step S104, the tensioner control signal transmission antenna is parameter configured according to the multiple target tensioner control signal transmission antenna parameter information, to generate multiple tensioner control signal transmission beams through the parameter configured tensioner control signal transmission antenna.

[0021] In the embodiment, the target tensioner control signal transmission antenna parameter information can be first split according to the corresponding tensioner control signal transmission antenna to determine the specific parameters that each tensioner control signal transmission antenna needs to configure, including the number of array elements, the array element spacing, the array element excitation amplitude, the array element excitation phase, the antenna operating frequency, the antenna gain, etc. The split target parameters are input one by one into the control module of the corresponding tensioner control signal transmission antenna. The hardware adjustment mechanism of the antenna is driven by the control module to complete the mechanical adjustment of the array element spacing, the electronic signal calibration of the array element excitation amplitude and phase, and the system setting of the operating frequency, gain and other parameters. The signal output state of the antenna can be monitored in real time by the antenna performance detection equipment, so that each tensioner control signal transmission antenna can form a specific signal radiation mode according to the target parameters, thereby generating multiple tensioner control signal transmission beams that are precisely matched with the tensioner control signal transmission requirements. Each beam can focus on the signal receiving area of the corresponding tensioner to reduce the interference caused by signal diffusion.

[0022] In step S105, the multiple tensioner control signals are transmitted according to the multiple tensioner control signal transmission beams to control the tensioner through the multiple tensioner control signals.

[0023] In the embodiment, the tensioner identification information can be first extracted from the specific data segment of each tensioner control signal to determine the installation position of the specific tensioner that each tensioner control signal needs to regulate and control, the orientation and receiving frequency of the signal receiving module. At the same time, the radiation direction, coverage range and operating frequency of each tensioner control signal transmission beam are summarized to confirm the tensioner signal receiving area that the beam can accurately cover. Each tensioner control signal is matched with the tensioner control signal transmission beam that can accurately point to the target tensioner receiving module and has a frequency adaptation, so that the target control object of the tensioner control signal matches the coverage area of the beam, and the signal frequency matches the operating frequency of the beam. The multiple tensioner control signals are matched according to the corresponding tensioner control signal transmission beams to determine which specific transmission beam each tensioner control signal needs to be transmitted through. Then the tensioner control signal transmission antenna can be driven to operate according to the configured target tensioner control signal transmission antenna parameter information. The multiple tensioner control signal transmission beams generated by the tensioner control signal transmission antenna are respectively aligned with the signal receiving modules of the corresponding tensioners to form a directional transmission link. In the transmission process, the signal strength and stability of each transmission beam can be monitored in real time to ensure that the multiple tensioner control signals can be accurately transmitted along their corresponding transmission beams, avoiding mutual interference between different tensioner control signals.

[0024] In the embodiment, when the signal receiving module of each tensioner receives the corresponding control signal, the signal is converted into an instruction executable by the tensioner, and the actuator of the tensioner such as a hydraulic device or an electric screw rod is driven to perform tension adjustment, start-stop control and other operations. Meanwhile, the feedback module of the tensioner transmits the running state signal to the central control center through the original transmission link to complete a control closed loop, so as to realize precise and stable control of each tensioner through the tensioner control signal.

[0025] The tensioner control method provided by the embodiment of the application realizes precise perception of the state of the whole transmission link of the tensioner control signal and suppression of the sidelobe of the antenna directional beam, so that the antenna beam can be accurately adapted to the transmission requirement of the tensioner control signal, the interference exposure caused by wireless signal diffusion is reduced, the stable transmission of the tensioner control signal in a low-interference, high-signal-to-noise ratio and low-bit error rate state is ensured, the tensioner can timely and accurately complete tension adjustment according to the accurate control signal, and the faults such as control lag and insufficient precision of the tensioner caused by the transmission problem of the tensioner control signal are effectively avoided, thereby improving the efficiency, accuracy and effectiveness of the tensioner control.

[0026] Figure 2 An implementation flowchart of the tensioner control method provided by the second embodiment of the application is shown, which is different from the first embodiment in that: The initial tensioner control signal transmission antenna parameter information includes initial tensioner control signal transmission antenna element spacing information, initial tensioner control signal transmission antenna element excitation amplitude information, initial tensioner control signal transmission antenna element excitation phase information and initial tensioner control signal transmission antenna beam pointing angle information. The step S102 specifically includes: In step S201, the plurality of initial tensioner control signal transmission antenna element spacing information, the plurality of initial tensioner control signal transmission antenna element excitation amplitude information, the plurality of initial tensioner control signal transmission antenna element excitation phase information and the plurality of initial tensioner control signal transmission antenna beam pointing angle information are normalized to obtain a plurality of initial tensioner control signal transmission antenna element spacing normalized information, a plurality of initial tensioner control signal transmission antenna element excitation amplitude normalized information, a plurality of initial tensioner control signal transmission antenna element excitation phase normalized information and a plurality of initial tensioner control signal transmission antenna beam pointing angle normalized information.

[0027] In the embodiment, for the initial tensioner control signal transmission antenna element spacing information, the maximum and minimum of all element spacing information can be calculated first, and each element spacing information is subtracted by the minimum and then divided by the difference between the maximum and the minimum to obtain the corresponding initial tensioner control signal transmission antenna element spacing normalized information, so that the value range is uniformly between 0 and 1; for the initial tensioner control signal transmission antenna element excitation amplitude information, the value outside the range can be corrected according to the boundary value to generate the initial tensioner control signal transmission antenna element excitation amplitude normalized information; for the initial tensioner control signal transmission antenna element excitation phase information, all phase values can be converted to 0 to 2π first, and then the initial tensioner control signal transmission antenna element excitation phase normalized information is obtained by subtracting the minimum and then dividing by the difference between the maximum and the minimum; for the initial tensioner control signal transmission antenna beam pointing angle information, the effective interval of the beam pointing angle can be determined according to the distribution range of the tensioner in the industrial scene, the maximum and minimum in the effective interval are calculated, and the initial tensioner control signal transmission antenna beam pointing angle normalized information is obtained by subtracting the minimum from each initial tensioner control signal transmission antenna beam pointing angle information and then dividing by the difference between the maximum and the minimum.

[0028] In step S202, the multiple tensioner control signal transmission signal-to-noise ratio information and the multiple tensioner control signal transmission bit error rate information are standardized to generate multiple tensioner control signal transmission signal-to-noise ratio standardized information and multiple tensioner control signal transmission bit error rate standardized information.

[0029] In the embodiment, for the multiple tensioner control signal transmission signal-to-noise ratio information, the average and the standard deviation of all signal-to-noise ratio values can be calculated first, each signal-to-noise ratio information is subtracted by the average and then divided by the standard deviation to obtain an initial standardization result, and if the result exceeds the reasonable range of -3 to 3, the boundary value is corrected to generate the multiple tensioner control signal transmission signal-to-noise ratio standardized information, and the multiple tensioner control signal transmission signal-to-noise ratio standardized information conforms to the normal distribution characteristics; for the multiple tensioner control signal transmission bit error rate information, the bit error rate usually presents an exponential distribution, so each bit error rate information can be logarithmically converted first, and then the average and the standard deviation of the converted values are calculated. The same method of subtracting the average and dividing by the standard deviation is used to correct the result to the range of -3 to 3 to generate the multiple tensioner control signal transmission bit error rate standardized information.

[0030] In step S203, the antenna element spacing normalization information, the initial tensioner control signal transmission antenna element excitation amplitude normalization information, the initial tensioner control signal transmission antenna element excitation phase normalization information, the initial tensioner control signal transmission antenna beam pointing angle normalization information, the tensioner control signal transmission SNR standardization information, and the tensioner control signal transmission BER standardization information are spliced according to the plurality of initial tensioner control signal transmission signals to generate a plurality of tensioner control signal interference vectors.

[0031] In this embodiment, the initial tensioner control signal transmission antenna element spacing normalization information, the initial tensioner control signal transmission antenna element excitation amplitude normalization information, the initial tensioner control signal transmission antenna element excitation phase normalization information, and the initial tensioner control signal transmission antenna beam pointing angle normalization information corresponding to each tensioner control signal transmission link are combined with the tensioner control signal transmission SNR standardization information and the tensioner control signal transmission BER standardization information of the same link in sequence to generate a vector data containing six parameter dimensions, i.e., a tensioner control signal interference vector.

[0032] In step S204, the plurality of tensioner control signal interference vectors are associated and processed based on the preset tensioner control signal interference type quantity information to generate a plurality of tensioner control signal interference set information.

[0033] In this embodiment, the preset tensioner control signal interference type quantity information can be set artificially. For each interference type, the correlation between the parameters in the plurality of tensioner control signal interference vectors and the interference type is calculated. For example, when analyzing electromagnetic radiation interference, the correlation between the array element excitation amplitude normalization information, the beam pointing angle normalization information, and the SNR standardization information is calculated to determine whether the change of the antenna parameters has a significant impact on the SNR reduction caused by the electromagnetic radiation interference. In the classification processing, the plurality of tensioner control signal interference vectors with high correlation to the same interference type are classified into the same category, and the features of the parameters in the tensioner control signal interference vectors are extracted to form an information set with the interference type as the core and containing the corresponding interference vectors and parameter features, which is used as the tensioner control signal interference set information.

[0034] The tensioner control method provided in the embodiments of the present application can efficiently identify the correlation between different interference types, antenna parameters, and tensioner control signal transmission quality, and is used to accurately control the directional beam of the tensioner control signal transmission antenna, effectively suppresses the sidelobe interference, ensures the stable transmission of the tensioner control signal in a low-interference, high-SNR, and low-BER state, significantly improves the accuracy, efficiency, and reliability of the tensioner control, and is more suitable for the tensioner control requirements in complex industrial scenarios.

[0035] Figure 3 The implementation flowchart of the tensioner control method provided by Embodiment Three of the present application is shown, which is different from Embodiment Two described above in that the step S204 specifically comprises: Step S301, calculating the logical distance between the plurality of tensioner control signal interference vectors to obtain a plurality of tensioner control signal interference vector distance information.

[0036] In this embodiment, the logical distance can be the Euclidean distance. For the plurality of tensioner control signal interference vectors, six parameter dimensions contained in each vector, i.e., initial tensioner control signal transmission antenna element spacing normalization information, initial tensioner control signal transmission antenna element excitation amplitude normalization information, initial tensioner control signal transmission antenna element excitation phase normalization information, initial tensioner control signal transmission antenna beam pointing angle normalization information, tensioner control signal transmission signal-to-noise ratio standardization information, and tensioner control signal transmission bit error rate standardization information, are used as the basis for calculating any two vectors one by one. When calculating, the absolute value of the difference between the parameter values of the corresponding dimensions of the two vectors is taken, and then the absolute values of all dimensions are added together. The sum obtained is the logical distance between the two vectors. The smaller the distance value, the more similar the correlation state of the initial tensioner control signal transmission antenna element spacing normalization information, the initial tensioner control signal transmission antenna element excitation amplitude normalization information, the initial tensioner control signal transmission antenna element excitation phase normalization information, the initial tensioner control signal transmission antenna beam pointing angle normalization information, the tensioner control signal transmission signal-to-noise ratio standardization information, and the tensioner control signal transmission bit error rate standardization information reflected by the two vectors. All tensioner control signal interference vectors are combined and calculated two by two, and the calculation result is used as the plurality of tensioner control signal interference vector distance information.

[0037] Step S302, judging whether the tensioner control signal interference vector distance information is less than a preset tensioner control signal interference vector distance threshold value; if yes, entering step S303; if no, entering step S304.

[0038] In this embodiment, the preset tensioner control signal interference vector distance threshold value can be artificially set, can be set in combination with the accuracy requirement of interference classification in an industrial scene, and can take a value of 0.8. The size relationship between the tensioner control signal interference vector distance information and the preset tensioner control signal interference vector distance threshold value is judged.

[0039] Step S303, calculating the mean of the plurality of tensioner control signal interference vectors corresponding to the tensioner control signal interference vector distance information to obtain a tensioner control signal interference vector to be classified.

[0040] In the embodiment, when the tensioner control signal interference vector distance information is less than the preset tensioner control signal interference vector distance threshold, it is indicated that the plurality of tensioner control signal interference vectors corresponding to the tensioner control signal interference vector distance information have high similarity, and can be combined. The initial tensioner control signal transmission antenna element spacing normalization information, the initial tensioner control signal transmission antenna element excitation amplitude normalization information, the initial tensioner control signal transmission antenna element excitation phase normalization information, the initial tensioner control signal transmission antenna beam pointing angle normalization information, the tensioner control signal transmission signal-to-noise ratio standardization information, and the tensioner control signal transmission bit error rate standardization information of the group of vectors can be processed respectively. The parameter values of all vectors in each dimension are added, and then divided by the number of the group of vectors to obtain the mean value of each dimension. The mean values of the six dimensions are combined in the original order to generate the tensioner control signal interference vector to be classified.

[0041] In step S304, the plurality of tensioner control signal interference vectors corresponding to the tensioner control signal interference vector distance information are taken as a plurality of tensioner control signal interference vectors to be classified.

[0042] In the embodiment, when the tensioner control signal interference vector distance information is not less than the preset tensioner control signal interference vector distance threshold, it is indicated that the plurality of tensioner control signal interference vectors corresponding to the tensioner control signal interference vector distance information have low similarity, and if forcibly combined, feature distortion will be caused. The plurality of tensioner control signal interference vectors can be taken as independent tensioner control signal interference vectors to be classified respectively.

[0043] In step S305, based on the preset tensioner control signal interference category number information, the plurality of tensioner control signal interference vectors to be classified are classified to generate a plurality of tensioner control signal interference set information.

[0044] In the embodiment, the feature reference range of each interference type can be artificially set, for example, the features corresponding to electromagnetic radiation interference are that the initial tensioner control signal transmission antenna element excitation amplitude normalized information is in 0.6-0.8, the tensioner control signal transmission signal-to-noise ratio normalized information is in -1.5-0.5, the features corresponding to mechanical vibration interference are that the initial tensioner control signal transmission antenna beam pointing angle normalized information is in 0.3-0.5, the tensioner control signal transmission bit error rate normalized information is in 1.0-1.5, the features corresponding to signal crosstalk interference are that the initial tensioner control signal transmission antenna element spacing normalized information is in 0.2-0.4, the tensioner control signal transmission signal-to-noise ratio normalized information is in -2.0-1.0, and then the values of the initial tensioner control signal transmission antenna element spacing normalized information, the initial tensioner control signal transmission antenna element excitation amplitude normalized information, the initial tensioner control signal transmission antenna element excitation phase normalized information, the initial tensioner control signal transmission antenna beam pointing angle normalized information, the tensioner control signal transmission signal-to-noise ratio normalized information, and the tensioner control signal transmission bit error rate normalized information of each to-be-classified tensioner control signal interference vector are compared with the feature reference range of each interference type, the number of dimensions in which the vector parameters fall into a certain interference type feature range is counted, the vector is classified into the interference type group in which the number of dimensions is the most, and all to-be-classified tensioner control signal interference vectors and the corresponding parameter features in the same interference type group can be integrated to generate a plurality of tensioner control signal interference set information matching the preset tensioner control signal interference type number information.

[0045] The tensioner control method provided by the embodiment of the application improves the accuracy and pertinence of the tensioner control signal interference set information, thereby efficiently and accurately identifying the correlation rules of different interference types and the initial tensioner control signal transmission antenna element spacing normalized information, the initial tensioner control signal transmission antenna element excitation amplitude normalized information, the initial tensioner control signal transmission antenna element excitation phase normalized information, the initial tensioner control signal transmission antenna beam pointing angle normalized information, the tensioner control signal transmission signal-to-noise ratio normalized information, and the tensioner control signal transmission bit error rate normalized information, so as to accurately control the tensioner control signal transmission antenna directional beam, effectively suppress the sidelobe interference, ensure the stable transmission of the tensioner control signal in a low-interference, high-signal-to-noise-ratio, and low-bit-error-rate state, and significantly improve the accuracy, efficiency, and reliability of the tensioner control, which is more suitable for diversified tensioner control requirements in complex industrial scenes.

[0046] Figure 4 An implementation flowchart of the tensioner control method provided by the fourth embodiment of the application is shown, which is different from the third embodiment described above in that the step S305 specifically includes: Step S401, based on the preset tensioner control signal interference category quantity information, randomly extracting the plurality of to-be-classified tensioner control signal interference vectors to obtain a plurality of extracted tensioner control signal interference vectors.

[0047] In the embodiment, the preset tensioner control signal interference category quantity information can be artificially set. The preset interference category quantity can be determined according to the extraction quantity, to ensure that the extracted vectors can preliminarily cover the characteristics of different interference types. The extraction process can be performed through random number generation, thereby obtaining a plurality of extracted tensioner control signal interference vectors.

[0048] Step S402, obtaining a plurality of remaining tensioner control signal interference vectors according to the plurality of to-be-classified tensioner control signal interference vectors and the plurality of extracted tensioner control signal interference vectors.

[0049] In the embodiment, the part of the to-be-classified tensioner control signal interference vectors that have become the extracted tensioner control signal interference vectors can be removed, and the remaining vectors are the remaining tensioner control signal interference vectors.

[0050] Step S403, calculating the Euclidean distances of the plurality of extracted tensioner control signal interference vectors and the plurality of remaining tensioner control signal interference vectors to obtain a plurality of to-be-classified tensioner control signal interference vector distance information.

[0051] In the embodiment, the Euclidean distance of each remaining tensioner control signal interference vector and each extracted tensioner control signal interference vector is calculated. When calculating, the parameter values of the corresponding dimensions of the two vectors can be subtracted and squared first, then the square results of all dimensions are added, and finally the square root of the sum is taken to obtain the to-be-classified tensioner control signal interference vector distance information.

[0052] Step S404, classifying the plurality of remaining tensioner control signal interference vectors according to the plurality of to-be-classified tensioner control signal interference vector distance information and the plurality of extracted tensioner control signal interference vectors to generate a plurality of tensioner control signal interference category information.

[0053] In the embodiment, the distance information of the to-be-classified tensioner control signal interference vector corresponding to each of the remaining tensioner control signal interference vectors and all the extracted tensioner control signal interference vectors can be compared first, and the tensioner control signal interference category to which the extracted tensioner control signal interference vector with the minimum value of the to-be-classified tensioner control signal interference vector distance information belongs is selected. The remaining tensioner control signal interference vector is classified into the tensioner control signal interference category. After the classification of all the remaining tensioner control signal interference vectors is completed, each tensioner control signal interference category will contain the corresponding extracted tensioner control signal interference vector and multiple remaining tensioner control signal interference vectors classified into the category. Meanwhile, multiple parameter dimension features of all vectors in each tensioner control signal interference category are extracted, which are multiple tensioner control signal interference category information containing vector sets and parameter features in the form of categories.

[0054] In step S405, the median and the mean of the multiple tensioner control signal interference category information are calculated to obtain multiple tensioner control signal interference category median information and multiple tensioner control signal interference category mean information.

[0055] In the embodiment, all parameter values of a certain parameter dimension under the same tensioner control signal interference category can be sorted from small to large, and the value at the middle position is taken. If the number of values is even, the average of the two middle values is taken to obtain the tensioner control signal interference category median information. All parameter values of a certain parameter dimension under the same tensioner control signal interference category can be added and then divided by the total number of vectors under the tensioner control signal interference category to obtain the tensioner control signal interference category mean information.

[0056] In step S406, the multiple tensioner control signal interference category median information and the multiple tensioner control signal interference category mean information are weighted and calculated based on the preset tensioner control signal interference category center calculation weight to obtain multiple tensioner control signal interference category center vectors.

[0057] In the embodiment, the preset tensioner control signal interference category center calculation weight can be artificially set in combination with the importance of the six parameter dimensions to the interference classification. For each tensioner control signal interference category, the initial tensioner control signal transmission antenna element spacing normalized information value of the tensioner control signal interference category center information and the initial tensioner control signal transmission antenna element spacing normalized information value of the tensioner control signal interference category mean information are multiplied by the weight corresponding to the initial tensioner control signal transmission antenna element spacing normalized information, respectively, and then the two weighted results are added to obtain the center value of the initial tensioner control signal transmission antenna element spacing normalized information dimension. Thus, the center values of the initial tensioner control signal transmission antenna element excitation amplitude normalized information, the initial tensioner control signal transmission antenna element excitation phase normalized information, the initial tensioner control signal transmission antenna beam pointing angle normalized information, the tensioner control signal transmission signal-to-noise ratio standardized information, and the tensioner control signal transmission bit error rate standardized information are sequentially calculated. The center values of the six dimensions are combined in the order of the initial tensioner control signal transmission antenna element spacing normalized information, the initial tensioner control signal transmission antenna element excitation amplitude normalized information, the initial tensioner control signal transmission antenna element excitation phase normalized information, the initial tensioner control signal transmission antenna beam pointing angle normalized information, the tensioner control signal transmission signal-to-noise ratio standardized information, and the tensioner control signal transmission bit error rate standardized information to generate the tensioner control signal interference category center vector of the tensioner control signal interference category.

[0058] In step S407, it is determined whether the plurality of tensioner control signal interference category center vectors are the same as the plurality of extracted tensioner control signal interference vectors. If yes, step S408 is entered. If no, step S409 is entered.

[0059] In the embodiment, for each tensioner control signal interference category, the six parameter dimensions of the corresponding tensioner control signal interference category center vector and the extracted tensioner control signal interference vector under the category are compared, the six parameter dimensions being initial tensioner control signal transmission antenna element spacing normalized information, initial tensioner control signal transmission antenna element excitation amplitude normalized information, initial tensioner control signal transmission antenna element excitation phase normalized information, initial tensioner control signal transmission antenna beam pointing angle normalized information, tensioner control signal transmission signal-to-noise ratio standardized information, and tensioner control signal transmission bit error rate standardized information. If the values of all dimensions are completely consistent, allowing for a small error that can be ignored in an industrial scene, such as ±0.001, it is determined that the tensioner control signal interference category center vector and the corresponding extracted tensioner control signal interference vector are the same, indicating that the initially extracted tensioner control signal interference vector can accurately represent the core characteristics of the tensioner control signal interference category and does not need to be adjusted. If the value of any one dimension differs beyond the allowed error range, it is determined that the tensioner control signal interference category center vector and the corresponding extracted tensioner control signal interference vector are different, indicating that the initially extracted tensioner control signal interference vector does not fully reflect the core of the tensioner control signal interference category and needs to be iteratively optimized.

[0060] In step S408, the plurality of tensioner control signal interference category information is taken as a plurality of tensioner control signal interference set information.

[0061] In the embodiment, when the tensioner control signal interference category center vectors corresponding to all tensioner control signal interference categories are the same as the respective extracted tensioner control signal interference vectors, it is indicated that the plurality of tensioner control signal interference category information has accurately divided the sets of tensioner control signal interference vectors to be classified corresponding to different interference types, and the extracted tensioner control signal interference vectors and the remaining tensioner control signal interference vectors in each tensioner control signal interference category have a highly similar associated state of initial tensioner control signal transmission antenna element spacing normalized information, initial tensioner control signal transmission antenna element excitation amplitude normalized information, initial tensioner control signal transmission antenna element excitation phase normalized information, initial tensioner control signal transmission antenna beam pointing angle normalized information, tensioner control signal transmission signal-to-noise ratio standardized information, and tensioner control signal transmission bit error rate standardized information. These tensioner control signal interference category information can be taken as a plurality of tensioner control signal interference set information, each tensioner control signal interference set information clearly presenting the set of tensioner control signal interference vectors to be classified corresponding to the interference type and the characteristics of each parameter dimension.

[0062] Step S409, the plurality of tensioner control signal interference category center vectors are taken as a plurality of extracted tensioner control signal interference vectors, and the process returns to step S402.

[0063] In the embodiment, when the tensioner control signal interference category center vector corresponding to the tensioner control signal interference category is different from the extracted tensioner control signal interference vector under the category, the plurality of remaining tensioner control signal interference vectors are determined again from the plurality of to-be-classified tensioner control signal interference vectors, the Euclidean distance between the plurality of extracted tensioner control signal interference vectors and the plurality of remaining tensioner control signal interference vectors is calculated to obtain the plurality of to-be-classified tensioner control signal interference vector distance information, the plurality of remaining tensioner control signal interference vectors are classified according to the plurality of to-be-classified tensioner control signal interference vector distance information to generate the plurality of tensioner control signal interference category information, the median and the mean of the plurality of tensioner control signal interference category information are calculated to obtain the plurality of tensioner control signal interference category median information and the plurality of tensioner control signal interference category mean information, the plurality of tensioner control signal interference category center vectors are calculated based on the preset tensioner control signal interference category center calculation weight, and the judgment is performed again until all the tensioner control signal interference category center vectors are the same as the corresponding extracted tensioner control signal interference vectors.

[0064] The tensioner control method provided in the embodiment can accurately classify the plurality of to-be-classified tensioner control signal interference vectors, ensure that the tensioner control signal interference set information is highly matched with the preset tensioner control signal interference type number information, provide a more accurate basis for subsequent optimization of the target tensioner control signal transmission antenna parameter information, realize efficient regulation and control of the tensioner control signal transmission antenna directional beam, effectively suppress the sidelobe interference, ensure stable transmission of the tensioner control signal in a low-interference, high-signal-to-noise ratio, and low-bit-error-rate state, and significantly improve the accuracy, efficiency, and reliability of tensioner control, and better adapt to diversified tensioner control requirements in complex industrial scenarios.

[0065] Figure 5 An implementation flowchart of the tensioner control method provided in the fifth embodiment of the application is shown, which is different from the first embodiment in that the step S103 specifically includes: Step S501, feature extraction is performed on the plurality of tensioner control signals to obtain a plurality of tensioner control signal type feature information, a plurality of tensioner control signal transmission bandwidth feature information, and a plurality of tensioner control signal instruction priority feature information.

[0066] In the embodiment, the characteristic extraction can be realized by parsing the plurality of tensioner control signals to extract the instruction code and function identification of each tensioner control signal. If the first digit of the instruction code of the tensioner control signal is 1 and the function identification is tension adjustment, the type characteristic of the tensioner control signal is determined as a tension adjustment type signal. If the first digit of the instruction code of the tensioner control signal is 2 and the function identification is start-stop control, the type characteristic of the tensioner control signal is determined as a start-stop control type signal. If the first digit of the instruction code of the tensioner control signal is 3 and the function identification is fault emergency treatment, the type characteristic of the tensioner control signal is determined as a fault emergency type signal, so as to match a unique tensioner control signal type characteristic information for each tensioner control signal. The tensioner control signal transmission bandwidth characteristic information is characteristic data reflecting the bandwidth resource required for the transmission of the tensioner control signal. The tensioner control signal transmission bandwidth characteristic information can be calculated by collecting the data transmission amount of the tensioner control signal in a unit time. The number of binary data bits transmitted per second of each tensioner control signal can be counted, and the minimum bandwidth value required for stable transmission of the tensioner control signal is converted as the corresponding tensioner control signal transmission bandwidth characteristic information according to the modulation mode of the tensioner control signal transmission. The tensioner control signal instruction priority characteristic information can be set artificially according to the production process requirements and the fault influence range, such as the device safety and production interruption risk, which is set as the highest priority. The tension adjustment type signal affects the stability of the transmission system and the material conveying accuracy, which is set as the medium priority. The start-stop control type signal can be executed in the production gap, which is set as the low priority, so as to generate the corresponding tensioner control signal instruction priority characteristic information.

[0067] In step S502, the plurality of tensioner control signal type characteristic information, the plurality of tensioner control signal transmission bandwidth characteristic information, and the plurality of tensioner control signal instruction priority characteristic information are spliced to generate a plurality of tensioner control signal characteristic vectors.

[0068] In the embodiment, various types of feature information can be artificially standardized and coded, such as artificially coding the tensioner control signal type feature information corresponding to the tension adjustment signal as 01, artificially coding the tensioner control signal type feature information corresponding to the start-stop control signal as 02, and artificially coding the tensioner control signal type feature information corresponding to the emergency fault signal as 03; artificially coding the tensioner control signal transmission bandwidth feature information corresponding to the transmission bandwidth of 2 kHz as 002, and artificially coding the tensioner control signal transmission bandwidth feature information corresponding to the transmission bandwidth of 5 kHz as 005; artificially coding the tensioner control signal instruction priority feature information corresponding to the highest priority as 01, artificially coding the tensioner control signal instruction priority feature information corresponding to the medium priority as 02, and artificially coding the tensioner control signal instruction priority feature information corresponding to the low priority as 03. The coded tensioner control signal type feature information, the coded tensioner control signal transmission bandwidth feature information, and the coded tensioner control signal instruction priority feature information are spliced in the order of tensioner control signal type feature code-tensioner control signal transmission bandwidth feature code-tensioner control signal instruction priority feature code to serve as the tensioner control signal feature vector.

[0069] In step S503, based on the preset tensioner control signal interference suppression weight coefficient, the plurality of tensioner control signal interference suppression weighted vectors are calculated according to the plurality of tensioner control signal feature vectors and the plurality of tensioner control signal interference set information.

[0070] In the embodiment, the preset tensioner control signal interference suppression weight coefficients can be artificially set according to the influence degree of different interference types on the transmission of the tensioner control signal, for example, the electromagnetic radiation interference suppression weight coefficient is artificially set to 0.6, the mechanical vibration interference suppression weight coefficient is artificially set to 0.3, and the signal crosstalk interference suppression weight coefficient is artificially set to 0.1. Each tensioner control signal feature vector can be matched with the corresponding tensioner control signal interference set information. According to the tensioner control signal type feature code and the tensioner control signal transmission bandwidth feature code in the tensioner control signal feature vector, it is determined that the tensioner control signal feature vector corresponds to which interference type, and then the tensioner control signal interference set information containing the interference type is matched. The parameters related to interference suppression in the matched tensioner control signal interference set information are extracted and associated with the corresponding feature codes in the tensioner control signal feature vector. Finally, the preset tensioner control signal interference suppression weight coefficients are introduced to perform weighted calculation on the associated parameters and feature codes. The parameter values in the tensioner control signal interference set information are multiplied by the suppression weight coefficients of the corresponding interference types, and then the results are multiplied by the code values in the tensioner control signal feature vector. The weighted results of each dimension are combined in the original order as the tensioner control signal interference suppression weighted vector.

[0071] In step S504, a plurality of tensioner control precision information and a plurality of tensioner control response delay information are calculated according to the plurality of tensioner control signal interference suppression weighted vectors.

[0072] In the embodiment, the weight result corresponding to the tension adjustment type feature code in the tensioner control signal interference suppression weight vector and the tensioner control signal transmission antenna parameter weight value related to the tension control in the tensioner control signal interference set information are extracted, the tension standard value set artificially is combined, the tension adjustment deviation value corresponding to each tensioner control signal is calculated, and the tensioner control precision information is obtained. The smaller the deviation value is, the higher the tensioner control precision is. The tensioner control response delay information is the information reflecting the time required for the tensioner to complete the execution instruction after receiving the control signal, and the dimension data related to the signal transmission efficiency in the tensioner control signal interference suppression weight vector is taken as the core. The weight result corresponding to the tensioner control signal transmission bandwidth feature code in the tensioner control signal interference suppression weight vector and the tensioner control signal transmission signal-to-noise ratio weight value related to the signal transmission speed in the tensioner control signal interference set information are extracted, the inherent response time of the tensioner execution mechanism is combined, and the total delay time corresponding to each tensioner control signal is calculated. The total delay time is the tensioner control response delay information. Specifically, when the total delay time corresponding to each tensioner control signal is calculated, the weight result related to the tensioner control signal transmission bandwidth feature code in the tensioner control signal interference suppression weight vector corresponding to the tensioner control signal and the tensioner control signal transmission signal-to-noise ratio weight value related to the signal transmission speed in the tensioner control signal interference set information corresponding to the tensioner control signal are extracted, the inherent response time of the tensioner execution mechanism is obtained, then the weight result of the tensioner control signal transmission bandwidth feature code and the tensioner control signal transmission signal-to-noise ratio weight value are fused and calculated, the transmission delay time caused by bandwidth limitation and signal interference in the transmission process of the tensioner control signal is obtained, and then the transmission delay time and the inherent response time of the tensioner execution mechanism are added. The result is the total delay time corresponding to the tensioner control signal. When the weight result of the tensioner control signal transmission bandwidth feature code and the tensioner control signal transmission signal-to-noise ratio weight value are fused and calculated, the physical meaning and quantization relationship of the two can be determined first. The weight result of the tensioner control signal transmission bandwidth feature code reflects the delay influence weight caused by the bandwidth resource limitation in the transmission process of the tensioner control signal, and the tensioner control signal transmission signal-to-noise ratio weight value reflects the transmission efficiency loss weight caused by the noise interference in the signal transmission process. Then, according to the fusion coefficient set based on the proportion relationship of the bandwidth limitation and the noise interference in the transmission environment, the weight result of the tensioner control signal transmission bandwidth feature code and the tensioner control signal transmission signal-to-noise ratio weight value are weighted, and the fusion calculation result is obtained by adding the two weight processing results.

[0073] Step S505, judging whether the tensioner control accuracy information is greater than or equal to a preset tensioner control accuracy threshold value; if yes, entering step S506; if no, entering step S509.

[0074] In the embodiment, the preset tensioner control accuracy threshold value can be artificially set according to the process requirements of the transmission system. If the deviation value in the tensioner control accuracy information is greater than or equal to the tensioner control accuracy threshold value, it indicates that the current control accuracy of the tensioner reaches or exceeds the qualified standard, and then whether the tensioner control response delay information meets the requirements is judged; if the deviation value in the tensioner control accuracy information is less than the tensioner control accuracy threshold value, it indicates that the current control accuracy of the tensioner does not reach the qualified standard, and the parameters affecting the tensioner control accuracy need to be adjusted in priority.

[0075] Step S506, judging whether the tensioner control response delay information is less than or equal to a preset tensioner control response delay threshold value; if yes, entering step S507; if no, entering step S508.

[0076] In the embodiment, the preset tensioner control response delay threshold value can be artificially set. If the total delay time in the tensioner control response delay information is less than or equal to the tensioner control response delay threshold value, it indicates that the current control accuracy and response delay of the tensioner both meet the production requirements, and the tensioner control signal transmission antenna parameters do not need to be adjusted; if the total delay time in the tensioner control response delay information is greater than the tensioner control response delay threshold value, the parameters affecting the tensioner control response delay need to be adjusted.

[0077] Step S507, taking the plurality of initial tensioner control signal transmission antenna parameter information as a plurality of target tensioner control signal transmission antenna parameter information.

[0078] In the embodiment, when the tensioner control accuracy information is greater than or equal to the preset tensioner control accuracy threshold value, and the tensioner control response delay information is less than or equal to the preset tensioner control response delay threshold value, it indicates that the current plurality of initial tensioner control signal transmission antenna parameter information can effectively suppress interference in the transmission process of the tensioner control signal, so that the tensioner control meets the production requirements of control accuracy and response speed. Therefore, the plurality of initial tensioner control signal transmission antenna parameter information can be determined as the plurality of target tensioner control signal transmission antenna parameter information.

[0079] Step S508, obtaining a plurality of intermediate tensioner control signal transmission antenna parameter information according to a plurality of tensioner control signal interference set information corresponding to the plurality of tensioner control response delay information, a plurality of initial tensioner control signal transmission antenna parameter information, and a preset tensioner control signal antenna parameter adjustment step length information.

[0080] In the embodiment, the preset tensioner control signal antenna parameter adjustment step information can be artificially set, and can be artificially set in combination with the hardware adjustment precision of the tensioner control signal transmission antenna and the stability requirement of the tensioner control signal transmission. For example, the tensioner control signal transmission antenna operating frequency adjustment step is set to 50 MHz, and the tensioner control signal transmission antenna gain adjustment step is set to 0.5 dB. Based on the plurality of initial tensioner control signal transmission antenna parameter information, the tensioner control signal transmission antenna parameters affecting the tensioner control response delay information are adjusted according to the preset tensioner control signal antenna parameter adjustment step information. For example, if the initial value of the tensioner control signal transmission antenna operating frequency is 800 MHz, the frequency needs to be increased, and the frequency is adjusted to 850 MHz by 50 MHz step. If the initial value of the tensioner control signal transmission antenna gain is 10 dB, the gain needs to be increased, and the gain is adjusted to 10.5 dB by 0.5 dB step. After the adjustment, the plurality of intermediate tensioner control signal transmission antenna parameter information is obtained.

[0081] In step S509, the plurality of intermediate tensioner control signal transmission antenna parameter information is obtained according to the plurality of tensioner control precision information corresponding to the plurality of tensioner control signal interference set information, the plurality of initial tensioner control signal transmission antenna parameter information, and the preset tensioner control signal antenna parameter adjustment step information.

[0082] In the embodiment, the preset tensioner control signal antenna parameter adjustment step information can be artificially set, for example, the tensioner control signal transmission antenna element spacing adjustment step is set to 0.05 wavelength, and the tensioner control signal transmission antenna element excitation phase adjustment step is set to 5 degrees. Based on the plurality of initial tensioner control signal transmission antenna parameter information, the tensioner control signal transmission antenna parameters affecting the tensioner control precision information are adjusted according to the preset tensioner control signal antenna parameter adjustment step information. For example, if the initial value of the tensioner control signal transmission antenna element spacing is 0.5 wavelength, the spacing needs to be reduced, and the spacing is adjusted to 0.45 wavelength by 0.05 wavelength step. If the initial value of the tensioner control signal transmission antenna element excitation phase is 10 degrees, the phase needs to be calibrated, and the phase is adjusted to 15 degrees by 5 degrees step. After the adjustment, the plurality of intermediate tensioner control signal transmission antenna parameter information is obtained.

[0083] In step S510, the plurality of intermediate tensioner control signal transmission antenna parameter information is taken as the plurality of initial tensioner control signal transmission antenna parameter information, and the process returns to step S102.

[0084] In the embodiment, the plurality of intermediate tensioner control signal transmission antenna parameter information can be retransmitted as a plurality of initial tensioner control signal transmission antenna parameter information, so as to realize iterative optimization, and gradually adjust the tensioner control signal transmission antenna parameter information until the tensioner control precision information and the tensioner control response delay information meet the threshold requirements.

[0085] The tensioner control method provided by the embodiment of the application ensures that the tensioner control signal transmission antenna parameter information can adapt to the transmission requirements and anti-interference requirements of different tensioner control signals, so as to realize fine management and control of the tensioner control signal transmission full link, dynamically optimize the tensioner control signal transmission antenna parameter information, effectively improve the stability and reliability of the tensioner control signal transmission, and enable the tensioner to maintain high-precision and low-delay control in a complex industrial environment.

[0086] Figure 6 An implementation flowchart of the tensioner control method provided by the sixth embodiment of the application is shown, which is different from the fifth embodiment in that the step S508 specifically includes: In step S601, the tensioner control signal interference set information corresponding to the minimum value of the plurality of tensioner control response delay information is taken as the tensioner control signal interference delay calibration set information.

[0087] In the embodiment, the numerical values of all the tensioner control response delay information can be compared, and the tensioner control signal interference set information corresponding to the tensioner control response delay information with the smallest numerical value is determined as the tensioner control signal interference delay calibration set information.

[0088] In step S602, the plurality of initial tensioner control signal transmission antenna parameter information corresponding to the tensioner control signal interference delay calibration set information is taken as a plurality of delay-optimized calibration tensioner control signal transmission antenna parameter information.

[0089] In the embodiment, the tensioner control signal interference delay calibration set information contains a plurality of initial tensioner control signal transmission antenna parameter information associated therewith, and the initial tensioner control signal transmission antenna parameter information can be determined as the plurality of delay-optimized calibration tensioner control signal transmission antenna parameter information.

[0090] In step S603, the plurality of initial tensioner control signal transmission antenna parameter information corresponding to the plurality of tensioner control signal interference set information and the plurality of delay-optimized calibration tensioner control signal transmission antenna parameter information are used to obtain a plurality of to-be-optimized delay tensioner control signal transmission antenna parameter information.

[0091] In the embodiment, the plurality of initial tensioner control signal transmission antenna parameter information corresponding to the plurality of tensioner control signal interference set information can be compared dimension by dimension with the plurality of delay-optimized calibrated tensioner control signal transmission antenna parameter information, and the differences between the two in each core parameter dimension, such as array element spacing, array element excitation amplitude, array element excitation phase, antenna operating frequency, antenna gain, etc. can be analyzed one by one to screen out the parameter dimensions in the current initial tensioner control signal transmission antenna parameter information that have large deviations from the delay-optimized calibrated tensioner control signal transmission antenna parameter information and have significant impact on the transmission delay of the tensioner control signal, and determine the initial tensioner control signal transmission antenna parameter information containing the parameter dimensions to be adjusted as the plurality of delay-optimized tensioner control signal transmission antenna parameter information, so as to ensure that the subsequent optimization can accurately target the key parameters affecting the delay. For example, the antenna operating frequency directly determines the signal transmission rate, has a high weight, and a change of 50 MHz in the array element operating frequency usually causes a transmission delay fluctuation of 10 to 15 milliseconds, the antenna gain affects the signal transmission intensity and stability, and a change of 0.5 dB in the gain causes a transmission delay fluctuation of 5 to 8 milliseconds, and the number of array elements has a low weight on the delay after meeting the basic transmission requirements, and a change of 1 to 2 in the number usually causes a transmission delay fluctuation of no more than 3 milliseconds. Then, the numerical difference in the parameter dimension is comprehensively judged in combination with the weight of its impact on the transmission delay, and the parameter dimension whose numerical difference exceeds the preset reasonable range, such as a difference of more than 100 MHz in the antenna operating frequency, a difference of more than 1 dB in the antenna gain, and a high weight in the impact, is determined as the parameter dimension whose change causes a transmission delay fluctuation of more than 8 milliseconds, so as to screen out the current initial tensioner control signal transmission antenna parameter information containing these parameter dimensions.

[0092] In step S604, the plurality of delay-optimized tensioner control signal transmission antenna parameter information is calculated according to the preset tensioner control signal antenna parameter adjustment step information, and a plurality of intermediate tensioner control signal transmission antenna parameter information is obtained.

[0093] In the embodiment, the preset tensioner control signal antenna parameter adjustment step information is artificially set in combination with the adjustment accuracy of the tensioner control signal transmission antenna hardware and the stability requirement of the tensioner control signal transmission, for example, the working frequency adjustment step of the tensioner control signal transmission antenna is set to 50 MHz, the gain adjustment step of the tensioner control signal transmission antenna is set to 0.5 dB, and the adjustment step of the element spacing of the tensioner control signal transmission antenna is set to 0.05 wavelength. The preset tensioner control signal antenna parameter adjustment step information can be used to adjust each to-be-optimized delay tensioner control signal transmission antenna parameter information step by step. For example, if the antenna working frequency in the to-be-optimized delay tensioner control signal transmission antenna parameter information is lower than the corresponding frequency in the delay optimization calibration tensioner control signal transmission antenna parameter information, and the low frequency is the main cause of the transmission delay exceeding the standard, the antenna working frequency is gradually increased by 50 MHz. If the antenna gain in the to-be-optimized delay tensioner control signal transmission antenna parameter information is lower than the corresponding gain in the delay optimization calibration tensioner control signal transmission antenna parameter information, and the insufficient gain affects the signal transmission speed, the antenna gain is gradually increased by 0.5 dB. All the adjusted antenna parameter information is intermediate tensioner control signal transmission antenna parameter information.

[0094] The tensioner control method provided in the embodiment guarantees the stability and efficiency of parameter adjustment, thereby improving the accuracy and efficiency of tensioner control signal transmission antenna parameter optimization, to ensure that the tensioner fully adapts to the stringent requirements of diversified production scenarios on tensioner control.

[0095] Figure 7 An implementation flowchart of the tensioner control method provided in the seventh embodiment of the present application is shown, which is different from the fifth embodiment in that the step S509 specifically includes: In step S701, the tensioner control signal interference set information corresponding to the maximum value of the plurality of tensioner control precision information is taken as the tensioner control signal interference control precision calibration set information.

[0096] In the embodiment, the numerical values of all the tensioner control precision information can be compared, and the tensioner control signal interference set information associated with the tensioner control precision information with the largest numerical value is selected as the tensioner control signal interference control precision calibration set information.

[0097] In step S702, the plurality of initial tensioner control signal transmission antenna parameter information corresponding to the tensioner control signal interference control precision calibration set information is taken as the plurality of control precision optimization calibration tensioner control signal transmission antenna parameter information.

[0098] In the embodiment, the tensioner control signal interference control precision calibration set information contains a plurality of initial tensioner control signal transmission antenna parameter information associated therewith, and the initial tensioner control signal transmission antenna parameter information can be determined as a plurality of control precision optimization calibration tensioner control signal transmission antenna parameter information.

[0099] In step S703, a plurality of initial tensioner control signal transmission antenna parameter information corresponding to a plurality of tensioner control signal interference set information and a plurality of control precision optimization calibration tensioner control signal transmission antenna parameter information are obtained to obtain a plurality of to-be-optimized precision tensioner control signal transmission antenna parameter information.

[0100] In the embodiment, the plurality of initial tensioner control signal transmission antenna parameter information corresponding to the plurality of tensioner control signal interference set information and the plurality of control precision optimization calibration tensioner control signal transmission antenna parameter information are compared dimension by dimension, and the differences between the two in each core parameter dimension, such as the number of array elements, the array element spacing, the array element excitation amplitude, the array element excitation phase, the antenna operating frequency, the antenna gain, and the beam width, are analyzed one by one. Then, in combination with historical operation data and experimental verification results in an industrial scene, the influence weight of each parameter dimension on the tensioner control precision is determined. For example, the array element excitation phase directly affects the accuracy of signal transmission, and the influence weight is high. A deviation of 10 degrees in the array element excitation phase usually causes a tensioner control precision deviation of 0.08 kilonewton. The array element spacing affects the stability of signal transmission, and a deviation of 0.1 wavelength in the array element spacing causes a tensioner control precision deviation of 0.05 kilonewton. The antenna beam width has a lower influence weight on the control precision after covering the tensioner signal receiving area. When the width increases or decreases by 5 degrees, the tensioner control precision deviation fluctuation is usually not more than 0.02 kilonewton. Then, the numerical difference in the parameter dimension can be comprehensively judged in combination with the influence weight of the control precision. When the numerical difference exceeds a preset reasonable range, such as a difference of more than 20 degrees in the array element excitation phase and a difference of more than 0.2 wavelength in the array element spacing, and the influence weight reaches a high level, i.e., the parameter dimension change causes a tensioner control precision deviation of more than 0.06 kilonewton, the parameter dimension is determined as a parameter dimension with a large deviation from the control precision optimization calibration tensioner control signal transmission antenna parameter information and a significant influence on the tensioner control precision. Therefore, the current initial tensioner control signal transmission antenna parameter information containing the parameter dimension is selected as the plurality of to-be-optimized precision tensioner control signal transmission antenna parameter information.

[0101] In step S704, according to the preset tensioner control signal antenna parameter adjustment step length information, the plurality of to-be-optimized precision tensioner control signal transmission antenna parameter information is optimized and calculated to obtain a plurality of intermediate tensioner control signal transmission antenna parameter information.

[0102] In the embodiment, the preset tensioner control signal antenna parameter adjustment step information can be artificially set in combination with the hardware adjustment accuracy of the tensioner control signal transmission antenna and the stability requirement of the tensioner control signal transmission, for example, the array element excitation phase adjustment step of the tensioner control signal transmission antenna is set to 5, the array element spacing adjustment step of the tensioner control signal transmission antenna is set to 0.05, and the gain adjustment step of the tensioner control signal transmission antenna is set to 0.5. According to the preset tensioner control signal antenna parameter adjustment step information, each to-be-optimized-precision tensioner control signal transmission antenna parameter information is adjusted step by step, for example, if the array element excitation phase in the to-be-optimized-precision tensioner control signal transmission antenna parameter information deviates from the corresponding phase in the control-precision-optimization-calibration tensioner control signal transmission antenna parameter information, the array element excitation phase is calibrated step by step at an adjustment step of 5 degrees; if the array element spacing in the to-be-optimized-precision tensioner control signal transmission antenna parameter information deviates from the corresponding spacing in the control-precision-optimization-calibration tensioner control signal transmission antenna parameter information, and the spacing is improper and affects the tensioner control precision, the array element spacing is adjusted step by step at an adjustment step of 0.05 wavelengths, and all the adjusted antenna parameter information is intermediate tensioner control signal transmission antenna parameter information.

[0103] The tensioner control method provided in the embodiment can guarantee the stability of signal transmission in the parameter adjustment process, efficiently improve the pertinence and accuracy of parameter optimization, significantly improve the precision and efficiency of tensioner control signal transmission antenna parameter optimization, effectively avoid problems such as unstable transmission system and material conveying deviation caused by insufficient tensioner control precision, and improve the reliability and practicality of tensioner control.

[0104] Corresponding to the method of the above embodiment, Figure 8 The structure block diagram of the tensioner control system provided in the embodiment is shown, and only parts related to the embodiment are shown for ease of illustration. Figure 8 The tensioner control system can be an execution subject of the tensioner control method provided in the first embodiment.

[0105] With reference to Figure 8 The tensioner control system comprises: The tensioner control signal and the tensioner control signal transmission information acquisition module 810 is configured to acquire a plurality of tensioner control signals, a plurality of initial tensioner control signal transmission antenna parameter information, a plurality of tensioner control signal transmission signal-to-noise ratio information, and a plurality of tensioner control signal transmission bit error rate information. The tensioner control signal interference set information generation module 820 is configured to perform associated calculation and classification processing on the plurality of initial tensioner control signal transmission antenna parameter information, the plurality of tensioner control signal transmission signal-to-noise ratio information, and the plurality of tensioner control signal transmission bit error rate information based on the preset tensioner control signal interference type quantity information, and generate a plurality of tensioner control signal interference set information. The target tensioner control signal transmission antenna parameter information generation module 830 is configured to obtain a plurality of target tensioner control signal transmission antenna parameter information according to the plurality of tensioner control signals, the plurality of tensioner control signal interference set information, the plurality of initial tensioner control signal transmission antenna parameter information, the preset tensioner control signal interference suppression weight coefficient, the preset tensioner control signal antenna parameter adjustment step information, the preset tensioner control precision threshold, and the preset tensioner control response delay threshold. The tensioner control signal transmission beam generation module 840 is configured to perform parameter configuration on a tensioner control signal transmission antenna according to the plurality of target tensioner control signal transmission antenna parameter information, so as to generate a plurality of tensioner control signal transmission beams through the tensioner control signal transmission antenna after parameter configuration. The tensioner control signal transmission module 850 is configured to perform transmission processing on the plurality of tensioner control signals according to the plurality of tensioner control signal transmission beams, so as to perform tensioner control through the plurality of tensioner control signals.

[0106] The tensioner control system provided by the embodiments of the present application can implement the processes of the respective functions of the modules, and specific implementation processes can refer to the foregoing descriptions of the embodiments of the tensioner control system shown in Figure 1 The foregoing descriptions of the embodiments one shown in the foregoing descriptions of the tensioner control system, and details are not described herein again.

[0107] It should be understood that the size of the serial numbers of the steps in the foregoing embodiments does not mean the order of execution, and the execution order of the processes should be determined according to the functions and inherent logic, and should not constitute any limitation on the implementation processes of the embodiments of the present application.

[0108] It should be understood that the terms “include” and their variants described in the present application specification all mean “include but not limited to”, unless otherwise specifically emphasized.

[0109] The tensioner control method provided by the embodiments of the present application can be applied to a terminal device such as a computer, and the embodiments of the present application do not make any limitation on the specific type of the terminal device.

[0110] Figure 9 is a structural schematic diagram of a terminal device provided by an embodiment of the present application. As Figure 9 shown, the terminal device 9 of this embodiment includes at least one processor 90 (for example, a central processing unit (CPU), a microprocessor, or the like) and a memory 91. Figure 9The terminal device 9 can be a desktop computer, a cloud server, or the like. The terminal device can include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art can understand that the terminal device 9 can further include other components, and the components of the terminal device 9 are not limited to the processor 90 and the memory 91. Figure 1 The processor 90 implements the steps of each of the tensioner control method embodiments described above when executing the computer program 92, for example, the steps of S101 to S105 shown in FIG. 1. Figure 8 The processor 90 implements the functions of each of the modules / units in each of the system embodiments described above when executing the computer program 92, for example, the functions of the modules 810 to 850 shown in FIG. 8.

[0111] The terminal device 9 can be a desktop computer, a cloud server, or the like. The terminal device can include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art can understand that the terminal device 9 can further include other components, and the components of the terminal device 9 are not limited to the processor 90 and the memory 91. Figure 9 The terminal device 9 is merely an example and does not constitute a limitation on the terminal device 9.

[0112] The processor 90 can be a central processing unit, and can also be other general-purpose processors, digital signal processors, application-specific integrated circuits, programmable logic devices, discrete gates or transistor logic components, discrete hardware components, or the like. The general-purpose processor can be a microprocessor or can be any conventional processor.

[0113] The memory 91 can be an internal storage unit of the terminal device 9 in some embodiments, for example, a hard disk or a memory of the terminal device 9. The memory 91 can also be an external storage device of the terminal device 9, for example, a plug-in hard disk, a smart memory card, or the like. Further, the memory 91 can include both an internal storage unit and an external storage device of the terminal device 9. The memory 91 is used to store an operating system, application programs, a boot loader, data, and other programs, for example, program codes of the computer program, and the like. The memory 91 can also be used to temporarily store data that has been or will be transmitted.

[0114] The terminal device provided in the embodiments of the present application includes at least one memory, at least one processor, and a computer program stored in the at least one memory and executable on the at least one processor. When the processor executes the computer program, the terminal device implements the steps in any of the method embodiments described above.

[0115] The computer readable storage medium provided in the embodiments of the present application stores a computer program. When the computer program is executed by a processor, the steps in any of the method embodiments described above can be implemented.

[0116] In the above embodiments, the description of each embodiment is focused on, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0117] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions.

[0118] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A tensioner control method characterized by, The method comprises the following steps: acquiring a plurality of tensioner control signals, a plurality of initial tensioner control signal transmission antenna parameter information, a plurality of tensioner control signal transmission signal-to-noise ratio information, and a plurality of tensioner control signal transmission bit error rate information; based on preset tensioner control signal interference type quantity information, performing associated calculation and classification processing on the plurality of initial tensioner control signal transmission antenna parameter information, the plurality of tensioner control signal transmission signal-to-noise ratio information, and the plurality of tensioner control signal transmission bit error rate information to generate a plurality of tensioner control signal interference set information; according to the plurality of tensioner control signals, the plurality of tensioner control signal interference set information, the plurality of initial tensioner control signal transmission antenna parameter information, a preset tensioner control signal interference suppression weight coefficient, a preset tensioner control signal antenna parameter adjustment step information, a preset tensioner control accuracy threshold, and a preset tensioner control response delay threshold, obtaining a plurality of target tensioner control signal transmission antenna parameter information; according to the plurality of target tensioner control signal transmission antenna parameter information, performing parameter configuration on the tensioner control signal transmission antenna to generate a plurality of tensioner control signal transmission beams through the parameter configured tensioner control signal transmission antenna; according to the plurality of tensioner control signal transmission beams, performing transmission processing on the plurality of tensioner control signals to control the tensioner through the plurality of tensioner control signals.

2. The tensioner control method of claim 1, wherein the initial tensioner control signal transmission antenna parameter information comprises initial tensioner control signal transmission antenna element spacing information, initial tensioner control signal transmission antenna element excitation amplitude information, initial tensioner control signal transmission antenna element excitation phase information, and initial tensioner control signal transmission antenna beam pointing angle information; the step of performing associated calculation and classification processing on the plurality of initial tensioner control signal transmission antenna parameter information, the plurality of tensioner control signal transmission signal-to-noise ratio information, and the plurality of tensioner control signal transmission bit error rate information based on the preset tensioner control signal interference type quantity information to generate a plurality of tensioner control signal interference set information specifically comprises: performing normalization processing on the plurality of initial tensioner control signal transmission antenna element spacing information, the plurality of initial tensioner control signal transmission antenna element excitation amplitude information, the plurality of initial tensioner control signal transmission antenna element excitation phase information, and the plurality of initial tensioner control signal transmission antenna beam pointing angle information to obtain a plurality of initial tensioner control signal transmission antenna element spacing normalized information, a plurality of initial tensioner control signal transmission antenna element excitation amplitude normalized information, a plurality of initial tensioner control signal transmission antenna element excitation phase normalized information, and a plurality of initial tensioner control signal transmission antenna beam pointing angle normalized information. ​ ​ ​ The multiple tensioner control signal transmission SNR information and multiple tensioner control signal transmission BER information are standardized to generate multiple tensioner control signal transmission SNR standardized information and multiple tensioner control signal transmission BER standardized information; The multiple initial tensioner control signal transmission antenna element spacing normalized information, multiple initial tensioner control signal transmission antenna element excitation amplitude normalized information, multiple initial tensioner control signal transmission antenna element excitation phase normalized information, multiple initial tensioner control signal transmission antenna beam pointing angle normalized information, multiple tensioner control signal transmission SNR standardized information and multiple tensioner control signal transmission BER standardized information are spliced to generate multiple tensioner control signal interference vectors; Based on the preset tensioner control signal interference type quantity information, the multiple tensioner control signal interference vectors are associated and classified to generate multiple tensioner control signal interference set information.

3. The tensioner control method of claim 2, wherein The step of generating multiple tensioner control signal interference set information based on the preset tensioner control signal interference type quantity information and the multiple tensioner control signal interference vectors includes: Calculate the logical distance between the multiple tensioner control signal interference vectors to obtain multiple tensioner control signal interference vector distance information; Determine whether the tensioner control signal interference vector distance information is less than a preset tensioner control signal interference vector distance threshold; If yes, calculate the mean of the multiple tensioner control signal interference vectors corresponding to the tensioner control signal interference vector distance information to obtain a to-be-classified tensioner control signal interference vector; If no, the multiple tensioner control signal interference vectors corresponding to the tensioner control signal interference vector distance information are taken as multiple to-be-classified tensioner control signal interference vectors; Based on the preset tensioner control signal interference type quantity information, the multiple to-be-classified tensioner control signal interference vectors are classified to generate multiple tensioner control signal interference set information.

4. The tensioner control method of claim 3, wherein The step of generating multiple tensioner control signal interference set information based on the preset tensioner control signal interference type quantity information and the multiple to-be-classified tensioner control signal interference vectors includes: Based on the preset tensioner control signal interference type quantity information, the multiple to-be-classified tensioner control signal interference vectors are randomly extracted to obtain multiple extracted tensioner control signal interference vectors; According to the multiple to-be-classified tensioner control signal interference vectors and the multiple extracted tensioner control signal interference vectors, multiple remaining tensioner control signal interference vectors are obtained; Calculate the Euclidean distance of the multiple extracted tensioner control signal interference vectors and the multiple remaining tensioner control signal interference vectors to obtain multiple to-be-classified tensioner control signal interference vector distance information; According to the plurality of to be classified tensioner control signal interference vector distance information and the plurality of extracted tensioner control signal interference vector, the plurality of remaining tensioner control signal interference vector is classified and processed, and a plurality of tensioner control signal interference category information is generated; The median and mean of the plurality of tensioner control signal interference category information are calculated to obtain tensioner control signal interference category median information and tensioner control signal interference category mean information; Based on the preset tensioner control signal interference category center calculation weight, the plurality of tensioner control signal interference category median information and the plurality of tensioner control signal interference category mean information are weighted and calculated to obtain a plurality of tensioner control signal interference category center vectors; Determine whether the plurality of tensioner control signal interference category center vectors is the same as the plurality of extracted tensioner control signal interference vector; If yes, the plurality of tensioner control signal interference category information is used as the plurality of tensioner control signal interference set information; If not, the plurality of tensioner control signal interference category center vectors is used as the plurality of extracted tensioner control signal interference vector, and the step of returning to the plurality of to be classified tensioner control signal interference vector and the plurality of extracted tensioner control signal interference vector to obtain the plurality of remaining tensioner control signal interference vector is performed.

5. The tensioner control method of claim 1, wherein The step of obtaining the plurality of target tensioner control signal transmission antenna parameter information according to the plurality of tensioner control signals, the plurality of tensioner control signal interference set information, the plurality of initial tensioner control signal transmission antenna parameter information, the preset tensioner control signal interference suppression weight coefficient, the preset tensioner control signal antenna parameter adjustment step information, the preset tensioner control precision threshold and the preset tensioner control response delay threshold, specifically includes: Feature extraction is performed on the plurality of tensioner control signals to obtain tensioner control signal type feature information, tensioner control signal transmission bandwidth feature information and tensioner control signal instruction priority feature information; According to the plurality of tensioner control signal type feature information, the plurality of tensioner control signal transmission bandwidth feature information and the plurality of tensioner control signal instruction priority feature information, a plurality of tensioner control signal feature vectors are generated by splicing processing; Based on the preset tensioner control signal interference suppression weight coefficient, the plurality of tensioner control signal feature vectors and the plurality of tensioner control signal interference set information are calculated to obtain a plurality of tensioner control signal interference suppression weighted vectors; According to the plurality of tensioner control signal interference suppression weighted vectors, the plurality of tensioner control precision information and the plurality of tensioner control response delay information are calculated; Determine whether the tensioner control precision information is greater than or equal to the preset tensioner control precision threshold; If yes, when the tensioner control response delay information is less than or equal to the preset tensioner control response delay threshold, the plurality of initial tensioner control signal transmission antenna parameter information is used as the plurality of target tensioner control signal transmission antenna parameter information; If the tensioner control response delay information is greater than the preset tensioner control response delay threshold, then according to the multiple tensioner control signal interference set information corresponding to the multiple tensioner control response delay information, the multiple initial tensioner control signal transmission antenna parameter information, and the preset tensioner control signal antenna parameter adjustment step information, multiple intermediate tensioner control signal transmission antenna parameter information is obtained. If not, then according to the multiple tensioner control signal interference set information corresponding to the multiple tensioner control accuracy information, the multiple initial tensioner control signal transmission antenna parameter information, and the preset tensioner control signal antenna parameter adjustment step information, multiple intermediate tensioner control signal transmission antenna parameter information is obtained. The multiple intermediate tensioner control signal transmission antenna parameter information is taken as the multiple initial tensioner control signal transmission antenna parameter information, and the step of associating and calculating and classifying processing the multiple initial tensioner control signal transmission antenna parameter information, the multiple tensioner control signal transmission signal-to-noise ratio information, and the multiple tensioner control signal transmission bit error rate information based on the preset tensioner control signal interference type number information is returned.

6. The tensioner control method of claim 5, wherein, The step of obtaining the multiple intermediate tensioner control signal transmission antenna parameter information according to the multiple tensioner control signal interference set information corresponding to the multiple tensioner control response delay information, the multiple initial tensioner control signal transmission antenna parameter information, and the preset tensioner control signal antenna parameter adjustment step information specifically includes: The tensioner control signal interference set information corresponding to the minimum value of the multiple tensioner control response delay information is taken as the tensioner control signal interference delay calibration set information; The multiple initial tensioner control signal transmission antenna parameter information corresponding to the tensioner control signal interference delay calibration set information is taken as the multiple delay optimization calibration tensioner control signal transmission antenna parameter information; According to the multiple initial tensioner control signal transmission antenna parameter information corresponding to the multiple tensioner control signal interference set information and the multiple delay optimization calibration tensioner control signal transmission antenna parameter information, multiple to-be-optimized delay tensioner control signal transmission antenna parameter information is obtained; According to the preset tensioner control signal antenna parameter adjustment step information, the multiple to-be-optimized delay tensioner control signal transmission antenna parameter information is optimized to obtain the multiple intermediate tensioner control signal transmission antenna parameter information.

7. The tensioner control method of claim 5, wherein, The step of obtaining the multiple intermediate tensioner control signal transmission antenna parameter information according to the multiple tensioner control signal interference set information corresponding to the multiple tensioner control accuracy information, the multiple initial tensioner control signal transmission antenna parameter information, and the preset tensioner control signal antenna parameter adjustment step information specifically includes: The tensioner control signal interference set information corresponding to the maximum value of the multiple tensioner control accuracy information is taken as the tensioner control signal interference control accuracy calibration set information; The tensioner control signal interference control precision calibration set information corresponds to multiple initial tensioner control signal transmission antenna parameter information as multiple control precision optimization calibration tensioner control signal transmission antenna parameter information; According to the multiple initial tensioner control signal transmission antenna parameter information corresponding to the multiple tensioner control signal interference set information and the multiple control precision optimization calibration tensioner control signal transmission antenna parameter information, multiple precision to be optimized tensioner control signal transmission antenna parameter information is obtained. According to the preset tensioner control signal antenna parameter adjustment step length information, the multiple precision to be optimized tensioner control signal transmission antenna parameter information is optimized and calculated to obtain multiple intermediate tensioner control signal transmission antenna parameter information.

8. A tensioner control system characterized by, Comprise: The tensioner control signal and the tensioner control signal transmission information acquisition module is used for acquiring multiple tensioner control signals, multiple initial tensioner control signal transmission antenna parameter information, multiple tensioner control signal transmission signal-to-noise ratio information and multiple tensioner control signal transmission bit error rate information; The tensioner control signal interference set information generation module is used for associating calculation and classification processing on the multiple initial tensioner control signal transmission antenna parameter information, the multiple tensioner control signal transmission signal-to-noise ratio information and the multiple tensioner control signal transmission bit error rate information based on the preset tensioner control signal interference type quantity information, to generate multiple tensioner control signal interference set information; The target tensioner control signal transmission antenna parameter information generation module is used for obtaining multiple target tensioner control signal transmission antenna parameter information according to the multiple tensioner control signals, the multiple tensioner control signal interference set information, the multiple initial tensioner control signal transmission antenna parameter information, the preset tensioner control signal interference suppression weight coefficient, the preset tensioner control signal antenna parameter adjustment step length information, the preset tensioner control precision threshold and the preset tensioner control response delay threshold; The tensioner control signal transmission beam generation module is used for parameter configuring the tensioner control signal transmission antenna according to the multiple target tensioner control signal transmission antenna parameter information, to generate multiple tensioner control signal transmission beams through the parameter configured tensioner control signal transmission antenna; The tensioner control signal transmission module is used for transmitting the multiple tensioner control signals according to the multiple tensioner control signal transmission beams, to control the tensioner through the multiple tensioner control signals.

9. A terminal device, comprising: The terminal device comprises a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1-9. The computer program is executed by the processor to implement the steps of the method according to any one of claims 1 to 7.

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