Winding tension dynamic compensation control method and device, electronic equipment and storage medium

Abstract

The invention provides a winding tension dynamic compensation control method and device, electronic equipment and a storage medium, and relates to the technical field of elasticizers, and the method comprises the steps: collecting a current position signal of a traversing servo motor at a reversing point; calculating a current stroke value of the traversing servo motor based on the current position signal; determining a stroke change direction and a stroke change amount based on the current stroke value and a preset reference stroke value; determining a target adjustment value of the tail end speed based on a preset mapping relation between the stroke variation and the speed adjustment amplitude and the stroke change direction; and dynamically controlling the traversing servo motor based on the target adjustment value. According to the technical scheme, the target adjustment value of the tail end speed is dynamically adjusted, winding tension fluctuation caused by the differential curve is dynamically compensated, closed-loop control of stroke change-speed compensation-tension stability is formed, and continuous and stable control over the winding tension in the whole winding process is achieved.

Description

Technical Field

[0001] This invention relates to the field of texturing machine technology, and more specifically, to a method, apparatus, electronic device, and storage medium for dynamic compensation control of winding tension. Background Technology

[0002] Texturing machines are important pieces of equipment in the textile machinery field, mainly used for processing polyester and nylon filaments. The main process parameters of a texturing machine include stretch ratio, texturing speed, deformation temperature, false twist tension, and winding tension. The purpose of winding tension is to achieve a good winding effect, improve unwinding ability during subsequent processing, and prevent the yarn package from being too tight or too loose, which would affect subsequent processing performance.

[0003] During the digital winding process of the texturing machine, in order to prevent bulging edges, a differential curve must be edited and used, which involves periodically changing the reversing point of the traverse motor to achieve a flat end face. However, the differential curve also causes changes in the stroke, which in turn causes fluctuations in the winding tension.

[0004] Therefore, how to provide a method or device for dynamic compensation control of winding tension is an urgent problem to be solved. Summary of the Invention

[0005] In order to solve or improve the technical problem of winding tension fluctuation caused by differential curves, one object of the present invention is to provide a method for dynamic compensation control of winding tension.

[0006] Another object of the present invention is to provide a winding tension dynamic compensation control device.

[0007] Another object of the present invention is to provide an electronic device.

[0008] Another object of the present invention is to provide a readable storage medium.

[0009] To achieve the above objectives, the first aspect of the present invention provides a dynamic compensation control method for winding tension, applied to the winding control system of a texturing machine. The winding control system of the texturing machine includes a yarn bobbin, a friction roller, a main spindle motor, a main spindle encoder, a traverse device, a traverse servo motor, a traverse encoder, and a control module. The main spindle motor is driven by the friction roller and drives the friction roller to rotate. The friction roller drives the yarn bobbin to rotate through friction. The traverse device includes a yarn guide hook driven by the traverse servo motor and drives the yarn guide hook to move back and forth to assist the yarn bobbin in winding the yarn. The traverse encoder is connected to the traverse servo motor. The control module is electrically connected to the main spindle encoder, the traverse servo motor, and the traverse encoder.

[0010] The dynamic compensation control method for winding tension includes: acquiring the current position signal of the traverse servo motor at the commutation point through a traverse encoder; calculating the current stroke value of the traverse servo motor based on the current position signal; determining the direction and amount of stroke change based on the current stroke value and a pre-set reference stroke value; determining the target adjustment value of the end speed based on a pre-set mapping relationship between the amount of stroke change and the speed adjustment range, as well as the direction of stroke change; and performing dynamic control of the traverse servo motor based on the target adjustment value.

[0011] This invention aims to provide a dynamic compensation control method for winding tension. Based on the mapping relationship between the stroke change and the speed adjustment range, and the stroke change itself, a target adjustment value for the end speed is determined. By dynamically adjusting the target adjustment value of the end speed, the winding tension fluctuations caused by the differential curve are dynamically compensated, forming a closed-loop control of "stroke change - speed compensation - tension stabilization," achieving continuous and stable control of the winding tension throughout the entire winding process. This control method, firstly, not only takes into account the core function of the differential curve in "preventing convex edges and ensuring flat end faces," but also largely solves the problem of winding tension fluctuations it causes, resulting in roll products with high consistency in roll formation, uniform density, and no loose or overly tight defects, thus improving product quality. Secondly, it effectively improves the unwinding smoothness of the roll product in the post-processing stage, reduces the post-processing breakage rate, and meets the stringent requirements for roll quality of high-end polyester and nylon filaments.

[0012] In some technical solutions, optionally, the target adjustment value of the end speed is determined based on a pre-set mapping relationship between the amount of stroke change and the speed adjustment range, as well as the direction of the stroke change. This includes: determining the speed adjustment range based on the amount of stroke change based on the pre-set mapping relationship between the amount of stroke change and the speed adjustment range; determining the adjustment direction of the end speed based on the direction of the stroke change; and determining the target adjustment value of the end speed based on the current value of the end speed, the speed adjustment range, and the adjustment direction.

[0013] In this technical solution, by pre-setting a mapping relationship, the speed adjustment range and the stroke change are "dynamically matched," which can significantly reduce the tension fluctuation range and improve the stability of the winding tension. By dynamically adjusting the traverse speed (including the end speed), not only can the core functions of the differential curve—"preventing convex edges in the roll and ensuring flatness of the end face"—be taken into account, the problem of winding tension fluctuation caused by it can also be largely solved. This results in roll products with high consistency in roll forming, uniform density, and no loose or overly tight defects, which is beneficial to improving product quality.

[0014] In some technical solutions, optionally, the adjustment direction of the end velocity is determined based on the direction of the stroke change, including: when the direction of the stroke change is a shortening direction, the adjustment direction is determined to be an increasing direction; when the direction of the stroke change is a lengthening direction, the adjustment direction is determined to be a decreasing direction; and the target adjustment value of the end velocity is determined based on the current value of the end velocity, the speed adjustment range, and the adjustment direction, including: when the adjustment direction is an increasing direction, the target adjustment value is calculated based on the current value and the speed adjustment range using a pre-set first calculation formula; when the adjustment direction is a decreasing direction, the target adjustment value is calculated based on the current value and the speed adjustment range using a pre-set second calculation formula.

[0015] In this technical solution, the target adjustment value is calculated based on the current value and the speed adjustment range according to the pre-set calculation formula. This is beneficial for precise control of the target adjustment value of the end speed, thereby dynamically compensating for the winding tension fluctuation caused by the differential curve.

[0016] In some technical solutions, optionally, the first calculation formula is: V 目标 =V 当前 ×(1+K;The second calculation formula is: V 目标 =V 当前 ×(1-K;where V 目标 Adjust V to the target value 当前 K represents the current value, and K represents the speed adjustment range.

[0017] In this technical solution, the target adjustment value is calculated based on the current value and the speed adjustment range according to the pre-set calculation formula. This is beneficial for precise control of the target adjustment value of the end speed, thereby dynamically compensating for the winding tension fluctuation caused by the differential curve.

[0018] In some technical solutions, the target adjustment value may optionally be between 90% and 110% of the current value.

[0019] In this technical solution, by limiting the range of the target adjustment value, the adjusted target adjustment value is avoided from being too large or too small, so as to achieve continuous and stable control of the winding tension throughout the winding process, and obtain a packaged product with high consistency in package forming, uniform density and no loose or overly tight defects, thereby improving product quality.

[0020] In some technical solutions, optionally, the direction and amount of stroke change are determined based on the current stroke value and a pre-set reference stroke value, including: when the current stroke value is greater than the reference stroke value, the direction of stroke change is determined to be the lengthening direction; the amount of stroke change is calculated based on the current stroke value and the reference stroke value using a third calculation formula; when the current stroke value is less than the reference stroke value, the direction of stroke change is determined to be the shortening direction; the amount of stroke change is calculated based on the current stroke value and the reference stroke value using a fourth calculation formula; when the current stroke value is equal to the reference stroke value, there is no direction of stroke change, and the amount of stroke change is zero.

[0021] In this technical solution, by determining the direction and amount of stroke change, a precise data basis can be provided for subsequent compensation, forming a closed-loop control of "stroke change - speed compensation - tension stability", thereby achieving continuous and stable control of winding tension throughout the entire winding process.

[0022] In some technical solutions, optionally, the third calculation formula is: the current stroke value minus the reference stroke value equals the stroke change; the fourth calculation formula is: the reference stroke value minus the current stroke value equals the stroke change.

[0023] In this technical solution, the change in stroke is calculated based on the current stroke value and the reference stroke value, according to the pre-set calculation formula. This provides a precise data basis for subsequent compensation, which is conducive to the precise control of the target adjustment value of the end speed, thereby dynamically compensating for the winding tension fluctuation caused by the differential curve.

[0024] A second aspect of the present invention provides a winding tension dynamic compensation control device, comprising: a current position signal acquisition unit for acquiring the current position signal of a traverse servo motor at a commutation point via a traverse encoder; a current stroke value calculation unit for calculating the current stroke value of the traverse servo motor based on the current position signal; a stroke change determination unit for determining the stroke change direction and stroke change amount based on the current stroke value and a pre-set reference stroke value; a target adjustment value determination unit for determining a target adjustment value of the end speed based on a pre-set mapping relationship between the stroke change amount and the speed adjustment amplitude, and the stroke change direction; and a dynamic control unit for dynamically controlling the traverse servo motor based on the target adjustment value.

[0025] This invention aims to provide a dynamic compensation control device for winding tension. Based on the mapping relationship between the stroke change and the speed adjustment range, and the stroke change itself, a target adjustment value for the end speed is determined. By dynamically adjusting the target adjustment value of the end speed, the winding tension fluctuations caused by the differential curve are dynamically compensated, forming a closed-loop control of "stroke change - speed compensation - tension stabilization," achieving continuous and stable control of the winding tension throughout the entire winding process. This control method, firstly, not only takes into account the core function of the differential curve in "preventing convex edges and ensuring flat end faces," but also largely solves the problem of winding tension fluctuations it causes, resulting in rolled products with high consistency, uniform density, and no loose or overly tight defects, thus improving product quality. Secondly, it effectively improves the unwinding smoothness of the rolled product in the post-processing stage, reduces the post-processing breakage rate, and meets the stringent requirements for rolled quality of high-end polyester and nylon filaments.

[0026] A third aspect of the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory stores a program or instructions executable on the processor, and the processor, when executing the program or instructions, implements the steps of the winding tension dynamic compensation control method in any of the above-described technical solutions. The electronic device possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0027] A fourth aspect of this invention provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the winding tension dynamic compensation control method in any of the above-described technical solutions. The readable storage medium possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0028] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0029] Figure 1 A structural block diagram of a texturing machine winding control system according to an embodiment of the present invention is shown; Figure 2 A line graph showing the relationship between lateral velocity and time when the stroke value is increased according to an embodiment of the present invention is shown; Figure 3 A line graph showing the relationship between lateral velocity and time when the stroke value is reduced according to an embodiment of the present invention is shown; Figure 4 A flowchart of a winding tension dynamic compensation control method according to an embodiment of the present invention is shown; Figure 5 A flowchart of a winding tension dynamic compensation control method according to another embodiment of the present invention is shown; Figure 6 A flowchart of a winding tension dynamic compensation control method according to another embodiment of the present invention is shown; Figure 7 A flowchart of a winding tension dynamic compensation control method according to another embodiment of the present invention is shown; Figure 8 A structural block diagram of a winding tension dynamic compensation control device according to an embodiment of the present invention is shown; Figure 9 A structural block diagram of an electronic device according to an embodiment of the present invention is shown.

[0030] in, Figures 1 to 9 The correspondence between the reference numerals and component names in the attached drawings is as follows: 100: Texturing machine winding control system; 110: Yarn bobbin; 120: Friction roller; 130: Main spindle motor; 140: Traverse motion device; 141: Driving pulley; 142: Driven pulley; 143: Belt; 144: Yarn guide hook; 150: Traverse motion servo motor; 160: Traverse motion encoder; 170: Control module; 180: Communication module; 190: Main spindle encoder; 200: User terminal; 400: Winding tension dynamic compensation control device; 410: Current position signal acquisition unit; 420: Current stroke value calculation unit; 430: Stroke change determination unit; 440: Target adjustment value determination unit; 450: Dynamic control unit; 500: Electronic equipment; 510: Memory; 520: Processor. Detailed Implementation

[0031] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0033] Texturing machines are important pieces of equipment in the textile machinery field. They are mainly used for the integrated processing of stretching, deformation, and winding of polyester, nylon and other chemical fiber filaments. Their processing accuracy directly determines the subsequent application performance of chemical fiber filaments and has an irreplaceable position in the textile and chemical fiber industry chain.

[0034] The core process parameters of a texturing machine include stretch ratio, texturing speed, deformation temperature, false twist tension, and winding tension. These parameters are coordinated and controlled to ensure the quality of filament processing. Among these, winding tension is a key parameter affecting the final quality of the package. Its core function is to ensure that the yarn forms a good package during winding, improving the smoothness of unwinding in subsequent processing stages (such as weaving and dyeing); and to avoid yarn stretching damage caused by tight winding of the yarn package, or problems such as loose package and yarn displacement caused by loose winding.

[0035] In the digital winding process of texturing machines, to address the issue of protruding edges on the package end face and meet the demands of industrialized mass production, the industry commonly employs differential curve editing techniques. By periodically changing the reversing point of the traverse motor (usually a traverse servo motor), the yarn's arrangement trajectory on the package is adjusted, thereby achieving a smoother package end face. However, the application of differential curves has the following drawbacks: the reciprocating stroke (traverse distance) of the traverse motor inevitably undergoes dynamic changes, and these changes directly disrupt the original tension balance of the winding system, causing periodic fluctuations in winding tension. This ultimately leads to uneven package density and poor yarn tension consistency, making it difficult to meet the processing requirements of high-end synthetic fiber filaments.

[0036] Therefore, how to provide a method or device for dynamic compensation control of winding tension is an urgent problem to be solved.

[0037] This invention aims to provide a method, device, electronic device, and storage medium for dynamic compensation control of winding tension. Based on the mapping relationship between the stroke change and the speed adjustment amplitude, and the stroke change, a target adjustment value for the end speed is determined. By dynamically adjusting the target adjustment value of the end speed, the winding tension fluctuations caused by the differential curve are dynamically compensated (specifically offsetting the winding tension fluctuations caused by the differential curve), forming a closed-loop control of "stroke change - speed compensation - tension stability," achieving continuous and stable control of the winding tension throughout the entire winding process. This control method, firstly, not only takes into account the core function of the differential curve in "preventing convex edges and ensuring flat end faces," but also largely solves the problem of winding tension fluctuations it causes, resulting in rolled products with high consistency, uniform density, and no loose or overly tight defects, thus improving product quality. Secondly, it effectively improves the unwinding smoothness of rolled products in post-processing stages (such as weaving and dyeing), reduces the breakage rate in post-processing, and meets the stringent requirements for rolled quality of high-end polyester and nylon filaments.

[0038] The following reference Figures 1 to 9 This invention describes a method, apparatus, electronic device, and storage medium for dynamic compensation control of winding tension according to some embodiments of the present invention.

[0039] In one embodiment of the present invention, such as Figure 1 As shown, the texturing machine winding control system 100 includes a yarn bobbin 110, a friction roller 120, a main shaft motor 130, a main shaft encoder 190, a traverse device 140, a traverse servo motor 150, a traverse encoder 160, and a control module 170.

[0040] The main spindle motor 130 is driven by the friction roller 120, which in turn drives the friction roller 120 to rotate. The friction roller 120, through friction, drives the yarn bobbin 110 to rotate. The traverse device 140 includes a yarn guide hook 144 driven by the traverse servo motor 150, which drives the yarn guide hook 144 to reciprocate, assisting the yarn bobbin 110 in winding the yarn. The traverse encoder 160 is connected to the traverse servo motor 150. The control module 170 is electrically connected to the main spindle encoder 190, the traverse servo motor 150, and the traverse encoder 160.

[0041] The main shaft motor 130 drives the friction roller 120 to rotate, which in turn drives the yarn bobbin 110 to rotate circumferentially to wind the yarn. The control module 170 controls the yarn guide hook 144 to reciprocate relative to the yarn bobbin 110 to assist the yarn bobbin 110 in winding the yarn.

[0042] In the digital winding process of texturing machines, to solve the problem of protruding edges that easily occur on the end face of the package and meet the needs of industrialized mass production, the industry generally adopts the technical means of editing differential curves. By periodically changing the reversing point of the traverse motor (usually a traverse servo motor 150), the arrangement trajectory of the yarn on the package is adjusted, thereby achieving the flattening of the end face of the package.

[0043] The transverse encoder 160 is a precision sensing component used to detect the position and motion state of the transverse servo motor 150 in real time, and is the core feedback element for realizing dynamic compensation of winding tension.

[0044] The control module 170 acquires the current position signal of the lateral servo motor 150 at the commutation point through the lateral encoder 160, so as to calculate the current stroke value of the lateral servo motor 150 in the subsequent data processing.

[0045] It should be noted that the texturing machine winding control system 100 is a digital winding system based on DTT (Digital Winding Technology).

[0046] Optionally, the lateral encoder 160 is used to connect to the rotor of the lateral servo motor 150. The lateral encoder 160 is used to convert the angular displacement (rotation angle) of the rotor into an electrical signal (such as a pulse signal or a digitally encoded signal) that can be recognized by the control module 170. In some embodiments, the texturing machine winding control system 100 may optionally include a friction roller 120. The axis of the friction roller 120 is parallel to the axis of the yarn bobbin 110, and the friction roller 120 abuts against the yarn bobbin 110. During the process of the spindle motor 130 driving the yarn bobbin 110 to rotate, the yarn bobbin 110 and the friction roller 120 are always in a state of friction engagement.

[0047] In some embodiments, optionally, such as Figure 1 As shown, the traverse device 140 includes a driving pulley 141, at least two driven pulleys 142, and a belt 143. The belt 143 is fitted onto the driving pulley 141 and the at least two driven pulleys 142. The belt 143 is in frictional engagement with the driving pulley 141 and with the driven pulleys 142.

[0048] The drive pulley 141 is connected to the traverse servo motor 150. The traverse servo motor 150 drives the drive pulley 141 to rotate, which in turn drives the driven pulley to rotate via the belt 143. The yarn guide hook 144 is provided on the belt 143 and is used to guide the yarn.

[0049] During the process of the traverse servo motor 150 driving the drive pulley 141 to rotate, the belt 143 will drive the yarn guide hook 144 to reciprocate relative to the yarn cylinder 110 so that the yarn is evenly wound on the yarn cylinder 110.

[0050] In one specific embodiment, there are two driven pulleys 142. The driving pulley 141 and the two driven pulleys 142 form a stable triangular structure.

[0051] In one specific embodiment, the control module 170 employs a digital signal processor 520.

[0052] In some embodiments, the texturing machine winding control system 100 may optionally include a communication module 180. The control module 170 is connected to the communication module 180, and the control module 170 communicates with the user terminal 200 through the communication module 180.

[0053] In one specific embodiment, the communication module 180 is a CANBUS communication bus. It should be noted that "CANBUS" stands for Controller Area Network Bus.

[0054] In some embodiments, the texturing machine winding control system 100 may optionally include a frame. A yarn bobbin 110 is rotatably mounted on the frame and is capable of rotating relative to the frame. A friction roller 120 is mounted on the frame. The main shaft motor 130, the traverse servo motor 150, and the control module 170 are all mounted on the frame.

[0055] The driving pulley 141 and the driven pulley 142 of the traverse device 140 are both rotatably mounted on the frame. The driving pulley 141 can rotate relative to the frame, and the driven pulley 142 can rotate relative to the frame.

[0056] The frame, relative to the yarn tube 110, friction roller 120, traverse device 140, main shaft motor 130, traverse servo motor 150 and control module 170, mainly serves as a mounting carrier.

[0057] In some embodiments, optionally, such as Figure 1 As shown, the texturing machine winding control system 100 also includes a yarn tube sensor and a winding tension sensor.

[0058] The yarn tube sensor is installed on the yarn tube of the yarn cylinder 110 to detect the rotational speed of the yarn tube. The yarn tube sensor is electrically connected to the control module 170. The control module 170 obtains the rotational speed of the yarn tube through the yarn tube sensor.

[0059] A winding tension sensor is positioned within a stable yarn path to collect the actual tension value of the yarn during the winding process in real time. The winding tension sensor is electrically connected to the control module 170. The control module 170 collects the actual tension value of the yarn during the winding process in real time through the winding tension sensor.

[0060] In some embodiments, optionally, such as Figure 1 As shown, the control module 170 is used to receive or send extended I / O (Input or Output) control signals.

[0061] External devices transmit data to the control module 170 by inputting control signals. The control module 170 sends execution commands (such as controlling an indicator light to turn on) to the external devices by outputting control commands.

[0062] In one embodiment of the present invention, the winding tension dynamic compensation control method is applied to the texturing machine winding control system 100.

[0063] like Figure 4 As shown, the dynamic compensation control method for winding tension includes: S302 acquires the current position signal of the traverse servo motor at the commutation point through the traverse encoder.

[0064] A transverse encoder is a precision sensing component used to detect the position and motion state of a transverse servo motor in real time. It is the core feedback element for realizing dynamic compensation of winding tension.

[0065] When the traverse servo motor drives the yarn guide hook to reciprocate, the traverse encoder rotates with the motor shaft and outputs a pulse signal every time it rotates a certain angle.

[0066] The control module acquires the current position signal of the traverse servo motor at the commutation point through a traverse encoder. The current position signal is a pulse signal. Based on the number, frequency, and phase of the pulse signal, the movement speed of the traverse servo motor and the coordinates of the commutation point are calculated.

[0067] S304 calculates the current stroke value of the traverse servo motor based on the current position signal.

[0068] The current position signal is a pulse signal acquired through a traverse encoder. Based on the number, frequency, and phase of the pulse signal, the movement speed and commutation point coordinates of the traverse servo motor are calculated. The current stroke value is then determined based on the commutation point coordinates.

[0069] It should be noted that the current stroke value (real-time stroke value) refers to the real-time length of the actual reciprocating stroke when the traverse servo motor drives the yarn guide hook to perform reciprocating motion.

[0070] Because the differential curve periodically adjusts the reversing point, the lateral encoder continuously collects new reversing point positions, and the control module updates the current stroke value in real time to ensure that the data is synchronized with the actual stroke.

[0071] In a specific embodiment, if the left reversing point position X1 is 10mm and the right reversing point position X2 is 110mm at a certain detection moment, then the current travel value is 100mm; at the next detection moment, due to the adjustment of the differential curve, the left reversing point position X1 is 12mm and the right reversing point position X2 is 108mm, then the current travel value becomes 96mm (i.e., the travel is shortened by 4mm).

[0072] S306, based on the current stroke value and the preset reference stroke value, determines the direction and amount of stroke change.

[0073] If the current stroke value is greater than the reference stroke value, the direction of stroke change is determined to be the direction of lengthening. Based on the third calculation formula, the stroke change is calculated according to the current stroke value and the reference stroke value. The third calculation formula is: the current stroke value minus the reference stroke value equals the stroke change.

[0074] If the current stroke value is less than the reference stroke value, the direction of stroke change is determined to be the shortening direction. Based on the fourth calculation formula, the stroke change is calculated according to the current stroke value and the reference stroke value. The fourth calculation formula is: the reference stroke value minus the current stroke value equals the stroke change.

[0075] When the current stroke value is equal to the reference stroke value, there is no direction of stroke change, and the stroke change is zero.

[0076] S308 determines the target adjustment value of the end speed based on a pre-set mapping relationship between the amount of stroke change and the speed adjustment range, as well as the direction of stroke change.

[0077] Based on a pre-defined mapping relationship between stroke change and speed adjustment range, the speed adjustment range is determined according to the stroke change; the adjustment direction of the end speed is determined according to the direction of stroke change; and the target adjustment value of the end speed is determined based on the current value of the end speed, the speed adjustment range, and the adjustment direction.

[0078] S310 dynamically controls the traverse servo motor based on the target adjustment value.

[0079] The end speed of the traverse servo motor is dynamically controlled according to the target adjustment value to dynamically compensate for the winding tension fluctuations caused by the differential curve.

[0080] It should be noted that the end speed refers to the speed of the traverse servo motor at or near the commutation point.

[0081] This invention aims to provide a dynamic compensation control method for winding tension. Based on the mapping relationship between the stroke change and the speed adjustment range, and the stroke change itself, a target adjustment value for the end speed is determined. By dynamically adjusting the target adjustment value of the end speed, the winding tension fluctuations caused by the differential curve are dynamically compensated, forming a closed-loop control of "stroke change - speed compensation - tension stabilization," achieving continuous and stable control of the winding tension throughout the entire winding process. This control method, firstly, not only takes into account the core function of the differential curve in "preventing convex edges and ensuring flat end faces," but also largely solves the problem of winding tension fluctuations it causes, resulting in roll products with high consistency in roll formation, uniform density, and no loose or overly tight defects, thus improving product quality. Secondly, it effectively improves the unwinding smoothness of the roll product in the post-processing stage, reduces the post-processing breakage rate, and meets the stringent requirements for roll quality of high-end polyester and nylon filaments.

[0082] In some embodiments, optionally, such as Figure 5As shown, S308 (determining the target adjustment value of the end speed based on a pre-set mapping relationship between the stroke change and the speed adjustment range, and the direction of the stroke change) includes: S3082 determines the speed adjustment range based on the pre-set mapping relationship between the stroke change and the speed adjustment range.

[0083] Optionally, the pre-set mapping relationship between the stroke change and the speed adjustment range is a piecewise linear function. For example, when the stroke change is between 0 mm and 2 mm, the speed adjustment range has a linear relationship of 1:0.5 with the stroke change (the speed is adjusted by 0.5% for every 1 mm change in stroke); when the stroke change is between 2 mm and 5 mm, the speed adjustment range has a linear relationship of 1:0.8 with the stroke change (the speed is adjusted by 0.8% for every 1 mm change in stroke).

[0084] The piecewise linear function design allows for precise acquisition of the speed adjustment range, enabling accurate control of the target adjustment value of the end speed and avoiding overcompensation for small changes or undercompensation for large changes.

[0085] Optionally, a pre-defined mapping relationship between the stroke change and the speed adjustment range can be represented by a mapping table, such as a lookup table. The speed adjustment range is determined based on the stroke change by looking up the table. This design eliminates the need for real-time calculations, improving decision-making efficiency and adapting to high-speed winding scenarios in texturing machines.

[0086] S3084, determines the adjustment direction of the end velocity based on the direction of the stroke change.

[0087] The purpose of this step is to identify the compensation trend.

[0088] When the reciprocating stroke of the yarn guide hook is shortened (the current stroke value is less than the reference stroke value), if the traverse speed remains unchanged, the "lateral distribution density" of the yarn guided onto the yarn bobbin per unit time increases, leading to an increase in winding tension (the yarn is overstretched). Therefore, it is necessary to increase the end speed (speed up the movement of the yarn guide hook) to reduce the winding time of the yarn per unit lateral distance and balance the upward trend of tension.

[0089] like Figure 2 As shown, when the stroke value is shortened (decreased), the control module controls the traverse servo motor to increase the end speed. Figure 2 In the figure, the horizontal axis t represents time in seconds; the vertical axis represents the lateral velocity (including the end velocity) in mm / s. Figure 2 The dashed line in the figure represents the reference value of the lateral velocity.

[0090] When the reciprocating stroke of the yarn guide hook increases (the current stroke value is greater than the reference stroke value), if the traverse speed remains unchanged, the "lateral distribution density" of the yarn guided onto the yarn bobbin per unit time decreases, resulting in a decrease in winding tension (yarn slack). Therefore, it is necessary to reduce the end speed (slow down the movement speed of the yarn guide hook) and increase the winding time of the yarn per unit lateral distance to counteract the decreasing tension trend.

[0091] like Figure 3 As shown, when the stroke length increases, the control module controls the traverse servo motor to reduce its end speed. Figure 3 In the figure, the horizontal axis t represents time in seconds; the vertical axis represents the lateral velocity (including the end velocity) in mm / s. Figure 3 The dashed line in the figure represents the reference value of the lateral velocity.

[0092] S3086, based on the current value of the terminal speed, the speed adjustment range, and the adjustment direction, determine the target adjustment value of the terminal speed.

[0093] When the adjustment direction is to increase, the target adjustment value is calculated based on the current value and the speed adjustment magnitude, according to a pre-set first calculation formula. The first calculation formula is: V 目标 =V 当前 ×(1+K). Where V 目标 Adjust V to the target value 当前 K represents the current value, and K represents the speed adjustment range.

[0094] When the adjustment direction is decreasing, the target adjustment value is calculated based on the current value and the speed adjustment magnitude using a pre-set second calculation formula. The second calculation formula is: V 目标 =V 当前 ×(1-K). Where V 目标 Adjust V to the target value 当前 K represents the current value, and K represents the speed adjustment range.

[0095] By pre-setting a mapping relationship, the speed adjustment range and the stroke change are "dynamically matched," which can significantly reduce the tension fluctuation range and improve the stability of the winding tension. By dynamically adjusting the traverse speed (including the end speed), not only can the core functions of the differential curve—"preventing convex edges in the roll and ensuring flatness of the end face"—be taken into account, the problem of winding tension fluctuation caused by it can also be largely solved. This results in roll products with high consistency in roll forming, uniform density, and no loose or overly tight defects, which is conducive to improving product quality.

[0096] In some embodiments, optionally, such as Figure 6 As shown, S3084 (determining the adjustment direction of the end velocity based on the direction of stroke change) includes: S3085, when the direction of the stroke change is the shortening direction, the adjustment direction is determined to be the increasing direction; when the direction of the stroke change is the lengthening direction, the adjustment direction is determined to be the decreasing direction.

[0097] When the reciprocating stroke of the yarn guide hook is shortened (the current stroke value is less than the reference stroke value), if the traverse speed remains unchanged, the "lateral distribution density" of the yarn guided onto the yarn bobbin per unit time increases, leading to an increase in winding tension (the yarn is overstretched). Therefore, it is necessary to increase the end speed (speed up the movement of the yarn guide hook) to reduce the winding time of the yarn per unit lateral distance and balance the upward trend of tension.

[0098] When the reciprocating stroke of the yarn guide hook increases (the current stroke value is greater than the reference stroke value), if the traverse speed remains unchanged, the "lateral distribution density" of the yarn guided onto the yarn bobbin per unit time decreases, resulting in a decrease in winding tension (yarn slack). Therefore, it is necessary to reduce the end speed (slow down the movement speed of the yarn guide hook) and increase the winding time of the yarn per unit lateral distance to counteract the decreasing tension trend.

[0099] By determining the adjustment direction based on the direction of the stroke change, reverse offsetting can be performed at the "budding stage" of tension fluctuation, effectively preventing tension deviation from accumulating continuously during the winding process.

[0100] In some embodiments, optionally, such as Figure 6 As shown, S3086 (determining the target adjustment value of the terminal speed based on the current value of the terminal speed, the speed adjustment range, and the adjustment direction) includes: S3087, when the adjustment direction is increasing, the target adjustment value is calculated based on the current value and the speed adjustment range according to the pre-set first calculation formula.

[0101] When the adjustment direction is to increase, the target adjustment value is obtained by adding the current value to the product of the current value and the speed adjustment range.

[0102] S3088, when the adjustment direction is decreasing, calculates the target adjustment value based on the current value and the speed adjustment range according to the pre-set second calculation formula.

[0103] When the adjustment direction is decreasing, the target adjustment value is obtained by subtracting the product between the current value and the speed adjustment range from the current value.

[0104] Based on the pre-set calculation formula, the target adjustment value is calculated according to the current value and the speed adjustment range, which is conducive to the precise control of the target adjustment value of the end speed, thereby dynamically compensating for the winding tension fluctuation caused by the differential curve.

[0105] In some embodiments, optionally, the first calculation formula is: V 目标 =V 当前 ×(1+K)

[0106] The second calculation formula is: V 目标 =V 当前 ×(1-K)

[0107] Among them, V 目标 Adjust V to the target value 当前 K represents the current value, and K represents the speed adjustment range.

[0108] Based on the pre-set calculation formula, the target adjustment value is calculated according to the current value and the speed adjustment range, which is conducive to the precise control of the target adjustment value of the end speed, thereby dynamically compensating for the winding tension fluctuation caused by the differential curve.

[0109] In some embodiments, the target adjustment value may optionally be between 90% and 110% of the current value.

[0110] 90% of the current value is the left endpoint of the preset speed range. 110% of the current value is the right endpoint of the preset speed range.

[0111] By limiting the range of the target adjustment value, the adjusted target adjustment value is avoided from being too large or too small, so as to achieve continuous and stable control of the winding tension throughout the winding process, and obtain a packaged product with high consistency in roll forming, uniform density and no loose or overly tight defects, thereby improving product quality.

[0112] In some embodiments, optionally, it is determined whether the adjusted target value is within a preset speed range, and a first determination result is generated. If the first determination result is yes (the target adjustment value is within the preset speed range), the end speed of the traverse servo motor is dynamically controlled according to the target adjustment value to dynamically compensate for the winding tension fluctuation caused by the differential curve. If the first determination result is no (the target adjustment value is not within the preset speed range), abnormal information is reported to the user terminal to remind staff to investigate or adjust in a timely manner.

[0113] In some embodiments, optionally, such as Figure 7 As shown, S306 (determining the direction and amount of stroke change based on the current stroke value and a preset reference stroke value) includes: S3062, when the current stroke value is greater than the reference stroke value, the direction of stroke change is determined to be the direction of length change; based on the third calculation formula, the stroke change is calculated according to the current stroke value and the reference stroke value.

[0114] If the current stroke value is greater than the reference stroke value, the stroke change is obtained by subtracting the reference stroke value from the current stroke value.

[0115] S3064, when the current stroke value is less than the reference stroke value, the direction of stroke change is determined to be the shortening direction; based on the fourth calculation formula, the stroke change is calculated according to the current stroke value and the reference stroke value.

[0116] If the current stroke value is less than the reference stroke value, the stroke change is obtained by subtracting the current stroke value from the reference stroke value.

[0117] S3066: When the current stroke value is equal to the reference stroke value, there is no direction of stroke change and the stroke change is zero.

[0118] It should be noted that the change in stroke is the absolute value of the difference between the current stroke value and the reference stroke value.

[0119] By determining the direction and amount of stroke change, a precise data basis can be provided for subsequent compensation, forming a closed-loop control of "stroke change - speed compensation - tension stability", thereby achieving continuous and stable control of winding tension throughout the entire winding process.

[0120] In some embodiments, optionally, the third calculation formula is: the current stroke value minus the reference stroke value equals the stroke change. The fourth calculation formula is: the reference stroke value minus the current stroke value equals the stroke change.

[0121] Based on the pre-set calculation formula, the change in stroke is calculated according to the current stroke value and the reference stroke value. This can provide a precise data basis for subsequent compensation, which is conducive to the precise control of the target adjustment value of the end speed, thereby dynamically compensating for the winding tension fluctuation caused by the differential curve.

[0122] In one embodiment of the present invention, such as Figure 8 As shown, the winding tension dynamic compensation control device 400 includes a current position signal acquisition unit 410, a current stroke value calculation unit 420, a stroke change determination unit 430, a target adjustment value determination unit 440, and a dynamic control unit 450.

[0123] The current position signal acquisition unit 410 is used to acquire the current position signal of the traverse servo motor 150 at the reversing point through the traverse encoder 160.

[0124] The transverse encoder 160 is a precision sensing component used to detect the position and motion state of the transverse servo motor 150 in real time, and is the core feedback element for realizing dynamic compensation of winding tension.

[0125] When the traverse servo motor 150 drives the yarn guide hook 144 to reciprocate, the traverse encoder 160 rotates with the motor shaft and outputs a pulse signal every time it rotates a certain angle.

[0126] The control module 170 acquires the current position signal of the traverse servo motor 150 at the commutation point through the traverse encoder 160. The current position signal is a pulse signal. Based on the number, frequency, and phase of the pulse signal, the movement speed of the traverse servo motor 150 and the coordinates of the commutation point are calculated.

[0127] The current stroke value calculation unit 420 is used to calculate the current stroke value of the traverse servo motor 150 based on the current position signal.

[0128] The current position signal is a pulse signal acquired by the traverse encoder 160. Based on the number, frequency, and phase of the pulse signal, the movement speed and reversing point coordinates of the traverse servo motor 150 are calculated. The current stroke value is determined based on the reversing point coordinates.

[0129] It should be noted that the current stroke value (real-time stroke value) refers to the real-time length of the actual reciprocating stroke when the transverse servo motor 150 drives the yarn guide hook 144 to perform reciprocating motion.

[0130] Since the differential curve periodically adjusts the reversing point, the transverse encoder 160 continuously collects new reversing point positions, while the control module 170 updates the current stroke value in real time to ensure that the data is synchronized with the actual stroke.

[0131] In a specific embodiment, if the left reversing point position X1 is 10mm and the right reversing point position X2 is 110mm at a certain detection moment, then the current travel value is 100mm; at the next detection moment, due to the adjustment of the differential curve, the left reversing point position X1 is 12mm and the right reversing point position X2 is 108mm, then the current travel value becomes 96mm (i.e., the travel is shortened by 4mm).

[0132] The stroke change determination unit 430 is used to determine the direction and amount of stroke change based on the current stroke value and the preset reference stroke value.

[0133] If the current stroke value is greater than the reference stroke value, the direction of stroke change is determined to be the direction of lengthening. Based on the third calculation formula, the stroke change is calculated according to the current stroke value and the reference stroke value. The third calculation formula is: the current stroke value minus the reference stroke value equals the stroke change.

[0134] If the current stroke value is less than the reference stroke value, the direction of stroke change is determined to be the shortening direction. Based on the fourth calculation formula, the stroke change is calculated according to the current stroke value and the reference stroke value. The fourth calculation formula is: the reference stroke value minus the current stroke value equals the stroke change.

[0135] When the current stroke value is equal to the reference stroke value, there is no direction of stroke change, and the stroke change is zero.

[0136] The target adjustment value determination unit 440 is used to determine the target adjustment value of the end speed based on a pre-set mapping relationship between the amount of stroke change and the speed adjustment range, as well as the direction of stroke change.

[0137] Based on a pre-defined mapping relationship between stroke change and speed adjustment range, the speed adjustment range is determined according to the stroke change; the adjustment direction of the end speed is determined according to the direction of stroke change; and the target adjustment value of the end speed is determined based on the current value of the end speed, the speed adjustment range, and the adjustment direction.

[0138] The dynamic control unit 450 is used to dynamically control the transverse servo motor 150 based on the target adjustment value.

[0139] The end speed of the transverse servo motor 150 is dynamically controlled according to the target adjustment value to dynamically compensate for the winding tension fluctuations caused by the differential curve.

[0140] It should be noted that the end speed refers to the speed of the traverse servo motor 150 at or near the reversing point.

[0141] This invention aims to provide a dynamic compensation control device 400 for winding tension. Based on the mapping relationship between the stroke change and the speed adjustment range, and the stroke change itself, a target adjustment value for the end speed is determined. By dynamically adjusting the target adjustment value of the end speed, the winding tension fluctuations caused by the differential curve are dynamically compensated, forming a closed-loop control of "stroke change - speed compensation - tension stabilization," achieving continuous and stable control of the winding tension throughout the entire winding process. This control method, firstly, not only takes into account the core function of the differential curve in "preventing convex edges and ensuring flat end faces," but also largely solves the problem of winding tension fluctuations it causes, resulting in winding products with high consistency, uniform density, and no loose or overly tight defects, thus improving product quality. Secondly, it effectively improves the unwinding smoothness of the winding product in the post-processing stage, reduces the post-processing breakage rate, and meets the stringent requirements for winding quality of high-end polyester and nylon filaments.

[0142] In one embodiment of the present invention, such as Figure 9As shown, the electronic device 500 includes a memory 510 and a processor 520. The memory 510 stores programs or instructions that can be executed on the processor 520. When the processor 520 executes the programs or instructions, it implements the steps of the winding tension dynamic compensation control method in any of the above embodiments. The electronic device 500 has the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0143] In one embodiment of the present invention, the readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the winding tension dynamic compensation control method in any of the above embodiments. The readable storage medium possesses the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0144] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0145] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0146] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0147] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for dynamic compensation control of winding tension, characterized in that, This invention relates to a texturing machine winding control system, which includes a yarn bobbin, a friction roller, a main shaft motor, a main shaft encoder, a traverse device, a traverse servo motor, a traverse encoder, and a control module. The main shaft motor is driven by the friction roller and drives it to rotate. The friction roller drives the yarn bobbin to rotate through friction. The traverse device includes a yarn guide hook driven by the traverse servo motor and drives it to reciprocate to assist the yarn bobbin in winding the yarn. The traverse encoder is connected to the traverse servo motor. The control module is electrically connected to the main shaft encoder, the traverse servo motor, and the traverse encoder. The winding tension dynamic compensation control method includes: The current position signal of the traverse servo motor at the commutation point is acquired by the traverse encoder; The current stroke value of the traverse servo motor is calculated based on the current position signal; Based on the current stroke value and the preset reference stroke value, determine the direction of stroke change and the amount of stroke change; Based on a pre-set mapping relationship between the stroke change and the speed adjustment range, and the direction of the stroke change, the target adjustment value of the end speed is determined; Based on the target adjustment value, the traverse servo motor is dynamically controlled.

2. The winding tension dynamic compensation control method according to claim 1, characterized in that, The determination of the target adjustment value of the end velocity based on the pre-set mapping relationship between the stroke change and the speed adjustment range, and the direction of the stroke change, includes: Based on a pre-set mapping relationship between the change in stroke and the speed adjustment range, the speed adjustment range is determined according to the change in stroke. The adjustment direction of the end velocity is determined based on the direction of the change in the stroke. The target adjustment value of the end speed is determined based on the current value of the end speed, the speed adjustment range, and the adjustment direction.

3. The winding tension dynamic compensation control method according to claim 2, characterized in that, The step of determining the adjustment direction of the end velocity based on the direction of the stroke change includes: When the direction of the stroke change is a shortening direction, the adjustment direction is determined to be an increasing direction; when the direction of the stroke change is a lengthening direction, the adjustment direction is determined to be a decreasing direction. Determining the target adjustment value of the end velocity based on the current value of the end velocity, the velocity adjustment magnitude, and the adjustment direction includes: When the adjustment direction is the increasing direction, the target adjustment value is calculated based on the current value and the speed adjustment range according to a preset first calculation formula. When the adjustment direction is the decreasing direction, the target adjustment value is calculated based on the current value and the speed adjustment magnitude according to the pre-set second calculation formula.

4. The winding tension dynamic compensation control method according to claim 3, characterized in that, The first calculation formula is: V 目标 =V 当前 ×(1+K) The second calculation formula is: V 目标 =V 当前 ×(1-K) Among them, V 目标 V is the target adjustment value. 当前 The current value is K, and the speed adjustment range is K.

5. The winding tension dynamic compensation control method according to claim 2, characterized in that, The target adjustment value is between 90% and 110% of the current value.

6. The winding tension dynamic compensation control method according to any one of claims 1 to 4, characterized in that, The step of determining the direction and amount of stroke change based on the current stroke value and a preset reference stroke value includes: If the current stroke value is greater than the reference stroke value, the direction of stroke change is determined to be the variable length direction; based on the third calculation formula, the stroke change amount is calculated according to the current stroke value and the reference stroke value. If the current stroke value is less than the reference stroke value, the direction of the stroke change is determined to be the shortening direction; based on the fourth calculation formula, the stroke change is calculated according to the current stroke value and the reference stroke value. When the current stroke value is equal to the reference stroke value, there is no direction of stroke change, and the stroke change amount is zero.

7. The winding tension dynamic compensation control method according to claim 6, characterized in that, The third calculation formula is: the current stroke value minus the reference stroke value equals the stroke change; The fourth calculation formula is: the reference stroke value minus the current stroke value equals the stroke change.

8. A winding tension dynamic compensation control device, characterized in that, include: The current position signal acquisition unit (410) is used to acquire the current position signal of the traverse servo motor at the commutation point through the traverse encoder (160); The current stroke value calculation unit (420) is used to calculate the current stroke value of the traverse servo motor based on the current position signal; The stroke change determination unit (430) is used to determine the stroke change direction and stroke change amount based on the current stroke value and the preset reference stroke value; The target adjustment value determination unit (440) is used to determine the target adjustment value of the end speed based on a pre-set mapping relationship between the stroke change amount and the speed adjustment range, and the stroke change direction; A dynamic control unit (450) is used to dynamically control the traverse servo motor based on the target adjustment value.

9. An electronic device, characterized in that, include: A memory (510) and a processor (520), wherein the memory (510) stores a program or instructions executable on the processor (520), and the processor (520) implements the steps of the winding tension dynamic compensation control method as described in any one of claims 1 to 7 when executing the program or instructions.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the winding tension dynamic compensation control method as described in any one of claims 1 to 7.

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