An automatic grinding control method, device, and equipment for power cables.

Abstract

This application relates to the field of precision grinding control technology, specifically to an automatic grinding control method, device, and equipment for power cables. Specifically, it includes: constructing a temperature interference coefficient for each moment based on the temperature change trend of adjacent moments in historical time, and the differences between the temperature data at each moment and the temperature data of the corresponding previous moment and a preset safe temperature threshold; constructing a state feedback coefficient based on the fluctuation of grinding force data in historical time and its difference from a constant grinding force, combined with the temperature interference coefficient; analyzing the error feedback results at each moment based on the grinding force and state feedback coefficient, and combining this with a PID controller to perform power cable grinding control; avoiding the problem of high temperatures generated during grinding causing softening and deformation of the cable material, thereby reducing the uniformity of cable grinding and improving the grinding quality of the cable.

Description

Technical Field

[0001] This application relates to the field of precision grinding control technology, specifically to an automatic grinding control method, device, and equipment for power cables. Background Technology

[0002] Cables generally consist of a conductor, an outer protective sheath, and an aluminum sheath. During manufacturing, cables are produced to a fixed length. Therefore, during actual installation, each cable segment needs to be connected using intermediate joints to ensure the cable length meets the requirements for long-distance transmission. When connecting cable segments, the cable at the joint needs to be polished to achieve the connection.

[0003] In recent years, some automated grinding equipment has begun to be used for grinding cable joints. However, the grinding process generates heat, which causes the temperature of the cable and abrasive to rise. High temperatures can soften or deform the cable material, thus affecting the grinding force. This makes the grinding force uncontrollable, making it difficult to achieve uniform grinding and reducing the grinding quality of the cable. Summary of the Invention

[0004] To address the aforementioned technical problems, the purpose of this application is to provide an automatic grinding control method, apparatus, and equipment for power cables. The specific technical solution adopted is as follows:

[0005] In a first aspect, embodiments of this application provide an automatic polishing control method for power cables, the method comprising the following steps:

[0006] Collect data on the grinding force and cable surface temperature at various moments during automatic cable grinding.

[0007] Based on the temperature and grinding force data of adjacent times in the historical time of each time, construct the historical adjacent temperature sequence and historical adjacent grinding force sequence of each time; calculate the temperature change rate of each time based on the data change trend in the historical adjacent temperature sequence; construct the temperature interference coefficient of each time based on the difference between the temperature data of each time and the temperature data of its adjacent times and the preset safe temperature threshold, combined with the temperature change rate.

[0008] The grinding force deviation coefficient at each moment is calculated based on the difference between the elements in the historical adjacent grinding force sequence at each moment and the preset constant grinding force; the state feedback coefficient at each moment is constructed based on the data fluctuation degree in the historical adjacent grinding force sequence, combined with the temperature interference coefficient and the grinding force deviation coefficient.

[0009] The error feedback results at each moment are analyzed based on the grinding force and state feedback coefficient at each moment; based on the error feedback results, the grinding control of the power cable is carried out in combination with the PID controller.

[0010] In one embodiment, the process of obtaining the historical neighboring temperature sequence and the historical neighboring grinding force sequence at each time point is as follows:

[0011] The sequence of temperature data from all times within a preset time period prior to any given time is recorded as the historical neighboring temperature sequence for that given time. Based on the grinding force data prior to each time, the historical neighboring grinding force sequence for each time is obtained using the same acquisition method as the historical neighboring temperature sequence.

[0012] In one embodiment, the process of obtaining the temperature change rate at each time point is as follows:

[0013] A fitted straight line is obtained by fitting the data from the historical neighboring temperature series at each time point, and the slope of the fitted straight line at each time point is taken as the temperature change rate at each time point.

[0014] In one embodiment, the process of obtaining the temperature interference coefficient at each moment is as follows:

[0015] Will The coefficient of temperature change at time is denoted as , The expression is: In the formula, , They represent Time and Temperature at any given moment; the magnitude of temperature fluctuation is measured by calculating the absolute value of the temperature difference.

[0016] Based on the difference between the temperature data at each time point and the preset safe temperature threshold, and in combination with the temperature mutation coefficient and the temperature change rate, the temperature interference coefficient at each time point is calculated.

[0017] In one embodiment, the expression for the temperature interference coefficient is:

[0018] In the formula, express Temperature disturbance coefficient at any given time; express The rate of temperature change over time; express The coefficient of temperature change at any given time; express Temperature at any moment; This indicates the preset safe temperature threshold. This is the temperature normalization constant; This represents an exponential function with the natural constant e as the base.

[0019] In one embodiment, the process of obtaining the grinding force deviation coefficient at each moment is as follows:

[0020] Calculate the absolute value of the difference between each element in the historical neighboring grinding force sequence at each time point and the constant grinding force, and use the sum of the absolute values ​​of the differences of all elements in the historical neighboring grinding force sequence at each time point as the grinding force deviation coefficient at each time point.

[0021] In one embodiment, the process of obtaining the state feedback coefficient at each moment is as follows: calculate the standard deviation of all elements in the historical neighboring grinding force sequence at each moment; and construct the state feedback coefficient at each moment based on the standard deviation, the temperature interference coefficient at each moment, and the grinding force deviation coefficient.

[0022] In one embodiment, the control of power cable polishing specifically includes:

[0023] The difference between the grinding force at each moment and the constant grinding force is used as the error coefficient at each moment; the product of the normalized value of the state feedback coefficient at each moment and the error coefficient is used as the deviation of the PID controller. The PID controller outputs the control signal of the grinding mechanism, and the feed amount of the grinding mechanism is adjusted based on the control signal to perform grinding of the power cable.

[0024] Secondly, embodiments of this application also provide an automatic polishing control device for power cables, comprising:

[0025] Data acquisition module: Collects data on the grinding force and cable surface temperature at various moments during automatic cable grinding;

[0026] Temperature interference assessment module: Constructs historical adjacent temperature sequences and historical adjacent grinding force sequences for each time based on temperature and grinding force data of adjacent times in the historical time of each time; calculates the temperature change rate for each time based on the data change trend in the historical adjacent temperature sequence; constructs the temperature interference coefficient for each time based on the difference between the temperature data of each time and the temperature data of its adjacent times and the preset safe temperature threshold, combined with the temperature change rate.

[0027] State feedback module: Calculates the grinding force deviation coefficient at each time based on the difference between the elements in the historical adjacent grinding force sequence at each time and the preset constant grinding force; constructs the state feedback coefficient at each time based on the data fluctuation degree in the historical adjacent grinding force sequence, combined with the temperature interference coefficient and the grinding force deviation coefficient.

[0028] Grinding control module: Analyzes the error feedback results at each moment based on the grinding force and state feedback coefficient; based on the error feedback results, combined with the PID controller, performs grinding control of power cables.

[0029] Thirdly, embodiments of this application also provide an automatic polishing control device for power cables, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the method described in the first aspect above.

[0030] The embodiments of this application have at least the following beneficial effects:

[0031] This application, based on collected grinding force and temperature data during the cable grinding process, firstly constructs a temperature interference coefficient by analyzing abnormal temperature changes during cable operation. The beneficial effect is that the temperature interference coefficient considers the temperature change trend during cable grinding and the proximity of the current temperature to the safe temperature threshold. Based on the temperature interference coefficient, the temperature risk of the cable during grinding can be comprehensively reflected. Secondly, based on the deviation coefficient of grinding force and the fluctuation of grinding force over a period of time, combined with the temperature interference coefficient, a state feedback coefficient is constructed for each moment. The beneficial effect is that the state feedback coefficient considers the change in grinding force caused by cable temperature changes during grinding. Therefore, the state feedback coefficient can accurately reflect the grinding state at each moment during cable grinding. Finally, the deviation of the PID controller at each moment is adjusted using the state feedback coefficient, thereby achieving better precision control of the grinding force during cable grinding, avoiding the problem of high temperatures during grinding causing softening and deformation of the cable material, thus reducing the uniformity of cable grinding and improving the grinding quality of the cable. Attached Figure Description

[0032] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A flowchart illustrating the steps of an automatic polishing control method for power cables, provided as an embodiment of this application;

[0034] Figure 2 A schematic diagram illustrating the process of controlling the grinding of power cables;

[0035] Figure 3 This is a schematic diagram of an automatic polishing control device for power cables. Detailed Implementation

[0036] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of an automatic grinding control method, apparatus, and device for power cables proposed in this application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0038] The following description, in conjunction with the accompanying drawings, details the specific scheme of the automatic grinding control method, device, and equipment for power cables provided in this application.

[0039] Please see Figure 1 The diagram illustrates a flowchart of an automatic polishing control method for power cables according to an embodiment of this application. The method includes the following steps:

[0040] Step S1: Collect data on the grinding force and the temperature of the cable surface at various moments during automatic cable grinding.

[0041] In order to achieve precision grinding of power cables, this application optimizes an automatic cable grinding device, which includes a clamping mechanism, a traveling mechanism, and a grinding mechanism.

[0042] This application installs a pressure sensor on the clamping mechanism and places a temperature sensor on the cable surface. The pressure sensor and temperature sensor respectively collect data on the grinding pressure and cable surface temperature during the cable grinding process. The grinding pressure is denoted as grinding force.

[0043] For collecting data on grinding force and cable surface temperature, preferably, as an embodiment of this application, the data collection frequency is set to... Furthermore, in this embodiment of the application, the constant polishing force during the cable polishing process is: As another embodiment of this application, the implementer may set the data acquisition frequency and constant grinding force according to the actual situation.

[0044] The collected grinding force and temperature data are preprocessed using a Kalman filter to remove interference noise. The Kalman filter is a well-known technology, and its specific process will not be elaborated further. It should be noted that this application only provides one data denoising method for grinding force and temperature data. Many existing data denoising methods exist, and implementers may use other data denoising algorithms to denoise the grinding force and temperature data; this application does not impose any specific limitations.

[0045] Step S2: Construct historical adjacent temperature sequences and historical adjacent grinding force sequences for each time moment based on temperature and grinding force data of adjacent times in the historical time of each time moment; calculate the temperature change rate for each time moment based on the data change trend in the historical adjacent temperature sequences; construct the temperature interference coefficient for each time moment based on the difference between the temperature data of each time moment and the temperature data of its adjacent times moment and the preset safe temperature threshold, combined with the temperature change rate.

[0046] Power cable (hereinafter referred to as cable) polishing is a precise polishing process that requires high precision in controlling the polishing force. Uneven polishing force can easily cause scratches on the cable surface and uneven polishing, which can lead to hidden dangers during cable operation. Therefore, to ensure the accuracy of cable polishing, constant force polishing is usually used in actual polishing. However, due to the high polishing speed of automated cable polishing devices, the high temperature generated during prolonged polishing can deform the cable, making constant force polishing of the cable more difficult. Traditional PID controllers control and adjust the cable polishing process based on the polishing force deviation to improve the stability of the polishing process. However, due to the complex and variable polishing environment, traditional control cannot perform well in the constant force polishing control of cables. Therefore, this application improves the traditional PID controller and applies it to the polishing process of cable joints to improve the polishing effect of cables.

[0047] During cable polishing, the cable surface continuously rubs against the abrasive, causing the cable temperature to rise steadily. When the cable surface temperature exceeds a certain limit, the cable insulation layer deforms due to the high temperature. The higher the temperature, the greater the degree of cable deformation. This change in cable shape makes it difficult to adjust the polishing intensity during the polishing process. Since the material used for cable insulation is mostly polyvinyl chloride (PVC), and PVC has a low softening point, it typically... The insulation material begins to soften during operation. Once softened, it undergoes slight deformation under external forces (such as mechanical force during polishing), reducing the surface hardness and abrasion resistance of the insulation layer and making polishing more difficult. Therefore, preferably, in this embodiment, 70°C is used as the safe temperature threshold. In other embodiments, implementers can set the safe temperature threshold according to their specific circumstances.

[0048] Furthermore, the temperature changes during the cable polishing process were analyzed, specifically as follows:

[0049] First, in order to analyze the overall temperature change trend of the cable during the polishing process, we will take the cable polishing process as an example. Taking time t as an example, all temperature data within n minutes before time t are obtained and arranged in ascending order of time to form a sequence, which is denoted as the historical neighboring temperature sequence at time t. Preferably, in this embodiment, n is set to 3. In other embodiments of this application, the implementer can set the value of n according to the actual situation. It should be noted that if time t is within the first three minutes of polishing, a polynomial interpolation algorithm is used to fill in the temperature data before that time, so that the length of the historical neighboring temperature sequence at each time is the same. The polynomial interpolation algorithm is a well-known technique, and the specific process will not be described in detail. It should be noted that this application only provides one data filling method for temperature data; many existing data filling methods exist, and implementers can also use other data filling algorithms for temperature data filling. This application does not impose specific limitations.

[0050] Secondly, The historical neighboring temperature sequence at a given time is used as input to a least-squares straight-line fitting algorithm. The resulting fitted line is denoted as the historical temperature line, and the slope of this line is denoted as the rate of temperature change at that time. Rate of temperature change Reflects the cable polishing process The trend of temperature change over time, including the rate of temperature change. The larger the value, the faster the cable temperature rises during the polishing process, and the more promptly the polishing parameters should be adjusted to avoid excessive temperature and reduced polishing effect. The least squares linear fitting algorithm is a well-known technique, and its specific process will not be elaborated further. It should be noted that this application only provides one linear fitting method for linear fitting of historical adjacent temperature sequences. Many existing linear fitting methods exist, and implementers may use other linear fitting algorithms to perform linear fitting of historical adjacent temperature sequences; this application does not impose specific limitations.

[0051] Furthermore, due to the hysteresis of temperature, the upward trend in cable temperature may not be immediately alleviated after the grinding control system adjusts the grinding parameters. Therefore, analyzing only the temperature change rate cannot accurately reflect the actual temperature changes at each moment. Thus, the temperature abrupt change coefficient of the cable at each moment is calculated based on the temperature change gradient between adjacent moments, and the temperature interference coefficient at each moment during the cable grinding process is analyzed in conjunction with the temperature change rate at each moment. The expression is as follows:

[0052]

[0053] In the formula, Indicates the cable polishing process The coefficient of temperature change at any given time; , These represent the cable polishing process. Time and The cable surface temperature at any given time;

[0054] In the formula, This represents the temperature change coefficient at time t during the cable polishing process, calculated using absolute values ​​to avoid positive and negative cancellation. These represent the cable surface temperatures at time t and t-1, respectively. This represents the temperature disturbance coefficient at time t; This represents the rate of temperature change at time t; This indicates the safe temperature threshold for cable polishing; The preset temperature normalization constant is used to make the input of the exponential function dimensionless. The constant term is added to the formula to ensure that when the rate of temperature change or the coefficient of abrupt change is 0, the temperature disturbance coefficient can still reflect the degree of closeness between the current temperature and the safety threshold, thus avoiding the coefficient from returning to zero.

[0055] It should be noted that, This indicates the safe temperature threshold for cable polishing. Considering that cable insulation materials are mostly polyvinyl chloride (PVC), whose softening point is typically between 75-85℃, if the polishing temperature exceeds the softening point, the cable insulation will soften and deform, severely affecting the polishing accuracy. To ensure polishing safety, this embodiment presets... That is, when the detected temperature is close to or exceeds 70°C, the temperature interference coefficient will increase significantly, and the feed rate of the control system will be reduced. The preset temperature normalization constant is used to eliminate the dimension of the temperature difference in the exponential function, making the exponential function a dimensionless value. In this embodiment, it is taken as... ℃.

[0056] During cable polishing, the cable temperature continuously rises due to constant friction between the cable and the abrasive. Therefore, this application first considers the temperature change trend of the cable during continuous polishing, including the temperature change rate. A higher value indicates a faster rate of temperature rise, necessitating timely adjustment of the grinding parameters. However, when the grinding control system adjusts the grinding parameters, the cable's temperature change trend may not respond immediately. Therefore, this application further considers... The temperature change coefficient of the cable at any time, where the temperature change coefficient is... The larger the value, the more unstable the cable polishing process is; the closer the current temperature of the cable is to the safe temperature threshold, the greater the temperature risk of the cable during the polishing process; therefore, the temperature interference coefficient can comprehensively reflect the temperature risk of the cable during the polishing process.

[0057] Step S3: Calculate the grinding force deviation coefficient for each moment based on the difference between the elements in the historical adjacent grinding force sequence and the preset constant grinding force; construct the state feedback coefficient for each moment based on the data fluctuation degree in the historical adjacent grinding force sequence, combined with the temperature interference coefficient and the grinding force deviation coefficient.

[0058] To ensure the quality of cable polishing, a constant-force polishing device is typically used. However, during actual cable polishing, continuous polishing alters the cable surface temperature, which in turn changes the cable's hardness. High temperatures soften the cable insulation, leading to variations in the mechanical polishing force applied to the cable. These variations in force result in uneven polishing, ultimately affecting the cable's subsequent operating efficiency. Therefore, this application further analyzes the changes in mechanical polishing force during cable polishing. Specifically:

[0059] First, based on the grinding force data before each time point, the historical adjacent grinding force sequence for each time point in the cable grinding process is constructed using the same acquisition method as the historical adjacent temperature sequence.

[0060] Secondly, since the cable is ideally polished using constant force, at this time... In the historical data of the nearest grinding force sequence, the grinding force is basically constant; however, during cable grinding, the hardness of the cable changes due to temperature variations, which in turn changes the grinding force applied to the cable, resulting in... Since the data in the historical neighboring grinding force sequence at each time point deviates from the constant grinding force, the difference between the elements in the historical neighboring grinding force sequence at each time point and the constant grinding force is calculated to construct the grinding force deviation coefficient for each time point, specifically:

[0061] Taking time t as an example, calculate The absolute value of the difference between each element in the historical neighboring grinding force sequence at a given time and the constant grinding force is calculated, and the sum of the absolute values ​​of the differences of all elements in the historical neighboring grinding force sequence is used as the value of the sum. Grinding force deviation coefficient at any time Grinding force deviation coefficient The higher the value, the worse the polishing quality of the cable.

[0062] Further calculation Standard deviation of all elements in the time-near grinding force sequence The standard deviation reflects the degree of dispersion of the polishing values ​​relative to the mean over a period of time, i.e., the degree of fluctuation in polishing force. The larger the value, the more violent the force fluctuation caused by thermal deformation or mechanical vibration during the grinding process, the more unstable the grinding process is, and the more timely the grinding parameters should be adjusted.

[0063] Furthermore, based on the above analysis and combined with the temperature disturbance coefficient, the state feedback coefficients at each time point are constructed, and their expressions are as follows:

[0064]

[0065] In the formula, Indicates the cable polishing process The state feedback coefficient at any given time; , , These represent the normalized temperature interference coefficient, the standard deviation of the grinding sequence, and the grinding force deviation coefficient, respectively. , , These are preset weighting coefficients, which in this embodiment are set as follows: .

[0066] During the continuous polishing process of the cable, the surface temperature of the cable will continue to rise, thereby affecting the calculated... Temperature disturbance coefficient at time The value increases. Furthermore, temperature changes alter the hardness of the cable's insulation, which in turn changes the grinding force applied during cable polishing. This means that the data within the historical sequence of adjacent grinding forces deviates further from a constant grinding force, making... Grinding force deviation coefficient at any time The value increases. Furthermore, because the grinding force is controlled by feedback from the control system during cable polishing, the grinding force fluctuates around a constant grinding force. The greater the fluctuation in the grinding force, the higher the calculated value. Standard deviation of time The larger the value, the more efficient the calculated state feedback coefficient becomes. The larger the value, the worse the cable polishing quality is due to the change in polishing force.

[0067] Step S4: Analyze the error feedback results at each moment based on the grinding force and state feedback coefficient; based on the error feedback results, combine with the PID controller to perform power cable grinding control.

[0068] Based on the above analysis and calculation, the state feedback coefficient at each moment during the cable polishing process was obtained. The state feedback coefficient Taking into account the temperature changes on the cable surface and the abnormal changes in grinding force during the cable polishing process, the state feedback coefficient can accurately reflect the polishing state at each moment during the cable polishing process. The state feedback coefficients calculated at each time step The higher the value, the worse the cable's polishing condition.

[0069] Therefore, this application uses a PID controller based on the calculated state feedback coefficients. The difference between the current grinding force and the constant grinding force is used to control and adjust the cable grinding process through feedback. The specific adjustment process is as follows:

[0070] First, during the cable polishing process... State feedback coefficient at time step The normalization result is used as Time-of-flight feedback control weights Preferably, in the embodiments of this application, State feedback coefficient at time step The normalization method can be as follows: obtain the state feedback coefficients of all times before time t, including the state feedback coefficient at time t, and use them together as input to the max-min normalization method to obtain the normalized value of the state feedback coefficient at time t. As another embodiment of this application, the implementer may also use other normalization methods to... The state feedback coefficients at each time step are normalized.

[0071] Furthermore, during the cable polishing process The difference between the constant polishing force and the constant polishing force is used as Error coefficient at time The sign of the error coefficient reflects whether the current grinding force is greater than or less than a preset value. This leads to the determination of the effect during cable grinding. Error feedback results at time , The expression is: .like This indicates that the grinding force is too high, and the PID controller needs to output a signal to reduce the feed rate; conversely, if the grinding force is too low... If so, the feed rate needs to be increased.

[0072] Furthermore, based on the error feedback results, a PID controller is used for feedback adjustment, specifically as follows:

[0073] During cable polishing, the polishing force primarily depends on the feed rate of the polishing device. A larger feed rate results in greater pressure on the cable surface, which in turn increases friction and heat, raising the cable temperature and affecting the stability of the polishing force. Therefore, a PID controller is used to adjust the feed rate of the polishing mechanism based on the error feedback. Specifically, the error feedback at time t is used as the deviation of the PID controller. The PID controller outputs a control signal to the polishing mechanism, and the feed rate of the polishing mechanism is adjusted based on this signal to achieve precision polishing of the power cable. The PID controller is a well-known technology, and its specific process will not be elaborated further.

[0074] A schematic diagram of the power cable grinding control process is shown below. Figure 2 As shown.

[0075] Please see Figure 3 , Figure 3 This is a schematic diagram of an automatic polishing control device for power cables provided in an embodiment of this application. In this embodiment, the terminal includes units that execute the steps in the corresponding embodiment of the automatic polishing control method for power cables. See also... Figure 3 The control device includes:

[0076] Data acquisition module: used to collect data on the grinding force and cable surface temperature at various moments during automatic cable grinding;

[0077] Temperature interference assessment module: used to construct historical adjacent temperature sequence and historical adjacent grinding force sequence for each time based on temperature and grinding force data of adjacent time in the historical time of each time; calculate the temperature change rate for each time based on the data change trend in the historical adjacent temperature sequence; construct the temperature interference coefficient for each time based on the difference between the temperature data of each time and the temperature data of its adjacent time and the preset safe temperature threshold, combined with the temperature change rate.

[0078] State feedback module: used to calculate the grinding force deviation coefficient at each time based on the difference between the elements in the historical adjacent grinding force sequence at each time and the preset constant grinding force; based on the data fluctuation degree in the historical adjacent grinding force sequence, combined with the temperature interference coefficient and the grinding force deviation coefficient, to construct the state feedback coefficient at each time.

[0079] Grinding control module: used to analyze the error feedback results at each moment based on the grinding force and state feedback coefficient at each moment; based on the error feedback results, combined with the PID controller, to perform grinding control of power cables.

[0080] Based on the same inventive concept as the above method, this application embodiment also provides an automatic polishing control device for power cables, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any one of the above-described automatic polishing control methods for power cables.

[0081] In summary, this application provides an automatic grinding control method for power cables. A temperature interference coefficient is constructed by analyzing abnormal temperature changes during cable operation. The beneficial effect is that the temperature interference coefficient considers the temperature change trend during cable grinding and the proximity of the current temperature to the safe temperature threshold. Based on the temperature interference coefficient, the temperature risk of the cable during grinding can be comprehensively reflected. Secondly, a state feedback coefficient is constructed based on the deviation coefficient of the grinding force during cable grinding and the fluctuation of the grinding force over a period of time, combined with the temperature interference coefficient. The beneficial effect is that the state feedback coefficient considers the change in grinding force caused by the temperature change of the cable during grinding. Therefore, the state feedback coefficient can accurately reflect the grinding state at each moment during cable grinding. Finally, the deviation of the PID controller at each moment is adjusted using the state feedback coefficient at each moment, thereby achieving better precision control of the grinding force during cable grinding. This avoids the problem of high temperatures during grinding causing softening and deformation of the cable material, thus reducing the uniformity of cable grinding and improving the grinding quality of the cable.

[0082] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this application. Additionally, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.

[0083] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0084] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. An automatic grinding control method for power cables, characterized in that, The method includes the following steps: Collect data on the grinding force and cable surface temperature at various moments during automatic cable grinding. Based on the temperature and grinding force data of adjacent times in the historical time of each time, construct the historical adjacent temperature sequence and historical adjacent grinding force sequence of each time; calculate the temperature change rate of each time based on the data change trend in the historical adjacent temperature sequence; construct the temperature interference coefficient of each time based on the difference between the temperature data of each time and the temperature data of its adjacent times and the preset safe temperature threshold, combined with the temperature change rate. The grinding force deviation coefficient at each moment is calculated based on the difference between each element in the historical adjacent grinding force sequence at each moment and the preset constant grinding force; based on the data fluctuation degree in the historical adjacent grinding force sequence, combined with the temperature interference coefficient and the grinding force deviation coefficient, the state feedback coefficient at each moment is constructed. The error feedback results at each moment are analyzed based on the grinding force and state feedback coefficient at each moment; based on the error feedback results, the grinding control of the power cable is carried out in combination with the PID controller. The process for obtaining the temperature interference coefficient at each time point is as follows: Will The coefficient of temperature change at time is denoted as , The expression is: In the formula, , They represent Time and Temperature at any given moment; the magnitude of temperature fluctuation is measured by calculating the absolute value of the temperature difference. Based on the difference between the temperature data at each time point and the preset safe temperature threshold, the temperature disturbance coefficient at each time point is calculated by combining the temperature mutation coefficient and the temperature change rate. The expression for the temperature interference coefficient is: In the formula, express Temperature disturbance coefficient at any given time; express The rate of temperature change over time; express The coefficient of temperature change at any given time; express Temperature at any moment; This indicates the preset safe temperature threshold. This is the temperature normalization constant; This represents an exponential function with the natural constant e as the base. The process of obtaining the state feedback coefficient at each moment is as follows: calculate the standard deviation of all elements in the historical adjacent grinding force sequence at each moment; based on the standard deviation, the temperature interference coefficient at each moment, and the grinding force deviation coefficient, construct the state feedback coefficient at each moment, the expression of which is: In the formula, Indicates the cable polishing process The state feedback coefficient at any given time; , , These represent the normalized temperature interference coefficient, the standard deviation of the grinding sequence, and the grinding force deviation coefficient, respectively. , , These are the preset weighting coefficients; The specific steps for controlling the polishing of power cables are as follows: The difference between the grinding force at each moment and the constant grinding force is used as the error coefficient at each moment; the product of the normalized value of the state feedback coefficient at each moment and the error coefficient is used as the deviation of the PID controller. The PID controller outputs the control signal of the grinding mechanism, and the feed amount of the grinding mechanism is adjusted based on the control signal to perform grinding of the power cable.

2. The automatic polishing control method for power cables as described in claim 1, characterized in that, The process for obtaining the historical neighboring temperature sequence and historical neighboring grinding force sequence at each time point is as follows: The sequence of temperature data from all times within a preset time period prior to any given time is recorded as the historical neighboring temperature sequence for that given time. Based on the grinding force data prior to each time, the historical neighboring grinding force sequence for each time is obtained using the same acquisition method as the historical neighboring temperature sequence.

3. The automatic polishing control method for power cables as described in claim 1, characterized in that, The process for obtaining the rate of temperature change at each time point is as follows: A fitted straight line is obtained by fitting the data from the historical neighboring temperature series at each time point, and the slope of the fitted straight line at each time point is taken as the temperature change rate at each time point.

4. The automatic polishing control method for power cables as described in claim 1, characterized in that, The process for obtaining the grinding force deviation coefficient at each moment is as follows: Calculate the absolute value of the difference between each element in the historical neighboring grinding force sequence at each time point and the constant grinding force, and use the sum of the absolute values ​​of the differences of all elements in the historical neighboring grinding force sequence at each time point as the grinding force deviation coefficient at each time point.

5. An automatic polishing control device for power cables, implementing the method described in claim 1, characterized in that, The device includes: Data acquisition module: used to collect data on the grinding force and cable surface temperature at various moments during automatic cable grinding; Temperature interference assessment module: used to construct historical adjacent temperature sequence and historical adjacent grinding force sequence for each time based on temperature and grinding force data of adjacent time in the historical time of each time; calculate the temperature change rate for each time based on the data change trend in the historical adjacent temperature sequence; construct the temperature interference coefficient for each time based on the difference between the temperature data of each time and the temperature data of its adjacent time and the preset safe temperature threshold, combined with the temperature change rate. The state feedback module is used to calculate the grinding force deviation coefficient at each moment based on the difference between each element in the historical adjacent grinding force sequence and the preset constant grinding force; and to construct the state feedback coefficient at each moment based on the data fluctuation degree in the historical adjacent grinding force sequence, combined with the temperature interference coefficient and the grinding force deviation coefficient. Grinding control module: used to analyze the error feedback results at each moment based on the grinding force and state feedback coefficient at each moment; based on the error feedback results, combined with the PID controller, to perform grinding control of power cables.

6. An automatic polishing control device for power cables, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-4.

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