Self-adaptive charge field braking electric strip uncoiling device

Abstract

The invention relates to the technical field of strip processing equipment, and discloses a self-adaptive charge field braking electric strip uncoiling device which comprises a base, the top of the base is rotationally connected with a rack, the middle of the rack is rotationally connected with a main shaft, and one side of the main shaft is provided with an uncoiling mechanism; a driving mechanism and a limiting mechanism are arranged at the top of the rack, a braking mechanism is arranged on the outer side of the main shaft, the uncoiling device is controlled to operate through a controller, a control system is arranged in the controller, and the control system is used for controlling the braking mechanism to brake the main shaft; the brake mechanism comprises two fixing seats, and the tops of the fixing seats are rotationally connected with connecting rods. Quick and accurate response of the torque is achieved through charge field braking, mechanical resonance can be predicted and actively inhibited, stable output of the braking torque is guaranteed, meanwhile, self-adaption to working condition changes can be achieved, and the operation stability and reliability of the device under complex conditions are improved.

Description

Technical Field

[0001] This invention relates to the field of strip processing equipment technology, specifically to an adaptive charge field braking electric strip uncoiling device. Background Technology

[0002] Electric strip uncoiling devices are key equipment at the front end of various roll material processing production lines (such as metallurgy, printing, textiles, etc.). Their core function is to provide strip or wire material with constant tension for subsequent processes. The device's braking system is the core actuator for achieving stable tension control.

[0003] In existing technologies, the braking systems of unwinding devices face several technical challenges in achieving precise and stable tension control. Firstly, many braking systems, especially purely mechanical friction brakes, are limited in their braking torque adjustment accuracy and response speed by the inertia and frictional characteristics of the mechanical structure, making rapid and precise dynamic adjustments difficult. Furthermore, long-term operation inevitably leads to mechanical wear. Even with non-contact braking technologies such as magnetic powder or eddy current braking, while the wear problem is mitigated, a certain delay in braking response remains, limiting control accuracy in applications requiring high-frequency fine-tuning. These systems typically provide macroscopic braking force in a single mode, lacking a technical means to superimpose microscopic high-speed adjustment forces on top of macroscopic braking.

[0004] Secondly, during high-speed unwinding, the entire mechanical system (including the spindle, frame, and the coil itself) is a complex dynamic system with its inherent natural resonant frequency. Disturbances or unevenness during braking can easily induce mechanical resonance, leading to significant periodic fluctuations in braking torque. These fluctuations are directly transmitted to the coil, causing tension instability, severely affecting the processing quality of subsequent processes, and even causing tape breakage or equipment damage. Most existing control methods passively adjust for existing tension deviations, rather than proactively predicting and suppressing impending mechanical resonance at its source.

[0005] Furthermore, the dynamic characteristics of the unwinding device are not static. As the diameter and mass of the coil decrease, and as operating parameters such as running speed and ambient temperature change, the system's natural resonant frequency will also drift. Braking systems using fixed control parameters can only achieve optimal vibration suppression at specific design operating points. Once the operating conditions deviate, the control performance will decrease, making it impossible to maintain stable tension control throughout the entire unwinding cycle, thus reducing the device's adaptability to operating conditions and the overall reliability of operation. Summary of the Invention

[0006] The purpose of this invention is to provide a method for optimizing the energy storage capacity of a virtual power plant for the frequency regulation market. This method solves the problem that the braking system of the unwinding device in the prior art is difficult to achieve rapid and accurate dynamic fine-tuning while providing macroscopic basic braking, and is unable to actively predict and adaptively suppress the mechanical resonance generated by the system under varying operating conditions, thus making it difficult to ensure the constant tension throughout the unwinding process.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an adaptive charge field braking electric strip uncoiling device, comprising a base, a frame rotatably connected to the top of the base, a main shaft rotatably connected to the middle of the frame, an uncoiling mechanism provided on one side of the main shaft, a drive mechanism and a limiting mechanism provided on the top of the frame, and a braking mechanism provided on the outer side of the main shaft. The uncoiling device is controlled by a controller, the controller having a built-in braking control system, the braking control system being used to control the braking mechanism to brake the main shaft.

[0008] The braking mechanism includes two fixed seats. A connecting rod is rotatably connected to the top of each fixed seat. An electric push rod is rotatably connected to the top of one of the connecting rods. The output end of the electric push rod is rotatably connected to the top of the other connecting rod. A connecting block is rotatably connected to the middle of each connecting rod. A brake pad is fixedly connected to the side of the connecting block. A ceramic friction layer is provided on the inner side of the brake pad. A micro-electrode array is built into the ceramic friction layer. A sensor array assembly is installed in the middle of the brake pad. A brake ring is fixedly connected to the outer side of the main shaft.

[0009] In one embodiment, the braking control system includes:

[0010] The data acquisition module is used to acquire the vibration response signal output by the sensor array assembly of the braking mechanism;

[0011] A predictive compensation module, electrically connected to the data acquisition module, is used to receive the vibration response signal and generate a dynamic compensation voltage signal based on the vibration response signal.

[0012] A macroscopic adjustment module, electrically connected to the data acquisition module and the predictive compensation module, is used to receive the vibration response signal and the dynamic compensation voltage signal, and generate a total drive voltage command signal;

[0013] The high-voltage drive module, which is electrically connected to the macro-adjustment module, is used to receive the total drive voltage command signal and convert the total drive voltage command signal into a high-voltage analog drive voltage to drive the micro-electrode array to generate a charge field and apply braking torque to the brake ring fixed on the main shaft.

[0014] Preferably, the sensing array assembly includes a miniature piezoelectric pressure sensor, a miniature thermocouple, and a triboelectric nanogenerator sensor. The detection ends of the miniature piezoelectric pressure sensor, the miniature thermocouple, and the triboelectric nanogenerator sensor are all in contact with the ceramic friction layer and are all installed in the middle of the brake pad.

[0015] Preferably, the unwinding mechanism includes a movable column, which is slidably connected to one side of the main shaft. A connecting rod is rotatably connected to the outer side of the movable column, and a tensioning plate is rotatably connected to the end of the connecting rod. A fixing ring is fixedly connected to the outer side of the main shaft, and a directional column is fixedly connected to the outer side of the fixing ring. The tensioning plate is slidably connected to the outer side of the directional column, and a drive rod is provided in the middle of the movable column.

[0016] In one specific embodiment, the drive mechanism includes a speed reducer, which is fixedly connected to the top of the frame. A motor is mounted on the top of the speed reducer, and the output end of the motor is fixedly connected to the input end of the speed reducer. A sprocket is fixedly connected to the output end of the speed reducer. A positioning tube is fixedly connected to the middle of the frame, and a screw is rotatably connected to the middle of the positioning tube. A sprocket is fixedly connected to the outer side of the screw. A chain is sleeved on the outer circumference of the sprocket and the sprocket. The screw is threadedly connected to the middle of the drive rod, and the drive rod is slidably connected to the middle of the positioning tube.

[0017] In one specific embodiment, the limiting mechanism includes a mounting frame, which is fixedly connected to the top of the frame. A cylinder is rotatably connected to the middle of the mounting frame, and a rotating block is rotatably connected to the output end of the cylinder. A limiting rod is rotatably connected to the middle of the mounting frame, and the rotating block is fixedly connected to the side of the limiting rod. The bottom end of the limiting rod contacts the outer side of the coil material disposed on the outer side of the tensioning plate.

[0018] Furthermore, the data acquisition module is specifically used for:

[0019] The vibration response signal is synthesized by collecting pressure and vibration signals output from the miniature piezoelectric pressure sensor, temperature signals output from the miniature thermocouple, and relative slip and charge signals output from the triboelectric nanogenerator sensor.

[0020] Furthermore, the predictive compensation module includes:

[0021] An online system identification unit is used to determine the natural resonant frequency between the braking mechanism and the main shaft;

[0022] The resonance prediction and analysis unit is used to perform spectral analysis on the vibration response signal to obtain the spectral energy amplitude at the natural resonant frequency, and to monitor the spectral energy amplitude according to the resonance budding triggering condition formula to determine whether resonance has formed.

[0023] The phase-locked compensation signal generation unit is used to lock the frequency, spectral energy amplitude and real-time phase of the resonance when the resonance prediction analysis unit determines that resonance has formed, and to synthesize the frequency, spectral energy amplitude and real-time phase into the dynamic compensation voltage signal based on the phase-locked compensation signal generation formula.

[0024] In one specific embodiment, the online system identification unit is specifically used for:

[0025] The high-voltage drive module injects a pseudo-random sequence excitation signal into the microelectrode array.

[0026] The vibration response signal caused by the pseudo-random sequence excitation signal is acquired from the data acquisition module;

[0027] Based on the system transfer function formula, the natural resonant frequency is calculated and dynamically updated.

[0028] Furthermore, the macro-adjustment module includes:

[0029] A macroscopic friction coefficient adjustment unit is used to receive the vibration response signal and generate a reference adjustment voltage based on the macroscopic friction coefficient PID adjustment formula.

[0030] A drive signal synthesis unit is used to receive the reference adjustment voltage and the dynamic compensation voltage signal, and perform linear superposition based on the final drive signal synthesis formula to generate the total drive voltage command signal.

[0031] In summary, the present invention has at least one of the following beneficial technical effects:

[0032] 1. This invention combines macroscopic mechanical braking with microscopic electric field-controlled braking. An electric push rod drives the brake pads to provide basic macroscopic braking force, while a micro-electrode array embedded in the ceramic friction layer generates a high-frequency adjustable charge field, applying a fine microscopic adjustment torque to the brake ring. This dual braking method enables the device to achieve rapid and precise dynamic fine-tuning of the total braking torque while maintaining stable macroscopic braking force, thereby improving braking response speed and control accuracy, and reducing wear and response lag caused by purely mechanical adjustment.

[0033] 2. By setting up a predictive compensation module, this invention can analyze the vibration response signal in real time, predict the mechanical resonance that will form in the system at the natural resonant frequency, and generate a dynamic compensation voltage signal with the opposite phase to the budding vibration before the resonance occurs to actively cancel it out. This predictive compensation mechanism can effectively suppress the torque fluctuation caused by resonance during braking, enabling the device to output a stable and continuous braking torque, ensuring the constant tension of the coil during unwinding and improving processing accuracy.

[0034] 3. By setting up an online system identification unit, this invention can dynamically track and update the natural resonant frequency of the braking mechanism and the main shaft assembly in real time. Since the operating conditions and mechanical characteristics of the equipment will change over time, this unit ensures that the predictive compensation module always makes resonance prediction and compensation based on the most accurate system parameters at present. This gives the invention good adaptability to operating conditions and can maintain efficient vibration suppression performance under different operating conditions, thereby improving the overall reliability and stability of the device. Attached Figure Description

[0035] Figure 1 This is a perspective view of the present invention;

[0036] Figure 2 This is a schematic diagram of the drive mechanism and the limiting mechanism of the present invention;

[0037] Figure 3 This is a schematic diagram of the braking mechanism of the present invention;

[0038] Figure 4 This is a cross-sectional structural diagram of the fixing shell of the present invention;

[0039] Figure 5 This is a schematic cross-sectional view of the brake pad and ceramic friction layer of the present invention;

[0040] Figure 6 This is a cross-sectional structural diagram of the movable column, main shaft, and positioning tube of the present invention;

[0041] Figure 7 This is a schematic diagram of the braking control system architecture of the present invention.

[0042] Among them, 1. frame; 2. spindle;

[0043] 3. Unwinding mechanism; 301. Moving column; 302. Connecting rod; 303. Tensioner plate; 304. Fixing ring; 305. Directional column; 306. Drive rod;

[0044] 4. Drive mechanism; 401. Motor; 402. Reducer; 403. Sprocket 1; 404. Sprocket 2; 405. Chain; 406. Positioning tube; 407. Screw;

[0045] 5. Braking mechanism; 501. Fixing base; 502. Connecting rod; 503. Electric push rod; 504. Connecting block; 505. Brake pad; 506. Ceramic friction layer; 507. Micro electrode array; 508. Micro piezoelectric pressure sensor; 509. Micro thermocouple; 510. Triboelectric nanogenerator sensor; 511. Brake ring;

[0046] 6. Limiting mechanism; 601. Mounting bracket; 602. Cylinder; 603. Rotating block; 604. Limiting rod;

[0047] 7. Base; 10. Data acquisition module; 20. Predictive compensation module; 30. Macroscopic adjustment module; 40. High-voltage drive module. Detailed Implementation

[0048] The following is in conjunction with the appendix Figure 1 - Appendix Figure 7 The present invention will be further described in detail below.

[0049] Please see the appendix Figure 1 - Appendix Figure 7 This invention provides an adaptive charge field braking electric tape uncoiling device, including a base 7, a frame 1 rotatably connected to the top of the base 7, a main shaft 2 rotatably connected to the middle of the frame 1, an uncoiling mechanism 3 on one side of the main shaft 2, a drive mechanism 4 and a limiting mechanism 6 on the top of the frame 1, and a braking mechanism 5 on the outer side of the main shaft 2. The uncoiling device is controlled by a computer, which has a built-in braking control system. The braking control system is used to control the braking mechanism 5 to brake the rotation of the main shaft 2.

[0050] The braking mechanism 5 includes two fixed seats 501. A connecting rod 502 is rotatably connected to the top of the fixed seat 501. An electric push rod 503 is rotatably connected to the top of one connecting rod 502. The output end of the electric push rod 503 is rotatably connected to the top of the other connecting rod 502. A connecting block 504 is rotatably connected to the middle of the connecting rod 502. A brake pad 505 is fixedly connected to the side of the connecting block 504. A ceramic friction layer 506 is provided on the inner side of the brake pad 505. A micro-electrode array 507 is built into the ceramic friction layer 506. A sensor array assembly is installed in the middle of the brake pad 505. A brake ring 511 is fixedly connected to the outer side of the main shaft 2.

[0051] Specifically, the frame 1 is equipped with two sets of spindles 2, unwinding mechanism 3, drive mechanism 4, braking mechanism 5, and limit mechanism 6. The two sets can work simultaneously, and the frame 1 is rotated to switch to the other set when the material of one set is used up.

[0052] When the electric push rod 503 retracts, it pulls the tops of the two connecting rods 502 inward. Due to the lever effect, the middle of the two connecting rods 502 drives the brake pad 505 to clamp inward through the connecting block 504, so that the ceramic friction layer 506 is pressed against the brake ring 511, thereby generating a macroscopic mechanical friction braking force. When the electric push rod 503 extends, the braking force is released.

[0053] The micro-electrode array 507 is used to apply a micro-charge field braking force on the basis of macro-mechanical braking. By applying high voltage, a charge field is generated between the ceramic friction layer 506 and the brake ring 511. This charge field can generate additional braking torque for rapid and precise adjustment of the total braking torque.

[0054] The ceramic friction layer 506 is made of engineering ceramic materials (such as silicon nitride) with high dielectric strength, high hardness and high wear resistance. The ceramic friction layer 506 integrates a micro-electrode array 507 through a multi-layer ceramic co-firing technology. The electrode material of the micro-electrode array 507 is wear-resistant and conductive metals such as tungsten. During the manufacturing process, it is directly formed into an arc-shaped structure that matches the curvature of the tubular rotor surface.

[0055] Please see the appendix Figure 1 - Appendix Figure 6 In a preferred embodiment of the present invention, the sensing array assembly includes a miniature piezoelectric pressure sensor 508, a miniature thermocouple 509, and a triboelectric nanogenerator sensor 510. The detection ends of the miniature piezoelectric pressure sensor 508, the miniature thermocouple 509, and the triboelectric nanogenerator sensor 510 are all in contact with the ceramic friction layer 506 and are all installed in the middle of the brake pad 505.

[0056] Specifically, the miniature piezoelectric pressure sensor 508, the miniature thermocouple 509, and the triboelectric nanogenerator sensor 510 are used to monitor the physical state of the braking interface in real time.

[0057] Please see the appendix Figure 1 - Appendix Figure 6 In a preferred embodiment of the present invention, the unwinding mechanism 3 includes a movable column 301, which is slidably connected to one side of the main shaft 2. A connecting rod 302 is rotatably connected to the outer side of the movable column 301. A tensioning plate 303 is rotatably connected to the end of the connecting rod 302. A fixing ring 304 is fixedly connected to the outer side of the main shaft 2. A directional column 305 is fixedly connected to the outer side of the fixing ring 304. The tensioning plate 303 is slidably connected to the outer side of the directional column 305. A driving rod 306 is fixedly connected to the middle of the movable column 301. The driving rod 306 is slidably connected inside the main shaft 2.

[0058] Specifically, to ensure that the tension plate 303 moves radially, a fixed ring 304 and a directional column 305 are provided. The fixed ring 304 is fixed on the main shaft 2, the directional column 305 is installed on the fixed ring 304, and the tension plate 303 is slidably connected to the directional column 305. One end of the connecting rod 302 is connected to the moving column 301, and the other end is connected to the tension plate 303.

[0059] Please see the appendix Figure 1 - Appendix Figure 6 In a preferred embodiment of the present invention, the drive mechanism 4 includes a reducer 402, which is fixedly connected to the top of the frame 1. A motor 401 is mounted on the top of the reducer 402. The output end of the motor 401 is fixedly connected to the input end of the reducer 402. A sprocket 403 is fixedly connected to the output end of the reducer 402. A positioning tube 406 is fixedly connected to the middle of the frame 1. A screw 407 is rotatably connected to the middle of the positioning tube 406. A sprocket 404 is fixedly connected to the outer side of the screw 407. A chain 405 is sleeved on the outer periphery of the sprocket 403 and the sprocket 404. The screw 407 is threadedly connected to the middle of the drive rod 306. The drive rod 306 is slidably connected to the middle of the positioning tube 406.

[0060] Specifically, the drive mechanism 4 is located on one side of the frame 1 and is used to provide the power required for the action of spreading the material. The screw 407 is coaxially inserted in the central hole of the main shaft 2 and can rotate independently relative to the main shaft 2. The rotating screw 407 drives the drive rod 306 and the moving column 301 to move axially along the main shaft 2 through the threaded transmission. The axial movement of the moving column 301 is converted into the tensioning plate 303 sliding radially along the directional column 305 through the push and pull of the connecting rod 302, thereby realizing the tensioning or loosening of the inner hole of the coil material.

[0061] The first sprocket 403 and the second sprocket 404 are connected by a chain 405 to form a chain drive structure. When the motor 401 starts, the speed is reduced and the torque is increased by the reducer 402, which drives the first sprocket 403 to rotate. Then, the second sprocket 404 is driven by the chain 405, which in turn drives the screw 407 to rotate around its axis. The rotating screw 407 drives the drive rod 306 and the moving column 301 to move axially along the main shaft 2 through the threaded transmission. The axial movement of the moving column 301 is converted into the tensioning plate 303 sliding radially along the directional column 305 through the push and pull of the connecting rod 302, thereby realizing the tensioning or loosening of the inner hole of the coil.

[0062] The drive rod 306 will only move within the positioning tube 406, and will not rotate when the spindle 2 and the moving column 301 rotate.

[0063] Please see the appendix Figure 1 - Appendix Figure 6In a preferred embodiment of the present invention, the limiting mechanism 6 includes a mounting frame 601, which is fixedly connected to the top of the frame 1. A cylinder 602 is rotatably connected to the middle of the mounting frame 601, and a rotating block 603 is rotatably connected to the output end of the cylinder 602. A limiting rod 604 is rotatably connected to the middle of the mounting frame 601, and the rotating block 603 is fixedly connected to the side of the limiting rod 604. The bottom end of the limiting rod 604 contacts the outer side of the coil material provided on the outer side of the tensioning plate 303 to prevent the outer side of the coil material from loosening.

[0064] Specifically, when cylinder 602 is activated, its piston rod extends or retracts, driving rotating block 603 to rotate around its pivot point. The rotation of rotating block 603 causes limiting rod 604 to swing, causing the end of limiting rod 604 to contact and press against the outer circumferential surface of the coiled material. The control of cylinder 602 can be achieved through conventional pneumatic control circuits such as solenoid valves, which are well-known technologies in the field and will not be described in detail here.

[0065] Please see the appendix Figure 1 - Appendix Figure 7 In a preferred embodiment of the present invention, the controller integrates a braking control system (the controller may be a PLC controller) to achieve precise control of the braking mechanism 5. The braking control system includes: a data acquisition module 10, a predictive compensation module 20, a macro-adjustment module 30, and a high-voltage drive module 40.

[0066] The input terminal of the data acquisition module 10 is electrically connected to the sensor array assembly installed in the braking mechanism 5. The data acquisition module 10 is used to acquire the raw sensing signals output by the sensor array assembly (including the miniature piezoelectric pressure sensor 508, the miniature thermocouple 509, and the triboelectric nanogenerator sensor 510), and outputs a unified vibration response signal after signal conditioning, analog-to-digital conversion, and data fusion processing.

[0067] The input terminal of the predictive compensation module 20 is electrically connected to the output terminal of the data acquisition module 10. The predictive compensation module 20 is used to receive the vibration response signal and generate a dynamic compensation voltage signal for actively suppressing vibration.

[0068] The predictive compensation module 20 internally includes an online system identification unit. This unit is used to inject a preset pseudo-random sequence excitation signal into the microelectrode array 507 via the high-voltage drive module 40 during system operation. Simultaneously, the vibration response signal caused by the excitation is acquired from the data acquisition module 10. The online system identification unit, based on the system transfer function formula, analyzes the input and output to calculate and dynamically update the natural resonant frequency between the braking mechanism 5 and the main shaft 2 online. The system transfer function is expressed as:

[0069] ;

[0070] In the formula: The system transfer function; It is a complex frequency variable; Output signal for the system The Laplace transform of; Input signals to the system The Laplace transform of .

[0071] The predictive compensation module 20 also includes a resonance prediction and analysis unit. This unit is used to receive vibration response signals. Real-time spectrum analysis is performed on it, and the list of natural resonant frequencies determined by the online system identification unit is continuously monitored. The corresponding spectral energy amplitude When the growth rate of a certain spectral energy amplitude satisfies the resonance budding triggering condition formula, resonance is determined to be imminent. The resonance budding triggering condition formula is expressed as:

[0072] ;

[0073] In the formula: For the first The first natural resonant frequency is at The spectral energy amplitude at time; The preset threshold for the growth rate of spectral energy amplitude; This is the differential operator.

[0074] The predictive compensation module 20 also includes a phase-locked compensation signal generation unit. When triggered by the resonance prediction analysis unit, this unit immediately locks the frequency of the current nascent resonance signal component. Real-time spectral energy amplitude and real-time phase Subsequently, based on the phase-locked compensation signal generation formula, the unit generates a signal that is precisely out of phase with the resonant signal (phase difference). Dynamic compensation voltage signal (radians) The signal is then output to the macro-adjustment module 30. The formula for generating the phase-locked compensation signal is as follows:

[0075] ;

[0076] In the formula: For dynamic compensation voltage signal; This is the compensation gain coefficient; For the locked number The energy amplitude of the first-order resonant spectrum; For the first The numerical value of the first natural resonant frequency; For the locked number First-order resonant signal at The real-time phase at any given moment.

[0077] The macro-adjustment module 30 is electrically connected to the data acquisition module 10 and the predictive compensation module 20, respectively.

[0078] The macroscopic adjustment module 30 contains a macroscopic friction coefficient adjustment unit. This unit receives vibration response signals, performs spatial averaging of the sensing data, and calculates the current actual macroscopic friction coefficient. This is compared with the preset macroscopic friction coefficient control target. By comparison, the error of the macroscopic friction coefficient is obtained. This unit calculates a DC or slowly varying reference regulating voltage based on the error, according to the PID control formula for the macroscopic friction coefficient. The PID control formula for the macroscopic friction coefficient is expressed as:

[0079] ;

[0080] In the formula: Adjust the reference voltage; This is the proportional gain coefficient; This is the integral gain coefficient; The differential gain coefficient; This refers to the error in the macroscopic friction coefficient. For integration variables; This is the integration operator.

[0081] The macroscopic adjustment module 30 also includes a drive signal synthesis unit. This unit receives the reference adjustment voltage from the macroscopic friction coefficient adjustment unit. and the dynamic compensation voltage signal from the predictive compensation module 20 This unit linearly superimposes the two signals according to the final drive signal synthesis formula to generate the final total drive voltage command signal. The final formula for synthesizing the driving signal is expressed as:

[0082] ;

[0083] In the formula: This is the total drive voltage command signal; Adjust the reference voltage; For dynamic compensation voltage signals.

[0084] The input terminal of the high-voltage drive module 40 is electrically connected to the output terminal of the macro-regulation module 30. The high-voltage drive module 40 is used to receive the low-voltage total drive voltage command signal. The voltage is then amplified and converted into a high-voltage analog drive voltage. This high-voltage analog drive voltage is ultimately applied to the microelectrode array 507 of the braking mechanism 5, driving it to generate a charge field, thereby applying a controlled braking torque to the brake ring 511 fixed on the main shaft 2.

[0085] The data acquisition module 10 is electrically connected to the sensor array assembly and is used to perform signal acquisition and processing of the sensor array assembly (including the miniature piezoelectric pressure sensor 508, the miniature thermocouple 509, and the triboelectric nanogenerator sensor 510).

[0086] Specifically, the data acquisition module 10 acquires pressure and vibration signals output by the miniature piezoelectric pressure sensor 508. These pressure and vibration signals reflect the normal pressure distribution and high-frequency mechanical vibration state of the friction interface.

[0087] Meanwhile, the data acquisition module 10 acquires the temperature signal output by the miniature thermocouple 509 to monitor the local temperature distribution at the friction interface.

[0088] The data acquisition module 10 also acquires relative slip and charge signals output by the triboelectric nanogenerator sensor 510 to monitor surface interactions and charge transfer at the microscale.

[0089] After receiving the aforementioned multiple raw analog signals, the data acquisition module 10 first performs signal conditioning. This signal conditioning process includes filtering the signal to remove out-of-band noise and amplifying the signal to match the range of the subsequent analog-to-digital converter (ADC). For the signal from the miniature thermocouple 509, the conditioning process also includes corresponding cold junction compensation.

[0090] The specific implementation of filtering, amplification, and cold junction compensation circuits in signal conditioning can be accomplished by those skilled in the art using standard circuit designs, all of which are well-known technologies in the field and will not be elaborated upon here.

[0091] The conditioned multi-channel analog signals are synchronously sampled and converted by the high-speed analog-to-digital converter inside the data acquisition module 10 to form a multi-channel digital signal stream.

[0092] Finally, the data acquisition module 10 integrates these parallel digital signal streams and synthesizes them into a unified, multi-dimensional vibration response signal. In this embodiment, synthesis refers to encapsulating digital information, including timestamps and measurements from all sensors at the same sampling time, into a structured data frame.

[0093] The output of the data acquisition module 10 sends the vibration response signal (i.e., data frame) containing multidimensional information to the predictive compensation module 20 and the macroscopic adjustment module 30 simultaneously, as the data basis for subsequent analysis and calculation.

[0094] The predictive compensation module 20 is electrically connected to the output terminal of the data acquisition module 10. The predictive compensation module 20 is used to receive vibration response signals, and based on real-time analysis of the signals, predict the occurrence of mechanical resonance before it forms, and generate a dynamic compensation voltage signal for actively canceling the resonance.

[0095] The predictive compensation module 20 is internally equipped with an online system identification unit. Because the mechanical characteristics of the braking mechanism 5 and the main shaft 2, especially their natural resonant frequency, change with variations in coil diameter, equipment wear, or operating temperature, this unit is used to dynamically determine the system's current natural resonant frequency in real time. Its specific workflow is as follows:

[0096] The online system identification unit injects a preset pseudo-random sequence excitation signal with wide-spectrum characteristics into the microelectrode array 507 through the high-voltage drive module 40. .

[0097] Simultaneously with the injection of the excitation signal, the unit acquires the system vibration response signal caused by the excitation signal from the data acquisition module 10. .

[0098] The online system identification unit is based on the system transfer function formula and analyzes the input signal. and output signal The relationship between the two systems is used to calculate the current transfer function of the system. .

[0099] The system transfer function is expressed as follows:

[0100] ;

[0101] In the formula: The system transfer function; It is a complex frequency variable; Output signal for the system The Laplace transform of; Input signals to the system The Laplace transform of .

[0102] The online system identification unit analyzes the transfer function. (For example, by identifying its poles), the natural resonant frequency of the current braking mechanism 5 and the main shaft 2 can be calculated. And update the parameter dynamically.

[0103] The predictive compensation module 20 also includes a resonance prediction and analysis unit. This unit is electrically connected to the data acquisition module 10 and the online system identification unit. Its specific workflow is as follows:

[0104] The resonance prediction and analysis unit receives the vibration response signal output in real time by the data acquisition module 10 and performs real-time spectrum analysis on it to obtain the real-time spectrum of the system. The algorithm implementation for real-time spectrum analysis (e.g., Fast Fourier Transform, FFT) can be accomplished by those skilled in the art using existing digital signal processing techniques, which are well-known in the field and will not be elaborated upon here.

[0105] This resonance prediction analysis unit focuses on the natural resonant frequency determined by the online system identification unit. At this location, continuously monitor the spectral energy amplitude at this frequency point. .

[0106] This resonance prediction analysis unit, based on the resonance germination triggering condition formula, analyzes the spectral energy amplitude. Monitor the rate of change over time.

[0107] The formula for the triggering condition of resonance germination is expressed as follows:

[0108] ;

[0109] In the formula: For the first The first natural resonant frequency is at The spectral energy amplitude at time; The preset threshold for the growth rate of spectral energy amplitude; This is the differential operator.

[0110] When monitoring the growth rate of spectral energy amplitude Exceeding the preset threshold At that time, the resonance prediction and analysis unit determines that resonance is about to form (in its nascent stage) and immediately triggers the phase-locked compensation signal generation unit.

[0111] The predictive compensation module 20 also includes a phase-locked compensation signal generation unit. This unit activates when triggered by the resonance prediction analysis unit. Its specific workflow is as follows:

[0112] The phase-locked compensation signal generation unit immediately locks onto the three key parameters of the current nascent resonance: resonance frequency. (Provided by the online system identification unit) Current spectral energy amplitude (Provided by the resonance prediction analysis unit) and the current real-time phase (Provided by the resonance prediction analysis unit).

[0113] The phase-locked compensation signal generation unit synthesizes a signal with the same frequency and amplitude as the budding resonance signal, but with precisely opposite phase (phase difference) according to the phase-locked compensation signal generation formula. A sinusoidal signal (in radians or 180 degrees), i.e., a dynamically compensated voltage signal. .

[0114] The formula for generating the phase-locked compensation signal is expressed as follows:

[0115] ;

[0116] In the formula: For dynamic compensation voltage signal; This is the compensation gain coefficient, used to adjust the strength of the compensation signal; For the locked number The energy amplitude of the first-order resonant spectrum; For the first The numerical value of the first natural resonant frequency; For the locked number First-order resonant signal at The real-time phase at any given moment.

[0117] The phase-locked compensation signal generation unit generates a dynamic compensation voltage signal. The signal is output to the macro-adjustment module 30 (specifically, the drive signal synthesis unit) for subsequent signal superposition.

[0118] The macro-adjustment module 30 is electrically connected to both the data acquisition module 10 and the predictive compensation module 20. The macro-adjustment module 30 is primarily used to maintain the stability of the macro-friction coefficient during braking and to integrate basic braking control with micro-vibration suppression. Internally, the macro-adjustment module 30 includes a macro-friction coefficient adjustment unit and a drive signal synthesis unit.

[0119] The specific workflow of the macro-friction coefficient adjustment unit is as follows:

[0120] The macroscopic friction coefficient adjustment unit receives vibration response signals and extracts data from the micro piezoelectric pressure sensor 508, micro thermocouple 509, and triboelectric nanogenerator sensor 510 contained in the vibration response signals.

[0121] Calculate the current actual macroscopic friction coefficient Specifically, this unit performs spatial averaging on the aforementioned sensor data to obtain an average value reflecting the overall friction state of the contact interface between the braking mechanism 5 and the main shaft 2, i.e., the actual macroscopic friction coefficient. Spatial averaging here refers to weighted averaging of sensor values ​​distributed at different locations on the sensor array assembly to eliminate measurement deviations caused by uneven local contact.

[0122] Error in calculating macroscopic friction coefficient The macroscopic friction coefficient adjustment unit will calculate the actual macroscopic friction coefficient. With respect to the preset macroscopic friction coefficient control target The difference between the two values ​​represents the macroscopic friction coefficient error. Macroscopic friction coefficient control target. It is the ideal coefficient of friction value preset according to the current tension requirements of the unwinding device.

[0123] Generate reference regulation voltage The macroscopic friction coefficient adjustment unit, based on the macroscopic friction coefficient PID adjustment formula, performs proportional, integral, and differential calculations on the macroscopic friction coefficient error, and outputs a DC or slowly varying voltage signal to maintain the stability of the macroscopic friction force.

[0124] The formula for adjusting the macroscopic friction coefficient using PID control is as follows:

[0125] ;

[0126] In the formula: Adjust the reference voltage; This is the proportional gain coefficient; This is the integral gain coefficient; The differential gain coefficient; This refers to the error in the macroscopic friction coefficient. For integration variables; This is the integration operator.

[0127] For the specific circuit implementation or digital algorithm implementation of the PID controller, those skilled in the art can choose to build it using existing digital signal processors (DSPs) or analog circuits according to actual needs. These are well-known technologies in the field and will not be elaborated here.

[0128] The drive signal synthesis unit is electrically connected to the macroscopic friction coefficient adjustment unit and the predictive compensation module 20. Its specific working process is as follows:

[0129] The drive signal synthesis unit simultaneously receives a reference adjustment voltage from the macroscopic friction coefficient adjustment unit. and the dynamic compensation voltage signal from the predictive compensation module 20 Among them, the reference adjustment voltage Low-frequency or DC signals are used to control the base friction force; dynamic compensation voltage signals. It is a high-frequency AC signal used to specifically cancel mechanical resonance at a specific frequency.

[0130] The drive signal synthesis unit linearly superimposes the two signals according to the final drive signal synthesis formula. This superposition process achieves the superposition of an antiphase microscopic vibration suppression force field without changing the macroscopic braking force.

[0131] The final formula for synthesizing the driving signal is expressed as:

[0132] ;

[0133] In the formula: This is the total drive voltage command signal; Adjust the reference voltage; For dynamic compensation voltage signals.

[0134] This unit will generate the total drive voltage command signal The output is sent to the high-voltage drive module 40 as the command source for the final control of the microelectrode array 507.

[0135] The input terminal of the high-voltage drive module 40 is electrically connected to the output terminal of the macro-regulation module 30 (specifically, the output terminal of the drive signal synthesis unit).

[0136] The high-voltage drive module 40 is used to receive the low-voltage total drive voltage command signal generated by the macro-regulation module 30, which contains macro-control information and micro-compensation information. .

[0137] The high-voltage drive module 40 functions as a high-voltage linear power amplifier. Its internal circuitry converts the total drive voltage command signal... As input, the signal is linearly amplified with high fidelity, converting it into a high-voltage analog drive voltage with a voltage amplitude several orders of magnitude higher and sufficient driving capability. The waveform of this high-voltage analog drive voltage faithfully reproduces the input signal. All characteristics, including the slowly varying or DC component used for macroscopic regulation. and high-frequency dynamic components used for resonance suppression. .

[0138] For the specific circuit design inside the high-voltage drive module 40 used to achieve linear power amplification, those skilled in the art can use mature high-voltage operational amplifier circuits or discrete components to build it, which are all well-known technologies in the field and will not be described in detail here.

[0139] The output of the high-voltage drive module 40 is electrically connected to the micro-electrode array 507 built into the ceramic friction layer 506 of the braking mechanism 5. The high-voltage analog drive voltage is applied to the micro-electrode array 507, driving it to generate a controllable charge field corresponding to the voltage signal. This charge field then applies a fine electro-induced braking torque to the brake ring 511 on the main shaft 2, realizing microscopic, high-frequency adjustment of the total braking force.

[0140] Working principle: During the preparation stage, the drive mechanism 4 drives the drive rod 306 and the moving column 301 in the uncoiling mechanism 3 through the transmission mechanism (such as chain 405 and screw 407), so that the tensioning plate 303 expands radially, thereby tightly supporting the inner ring of the coil and fixing it.

[0141] When the unwinding process begins, the braking mechanism 5 provides the main tension braking torque. The electric push rod 503 drives the connecting rod 502 and the connecting block 504, causing the ceramic friction layer 506 fixed on the brake pad 505 to press against the brake ring 511 fixed on the main shaft 2, thereby generating the basic macroscopic braking force.

[0142] During braking, the sensor array assembly (including a miniature piezoelectric pressure sensor 508, a miniature thermocouple 509, and a triboelectric nanogenerator sensor 510) installed in the middle of the brake pad 505 monitors the pressure fluctuations, temperature, and micro-slip state of the friction interface in real time. The data acquisition module 10 collects these multi-physics field signals and synthesizes them into a unified vibration response signal. The predictive compensation module 20 receives this signal and determines the current natural resonant frequency of the system through the online system identification unit. At the same time, the resonance prediction analysis unit monitors the energy amplitude of this frequency. Once it is determined that resonance is about to form (in the budding state), the phase-locked compensation signal generation unit immediately generates a dynamic compensation voltage signal that is precisely opposite in phase to the budding vibration.

[0143] Simultaneously, the macro friction coefficient adjustment unit of the macro adjustment module 30 calculates the reference adjustment voltage for maintaining the stability of the basic friction force based on the vibration response signal. Subsequently, the drive signal synthesis unit linearly superimposes this reference adjustment voltage with the dynamic compensation voltage signal from the predictive compensation module 20 to generate a total drive voltage command signal. The high-voltage drive module 40 receives this command signal and amplifies it into a high-voltage analog drive voltage, which is applied to the micro-electrode array 507 inside the ceramic friction layer 506 to generate a controllable charge field. This field applies a fine, high-frequency electro-regulating force to the brake ring 511. The superposition of micro-force and macro-mechanical force actively cancels mechanical resonance while maintaining the basic tension constant, thus achieving vibration suppression and ensuring a stable output of braking force.

Claims

1. An adaptive charge field braking electric strip unwinding device, comprising a base (7), characterized in that, The top of the base (7) is rotatably connected to the frame (1), the middle of the frame (1) is rotatably connected to the main shaft (2), the side of the main shaft (2) is provided with an unwinding mechanism (3), the top of the frame (1) is provided with a drive mechanism (4) and a limiting mechanism (6), the outside of the main shaft (2) is provided with a braking mechanism (5), the unwinding device is controlled by a controller, the controller has a built-in braking control system, the braking control system is used to control the braking mechanism (5) to brake the main shaft (2); The braking mechanism (5) includes two fixed seats (501). A connecting rod (502) is rotatably connected to the top of the fixed seat (501). An electric push rod (503) is rotatably connected to the top of one of the connecting rods (502). The output end of the electric push rod (503) is rotatably connected to the top of the other connecting rod (502). A connecting block (504) is rotatably connected to the middle of the connecting rod (502). A brake pad (505) is fixedly connected to the side of the connecting block (504). A ceramic friction layer (506) is provided on the inner side of the brake pad (505). A micro-electrode array (507) is built into the ceramic friction layer (506). A sensor array assembly is installed in the middle of the brake pad (505). A brake ring (511) is fixedly connected to the outer side of the main shaft (2).

2. The adaptive charge field braking electric strip uncoiling device according to claim 1, characterized in that, The sensing array assembly includes a miniature piezoelectric pressure sensor (508), a miniature thermocouple (509), and a triboelectric nanogenerator sensor (510). The detection ends of the miniature piezoelectric pressure sensor (508), the miniature thermocouple (509), and the triboelectric nanogenerator sensor (510) are all in contact with the ceramic friction layer (506) and are all installed in the middle of the brake pad (505).

3. The adaptive charge field braking electric strip uncoiling device according to claim 1, characterized in that, The unwinding mechanism (3) includes a movable column (301), which is slidably connected to one side of the main shaft (2). A connecting rod (302) is rotatably connected to the outer side of the movable column (301). A tensioning plate (303) is rotatably connected to the end of the connecting rod (302). A fixing ring (304) is fixedly connected to the outer side of the main shaft (2). A directional column (305) is fixedly connected to the outer side of the fixing ring (304). The tensioning plate (303) is slidably connected to the outer side of the directional column (305). A drive rod (306) is provided in the middle of the movable column (301).

4. The adaptive charge field braking electric strip uncoiling device according to claim 3, characterized in that, The drive mechanism (4) includes a reducer (402), which is fixedly connected to the top of the frame (1). A motor (401) is installed on the top of the reducer (402). The output end of the motor (401) is fixedly connected to the input end of the reducer (402). A sprocket (403) is fixedly connected to the output end of the reducer (402). A positioning tube (406) is fixedly connected to the middle of the frame (1). A screw (407) is rotatably connected to the middle of the positioning tube (406). A sprocket (404) is fixedly connected to the outer side of the screw (407). A chain (405) is sleeved on the outer periphery of the sprocket (403) and the sprocket (404). The screw (407) is threadedly connected to the middle of the drive rod (306). The drive rod (306) is slidably connected to the middle of the positioning tube (406).

5. The adaptive charge field braking electric strip uncoiling device according to claim 3, characterized in that, The limiting mechanism (6) includes a mounting frame (601), which is fixedly connected to the top of the frame (1). A cylinder (602) is rotatably connected to the middle of the mounting frame (601). A rotating block (603) is rotatably connected to the output end of the cylinder (602). A limiting rod (604) is rotatably connected to the middle of the mounting frame (601). The rotating block (603) is fixedly connected to the side of the limiting rod (604). The bottom end of the limiting rod (604) contacts the outer side of the coil material provided on the outer side of the tensioning plate (303) to prevent the outer side of the coil material from loosening.

6. The adaptive charge field braking electric strip uncoiling device according to claim 1, characterized in that, The braking control system includes: The data acquisition module is used to acquire the vibration response signal output by the sensor array assembly of the braking mechanism (5); A predictive compensation module, electrically connected to the data acquisition module, is used to receive the vibration response signal and generate a dynamic compensation voltage signal based on the vibration response signal. A macroscopic adjustment module, electrically connected to the data acquisition module and the predictive compensation module, is used to receive the vibration response signal and the dynamic compensation voltage signal, and generate a total drive voltage command signal; The high-voltage drive module is electrically connected to the macro-adjustment module and is used to receive the total drive voltage command signal and convert the total drive voltage command signal into a high-voltage analog drive voltage to drive the micro-electrode array (507) to generate a charge field and apply braking torque to the brake ring (511) fixed on the main shaft (2).

7. The adaptive charge field braking electric strip uncoiling device according to claim 6, characterized in that, The data acquisition module is specifically used for: The pressure and vibration signals output by the micro piezoelectric pressure sensor (508), the temperature signal output by the micro thermocouple (509), and the relative slip and charge signals output by the triboelectric nanogenerator sensor (510) are collected and synthesized into the vibration response signal.

8. The adaptive charge field braking electric strip uncoiling device according to claim 6, characterized in that, The predictive compensation module includes: An online system identification unit is used to determine the natural resonant frequency between the braking mechanism (5) and the main shaft (2); The resonance prediction and analysis unit is used to perform spectral analysis on the vibration response signal to obtain the spectral energy amplitude at the natural resonant frequency, and to monitor the spectral energy amplitude according to the resonance budding triggering condition formula to determine whether resonance has formed. The phase-locked compensation signal generation unit is used to lock the frequency, spectral energy amplitude and real-time phase of the resonance when the resonance prediction analysis unit determines that resonance has formed, and to synthesize the frequency, spectral energy amplitude and real-time phase into the dynamic compensation voltage signal based on the phase-locked compensation signal generation formula.

9. The adaptive charge field braking electric strip uncoiling device according to claim 8, characterized in that, The online system identification unit is specifically used for: The high-voltage drive module injects a pseudo-random sequence excitation signal into the microelectrode array (507); The vibration response signal caused by the pseudo-random sequence excitation signal is acquired from the data acquisition module; Based on the system transfer function formula, the natural resonant frequency is calculated and dynamically updated.

10. The adaptive charge field braking electric strip uncoiling device according to claim 6, characterized in that, The macro-regulation module includes: A macroscopic friction coefficient adjustment unit is used to receive the vibration response signal and generate a reference adjustment voltage based on the macroscopic friction coefficient PID adjustment formula. A drive signal synthesis unit is used to receive the reference adjustment voltage and the dynamic compensation voltage signal, and perform linear superposition based on the final drive signal synthesis formula to generate the total drive voltage command signal.

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