A method, device, equipment and medium for controlling the receiving of materials in an intelligent receiving machine.

Abstract

This invention discloses a material receiving control method, device, equipment, and medium for an intelligent material receiving machine. The method includes: when the material receiving machine is receiving a strip of material, calculating the rate of change of tension and the rate of change of discharge line speed of the strip between the current and previous moments based on the tension and discharge line speed of the strip; adjusting the control coefficients in a preset voltage control algorithm based on the rate of change of discharge line speed and tension to obtain an adjusted voltage control algorithm; obtaining a voltage correction amount based on the tension of the strip before the current moment using the adjusted voltage control algorithm; correcting the initial analog voltage based on the voltage correction amount to obtain a corrected analog voltage; and controlling the material receiving machine to receive the strip of material based on the corrected analog voltage. This enables the material receiving process to intelligently and adaptively adjust according to changes in the material's state, ensuring the quality of material receiving.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and in particular to a method, device, equipment and medium for controlling the receiving of materials in an intelligent receiving machine. Background Technology

[0002] As the global manufacturing industry accelerates its transformation towards intelligent manufacturing, material receiving equipment, as a key hub connecting production processes and logistics systems, has been widely used in intelligent production lines in fields such as lithium battery materials, optical films, precision wires, and high-end sheet metal, becoming important equipment for ensuring continuous production, improving product quality, and enhancing traceability. However, against the backdrop of intelligent manufacturing placing higher demands on flexible production and dynamic response, the limitations of traditional material receiving equipment in collaborative control and intelligent decision-making are becoming increasingly apparent.

[0003] Most existing material receiving equipment still uses traditional open-loop control or simple constant-speed drive mode. In the actual production process, the winding speed of the receiving stage often does not match the output speed of the front-end extrusion, rolling or die-cutting processes, resulting in the stretching and deformation or accumulation and entanglement of materials. This not only affects the appearance quality and dimensional accuracy of the materials, but also causes the production line to stop in severe cases, which restricts the improvement of production efficiency and the in-depth promotion of intelligent transformation.

[0004] Therefore, how to intelligently control the material receiving process of the receiving machine to ensure the quality of material receiving has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and medium for controlling the receiving process of an intelligent receiving machine, in order to solve the problem of how to intelligently control the receiving process of the receiving machine to ensure the quality of material receiving.

[0006] A material receiving control method for an intelligent material receiving machine includes: When the receiving machine is receiving the material to be received, the initial analog voltage controlling the receiving machine to receive the material to be received is acquired, and the tension of the material to be received and the discharge line speed of the front-end processing equipment of the material to be received are acquired in real time. Based on the tension and the discharge line speed, the tension change rate and discharge line speed change rate of the material to be received between the current time and the previous time are calculated respectively. Based on the rate of change of the discharge line speed and the rate of change of the tension, the control coefficients in the preset voltage control algorithm are adjusted to obtain the adjusted voltage control algorithm. Through the adjusted voltage control algorithm, the voltage correction amount is obtained based on the tension of the material to be received before the current moment. The initial analog voltage is corrected according to the voltage correction amount to obtain the corrected analog voltage, and the receiving machine is controlled to receive the material strip based on the corrected analog voltage.

[0007] A receiving control device for an intelligent receiving machine includes: The first acquisition module is used to acquire the initial analog voltage when the take-up machine is taking up the take-up strip, and to acquire the tension of the take-up strip and the discharge line speed of the front-end processing equipment of the take-up strip in real time. Based on the tension and the discharge line speed, the module calculates the rate of change of tension and the rate of change of discharge line speed of the take-up strip between the current time and the previous time. The first correction module is used to adjust the control coefficient in the preset voltage control algorithm according to the rate of change of the discharge line speed and the rate of change of the tension, so as to obtain the adjusted voltage control algorithm. Through the adjusted voltage control algorithm, the voltage correction amount is obtained according to the tension of the material to be received before the current moment. The control module is used to correct the initial analog voltage according to the voltage correction amount to obtain the corrected analog voltage, and to control the take-up machine to take up the material strip based on the corrected analog voltage.

[0008] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described intelligent receiving machine receiving control method.

[0009] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described intelligent receiving machine receiving control method.

[0010] The aforementioned intelligent material receiving machine's material receiving control method involves calculating the rate of change of tension and the rate of change of discharge line speed of the material receiving belt between the current and previous moments, based on the tension and discharge line speed of the material receiving belt, when controlling the material receiving machine to receive the material receiving belt. Based on these rates, the control coefficients in the preset voltage control algorithm are adjusted to obtain an adjusted voltage control algorithm. Using this adjusted algorithm, a voltage correction amount is obtained based on the tension of the material receiving belt before the current moment. This correction amount is then used to correct the initial analog voltage when controlling the material receiving machine to receive the material receiving belt, resulting in a corrected analog voltage. Finally, the material receiving machine is controlled to receive the material receiving belt based on this corrected analog voltage.

[0011] In this process, the receiving machine dynamically corrects the initial analog voltage based on the real-time tension and discharge line speed of the receiving strip, combined with a preset voltage control algorithm. This enables the receiving process to have intelligent sensing and adaptive adjustment capabilities. It can intelligently optimize the receiving parameters according to the real-time changes in the material state, thereby driving the receiving machine to complete the receiving operation with the corrected analog voltage. This reduces the situation of material stretching, deformation, or accumulation and entanglement caused by the mismatch between the receiving speed and the front-end discharge speed. It intelligently improves the synchronization and stability of the receiving process and ensures the quality of the material received. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of an application environment for the material receiving control method of the intelligent material receiving machine in one embodiment of the present invention; Figure 2 This is a flowchart of a material receiving control method for an intelligent material receiving machine according to an embodiment of the present invention; Figure 3 This is another flowchart of the material receiving control method of the intelligent material receiving machine in one embodiment of the present invention; Figure 4 This is another flowchart of the material receiving control method of the intelligent material receiving machine in one embodiment of the present invention; Figure 5 This is a schematic diagram of the receiving control device of the intelligent receiving machine in one embodiment of the present invention; Figure 6 This is a schematic diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] The material receiving control method of the intelligent material receiving machine provided in this embodiment of the invention can be applied to, for example... Figure 1 The application environment shown includes, for example: Figure 1The diagram illustrates a client and server that communicate over a network to intelligently control the material receiving process of a receiving machine, ensuring the quality of the received materials. The client, also known as the user terminal, is the program that provides local services to the client, corresponding to the server. The client can be installed on, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. The server can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0016] In one embodiment, such as Figure 2 As shown, a material receiving control method for an intelligent material receiving machine is provided, applied in a server as shown in Figure 1, and includes the following steps: Step S201: When the take-up machine is taking in the strip to be taken in, acquire the initial analog voltage controlling the take-up machine to take in the strip to be taken in, and acquire the tension of the strip to be taken in real time and the discharge line speed of the front-end processing equipment of the strip to be taken in. Based on the tension and discharge line speed, calculate the rate of change of tension and the rate of change of discharge line speed of the strip to be taken in between the current time and the previous time.

[0017] In this embodiment, the material to be taken in can refer to the material to be wound or collected, such as rolls, wires, and sheets. When the take-up machine collects the material, the control unit of the take-up machine is electrically connected to the frequency converter, the frequency converter is electrically connected to the motor, and the motor is mechanically connected to the take-up roller. The initial analog voltage can refer to the analog voltage signal output by the control unit of the take-up machine to the frequency converter, so that the frequency converter outputs AC power of the corresponding frequency according to the initial analog voltage to drive the motor to rotate. Thus, the motor drives the take-up roller to collect the material through the sprocket. The front-end processing equipment can refer to the equipment that processes and outputs the material to be taken in the front-end process. The output line speed can refer to the running line speed of the front-end processing equipment when it outputs the material to be taken in. The tension change rate can refer to the ratio of the change in tension of the material to be taken in between the current moment and the previous moment to the time interval. The output line speed change rate can refer to the ratio of the change in the output line speed of the material to be taken in between the current moment and the previous moment to the time interval.

[0018] Specifically, when the receiving machine is receiving the material to be received, the tension of the material to be received can be collected by a tension sensor, the discharge line speed of the front-end processing equipment can be collected by a laser speed sensor, and the tension change rate of the material to be received between the current moment and the previous moment can be calculated based on the tension, and the discharge line speed change rate of the material to be received between the current moment and the previous moment can be calculated based on the discharge line speed.

[0019] Step S202: Adjust the control coefficients in the preset voltage control algorithm according to the rate of change of the discharge line speed and the rate of change of tension to obtain the adjusted voltage control algorithm. Through the adjusted voltage control algorithm, obtain the voltage correction amount according to the tension of the material to be received at the current moment.

[0020] Step S203: Correct the initial analog voltage according to the voltage correction amount to obtain the corrected analog voltage, and control the take-up machine to take up the material strip based on the corrected analog voltage.

[0021] In this embodiment, the preset voltage control algorithm can refer to a pre-set control algorithm used to calculate the output voltage adjustment amount based on the input parameters. The preset voltage control algorithm can refer to a proportional-integral-derivative (PID) control algorithm, whose control coefficients include proportional coefficient, derivative coefficient and integral coefficient. The voltage correction amount can refer to the voltage increment value calculated according to the adjusted voltage control algorithm and used to compensate and adjust the initial analog voltage.

[0022] Specifically, based on the rate of change of the discharge line speed and the rate of change of tension, the proportional coefficient, derivative coefficient, and integral coefficient in the preset voltage control algorithm are adjusted to obtain the adjusted voltage control algorithm. Through the adjusted voltage control algorithm, the voltage correction amount is obtained according to the tension of the strip to be collected. The voltage correction amount is added to the initial analog voltage to obtain the corrected analog voltage. Based on the corrected analog voltage, the collecting machine is controlled to collect the strip to be collected.

[0023] In this embodiment, when the receiving machine is receiving the material strip, it dynamically corrects the initial analog voltage based on the real-time tension and discharge line speed of the material strip, combined with a preset voltage control algorithm. This enables the receiving process to have intelligent sensing and adaptive adjustment capabilities. It can intelligently optimize the receiving parameters according to the real-time changes in the material state, thereby driving the receiving machine to complete the receiving operation with the corrected analog voltage. This reduces the situation of material stretching, deformation, or accumulation and entanglement caused by the mismatch between the receiving speed and the front-end discharge speed. It intelligently improves the synchronization and stability of the receiving process and ensures the quality of the material received.

[0024] In one embodiment, such as Figure 3 As shown, a material receiving control method for an intelligent material receiving machine is provided. Step S201 above, which involves obtaining the initial analog voltage when controlling the material receiving machine to receive the material strip, includes the following steps: Step S301: Obtain the elastic coefficient of the strip to be collected, the preset tension threshold, and the diameter and roll diameter of the collecting roller in the collecting machine that collects the strip to be collected.

[0025] Step S302: Based on the tension, elastic coefficient and preset tension threshold of the material to be taken in, the output line speed of the material to be taken in is corrected to obtain the basic take-in line speed of the take-in roller.

[0026] Step S303: Based on the diameter and roll diameter of the take-up roller, the basic take-up linear speed is corrected to obtain the initial take-up linear speed of the take-up roller. The initial take-up linear speed is then converted into an initial analog voltage.

[0027] In this embodiment, the preset tension threshold can refer to a standard tension value set to ensure the quality of material winding, used to measure whether the current tension deviates from the normal range. The diameter of the take-up roller can refer to the original roller diameter when the take-up roller is not wrapped with the material to be taken, and the roll diameter of the take-up roller can refer to the current total diameter of the take-up roller after it is wrapped with the material to be taken, that is, the sum of the diameter of the take-up roller and the thickness of the wound material. The distance L from the sensor to the outer surface of the material on the take-up roller can be collected by vertically aligning the laser displacement sensor with the surface of the take-up roller. The data acquisition module calculates the distance L according to the formula. (D is the fixed distance from the sensor to the center of the take-up roller) Calculate the real-time roll diameter d of the take-up roller. Theoretically, the output line speed of the front-end processing equipment and the take-up line speed of the take-up roller should be synchronized. However, due to the influence of material tension deviation and the diameter of the take-up roller, the two will deviate, which will cause the material to stretch and deform or accumulate and entangle. The basic take-up line speed refers to the take-up line speed of the take-up roller after correcting the influence of tension deviation. The initial take-up line speed refers to the take-up line speed of the take-up roller after correcting the influence of the increase in the diameter of the take-up roller.

[0028] Specifically, the tension, elasticity coefficient, and preset tension threshold of the material to be received can be substituted into the formula. The basic receiving line speed is obtained, where, Based on the basic take-up line speed, For the discharge line speed, The elastic coefficient, To preset the tension threshold, For tension. The diameter of the take-up roller, the roll diameter, and the basic take-up linear speed can be substituted into the formula. The initial take-up line speed is obtained, where, The initial take-up line speed, The diameter of the receiving roller. The diameter of the take-up roller is given. The initial take-up linear velocity is converted into an initial analog voltage using voltage simulation.

[0029] Optionally, the initial take-up line speed is converted into an initial analog voltage, including: Based on the diameter of the take-up roller and the initial take-up linear speed, the initial speed of the motor that controls the rotation of the take-up roller is obtained; Based on the initial rotational speed, the initial output frequency of the frequency converter driving the motor to rotate is obtained; Obtain the limiting parameters of the frequency converter, and based on the initial output frequency and limiting parameters, obtain the initial analog voltage.

[0030] Among them, the motor that controls the rotation of the take-up roller can be a three-phase asynchronous motor, the initial speed can be the theoretical speed value of the motor used to drive the take-up roller to rotate at the target linear speed, which is calculated based on the roll diameter of the take-up roller and the initial take-up linear speed, the frequency converter that drives the motor to rotate can be a Delta frequency converter, the initial output frequency can be the AC frequency that the frequency converter needs to output in order for the motor to reach the initial speed, and the limit parameters can be the upper limit constraint values ​​of voltage and frequency allowed by the frequency converter during operation, which can include the maximum operating frequency and the maximum input voltage.

[0031] That is, the diameter of the take-up roller and the initial take-up linear speed can be substituted into the formula. The initial rotational speed is obtained, where, The initial take-up line speed, The initial rotational speed, The initial rotational speed is calculated based on the diameter of the take-up roller, or by using the mapping relationship between the motor speed and the preset take-up linear speed (e.g., a motor speed of 1680 r / min corresponds to a take-up linear speed of 2 m / s). Based on this initial rotational speed, the initial output frequency of the frequency converter is obtained. The limiting parameters of the frequency converter and the initial output frequency are then substituted into the formula. The initial analog voltage is obtained, where, The initial analog voltage. The initial output frequency, For maximum operating frequency, This is the maximum input voltage.

[0032] Optionally, before correcting the output linear speed of the take-up belt based on its tension, elasticity coefficient, and preset tension threshold to obtain the basic take-up linear speed of the take-up roller, the following steps are also included: Obtain the distance between the material to be collected at the inlet and the sensor, based on data collected by a sensor positioned above the inlet of the receiving machine; If the distance is within the preset threshold range, then the step of correcting the output line speed of the take-up belt according to the tension, elastic coefficient and preset tension threshold of the take-up belt to obtain the basic take-up line speed of the take-up roller is executed until the initial analog voltage is obtained. If the distance exceeds the preset threshold range, it is determined that the material to be collected is excessively straightened, and the collection roller is directly controlled to reduce its speed. If the distance does not exceed the preset threshold range, it is determined that the material to be collected is piled up, and the collection roller is directly controlled to speed up the process.

[0033] The sensor positioned above the feed inlet of the receiving machine can refer to the Takenaka Optoelectronics sensor positioned above the feed inlet buffer area. The preset threshold range can refer to the allowable range of sensor detection distance set to ensure that the material at the feed inlet is in a normal buffer state.

[0034] That is, based on the distance between the receiving strip and the sensor in the buffer area of ​​the feed inlet, which is arranged above the feed inlet buffer area, if the distance is within the preset threshold range, the above step S302 is executed to enter the speed correction process and obtain the initial analog voltage. If the distance exceeds the preset threshold range, it is determined that the receiving strip is overstretched and the receiving roller is directly controlled to reduce the speed (e.g., an 8% speed reduction instruction is immediately generated). If the distance does not exceed the preset threshold range, it is determined that the receiving strip is piled up and the receiving roller is directly controlled to increase the speed (e.g., an 8% speed increase instruction is immediately generated).

[0035] In this embodiment, firstly, the basic take-up speed is obtained by obtaining the tension, elastic coefficient and preset tension threshold of the strip to be taken up, and then the output line speed is corrected. Then, a second correction is made by combining the diameter of the take-up roller and the real-time roll diameter. Finally, the initial analog voltage is obtained by voltage simulation conversion. This process fully considers the tension deviation caused by the elastic properties of the material and the actual impact of the gradually increasing diameter of the take-up roller on the linear speed during the winding process. This makes the setting of the initial analog voltage more closely match the actual working conditions in the take-up start-up stage, effectively reducing the mismatch between take-up speed and output speed caused by tension fluctuations or changes in roll diameter. This lays a reliable foundation for subsequent precise control. Secondly, before entering the above correction process, the distance between the material and the sensor in the buffer area is monitored in real time by a sensor arranged above the feed inlet. The distance is graded according to whether it is within the preset threshold range. The refined speed correction process is only activated when the material is in a normal buffer state. When excessive straightening of the material is detected, the take-up roller is directly controlled to slow down. When material accumulation is detected, the take-up roller is directly controlled to speed up. This mechanism can skip complex calculations and achieve rapid response under abnormal working conditions, and promptly eliminate the hidden dangers of stretching deformation or accumulation and entanglement. This ensures the quality of material winding while improving the safety and reliability of the take-up process.

[0036] In one embodiment, such as Figure 4 As shown, a material receiving control method for an intelligent material receiving machine is provided. In step S202 above, the control coefficients in the preset voltage control algorithm are adjusted according to the rate of change of the discharge line speed and the rate of change of tension to obtain the adjusted voltage control algorithm, which includes the following steps: Step S401: Detect whether the rate of change of the discharge line speed exceeds a preset first threshold, and detect whether the rate of change of tension exceeds a preset second threshold.

[0037] Step S402: If the rate of change of the discharge line speed exceeds the preset first threshold and the rate of change of the tension exceeds the preset second threshold, then according to the rate of change of the discharge line speed, the proportional control coefficient and the derivative control coefficient in the preset voltage control algorithm are adjusted and increased, and according to the rate of change of the tension, the integral control coefficient in the preset voltage control algorithm is adjusted and decreased, so as to obtain the adjusted voltage control algorithm.

[0038] Step S403: If the rate of change of the discharge line speed exceeds the preset first threshold, but the rate of change of the tension does not exceed the preset second threshold, then the proportional control coefficient and derivative control coefficient in the preset voltage control algorithm are adjusted and increased according to the rate of change of the discharge line speed to obtain the adjusted voltage control algorithm.

[0039] Step S404: If the detected tension change rate exceeds the preset second threshold, but the discharge line speed change rate does not exceed the preset first threshold, then the integral control coefficient in the preset voltage control algorithm is adjusted and reduced according to the tension change rate to obtain the adjusted voltage control algorithm.

[0040] In this embodiment, the preset first threshold can be the upper limit of the rate of change of speed used to determine whether the discharge line speed has fluctuated significantly, and the preset second threshold can be the upper limit of the rate of change of tension used to determine whether the tension has fluctuated significantly.

[0041] Specifically, if the rate of change of the discharge line speed exceeds a preset first threshold and the rate of change of tension exceeds a preset second threshold, the proportional control coefficient in the preset voltage control algorithm is increased based on the rate of change of the discharge line speed to enhance the controller's response to the current deviation, allowing the voltage to change rapidly to keep up with the speed fluctuations. The derivative control coefficient is also increased to enhance the control algorithm's ability to predict the trend of deviation changes, suppress tension overshoot caused by sudden speed changes in advance, and stabilize more quickly. Based on the rate of change of tension, the integral control coefficient in the preset voltage control algorithm is decreased to reduce the excessive compensation of the integral action for the accumulated tension deviation, preventing the system from overshooting or oscillation (because if the integral action is still strong when there is already a continuous and large fluctuation in tension, it will desperately accumulate this deviation, trying to eliminate it through long-term and large-amplitude voltage adjustments, which will easily lead to integral saturation). The adjusted voltage control algorithm is then obtained. Accordingly, if the rate of change of the discharge line speed exceeds a preset first threshold, but the rate of change of the tension does not exceed a preset second threshold, then the proportional control coefficient and derivative control coefficient in the preset voltage control algorithm are adjusted and increased according to the rate of change of the discharge line speed, resulting in an adjusted voltage control algorithm. If the rate of change of the tension exceeds a preset second threshold, but the rate of change of the discharge line speed does not exceed a preset first threshold, then the integral control coefficient in the preset voltage control algorithm is adjusted and decreased according to the rate of change of the tension, resulting in an adjusted voltage control algorithm.

[0042] In other words, when both speed and tension fluctuate drastically, the system faces a large disturbance and is already out of balance. A strong response and stable integral strategy is adopted, increasing the proportional and derivative control coefficients to quickly track speed changes while decreasing the integral control coefficient to prevent integral saturation and runaway. When only speed fluctuates drastically while tension is relatively stable, the system faces a large disturbance but remains relatively stable. A strong response and integral-preserving strategy is adopted, increasing only the proportional and derivative control coefficients to keep up with the speed while maintaining the original integral control coefficient to eliminate potential steady-state errors. When only tension fluctuates drastically while speed is stable, the system itself is oscillating. A stable response and reduced integral strategy is adopted; the main problem is oscillation, so the integral control coefficient is reduced to weaken the integral effect and stabilize the system. Using the adjusted voltage control algorithm (i.e., the adjusted proportional, derivative, and integral control coefficients), the most suitable voltage correction is calculated based on the current tension deviation.

[0043] Optionally, the voltage correction amount is obtained through the adjusted voltage control algorithm based on the tension of the material strip to be received at the current moment, including: Obtain the standard tension, and calculate the deviation between the tension of the material to be received and the standard tension at the current time and any time before the current time; The voltage correction amount is obtained based on the deviation at all times using the adjusted voltage control algorithm.

[0044] Standard tension can refer to the target tension value set to ensure the quality of material winding, and is used as a benchmark reference value to measure the current tension deviation.

[0045] That is, calculate the deviations between the tension at the current moment, the previous moment, and two moments ago and the standard tension, respectively, and substitute these deviations into the formula of the incremental PID control algorithm. The voltage correction amount is obtained, where, This is the voltage correction amount. This is the proportional control coefficient. The integral control coefficient, These are the differential control coefficients. This represents the deviation corresponding to the current moment. This represents the deviation corresponding to the previous moment. This represents the deviation corresponding to the first two moments.

[0046] Optionally, after controlling the take-up machine to take up the strip to be taken up based on the corrected analog voltage, the method further includes: The rotational speed and roll diameter of the take-up roller in the take-up machine are acquired in real time, and the actual take-up linear speed of the take-up roller is obtained based on the rotational speed and roll diameter of the take-up roller. Calculate the deviation between the actual receiving line speed and the output line speed. If the deviation exceeds the preset third threshold, use the corrected analog voltage as the initial analog voltage, and return to execute the steps of real-time acquisition of the tension of the receiving strip and the output line speed of the front-end processing equipment of the receiving strip. Based on the tension and the output line speed, calculate the tension change rate and the output line speed change rate of the receiving strip between the current time and the previous time.

[0047] The actual take-up line speed can refer to the actual line speed value of the take-up roller for taking up the material, calculated based on the real-time rotation speed of the take-up roller and the current roll diameter. The preset third threshold is the maximum allowable error value used to determine whether there is an unacceptable synchronization deviation between the actual take-up line speed and the output line speed.

[0048] That is, after the take-up machine is controlled to take up the strip to be taken up based on the corrected analog voltage, the rotation speed and roll diameter of the take-up roller in the take-up machine are obtained in real time. Based on the rotation speed and roll diameter of the take-up roller, the actual take-up linear speed of the take-up roller is obtained. If the deviation between the actual take-up linear speed and the output linear speed exceeds the preset third threshold, the corrected analog voltage is used as the initial analog voltage, and the above step S201 is returned to be executed to continue to optimize the corrected analog voltage until the take-up of the strip to be taken up is completed.

[0049] Optionally, it can also monitor the tension of the material to be received, the diameter of the receiving roller, the operating parameters of the frequency converter, the motor temperature and the distance of the material belt in real time. When the tension exceeds the safe range, the diameter changes abnormally, the frequency converter is overloaded, the motor overheats, or the distance of the material belt continues to exceed the safe range for a preset time, an audible and visual alarm is triggered and the abnormal data is recorded.

[0050] Optionally, the real-time collected data such as the output line speed, tension, and roll diameter can be visualized on a touch screen and stored synchronously for subsequent production traceability and parameter optimization.

[0051] In this embodiment, adaptive optimization of the control strategy is achieved by real-time detection of the rate of change of the discharge line speed and the rate of change of tension, and by differentially adjusting the controller coefficients based on whether they exceed preset thresholds. Specifically, when both speed and tension fluctuate drastically, the proportional and derivative coefficients are increased simultaneously to enhance the system's ability to quickly track speed disturbances, while the integral coefficient is decreased to prevent oscillations caused by integral saturation. When only speed fluctuates, only the proportional and derivative coefficients are increased to maintain a fast response; when only tension fluctuates, only the integral coefficient is decreased to suppress system oscillations. This dynamic adjustment mechanism allows the controller to flexibly match control parameters according to changes in operating conditions, ensuring agile response to speed disturbances while avoiding overcompensation for accumulated tension deviations, thereby significantly improving the dynamic stability and control accuracy of the receiving process. Based on this, by acquiring the standard tension and calculating the tension deviation at the current and historical moments, the voltage correction is obtained by substituting it into the adjusted incremental PID algorithm, achieving precise adjustment based on deviation accumulation. Furthermore, after the corrected analog voltage is put into operation, the deviation between the actual receiving line speed and the output line speed is monitored in real time. When the deviation exceeds the preset threshold, the process automatically returns to the optimization process, forming a closed-loop iterative mechanism of monitoring, correction, and re-monitoring. This mechanism can continuously track the speed synchronization status during the receiving process and continuously optimize the control parameters until the receiving is completed. This effectively eliminates the cumulative error caused by changes in operating conditions or parameter drift, ensures speed matching and tension stability throughout the entire receiving process, and improves the consistency of receiving quality and the adaptability of the equipment.

[0052] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0053] In one embodiment, a receiving control device for an intelligent receiving machine is provided, which is applied to... Figure 1 The server in the text corresponds one-to-one with the receiving control device of the intelligent receiving machine in the above embodiments. For example... Figure 5As shown, the receiving control device of the intelligent receiving machine includes a first acquisition module 51, a first correction module 52, and a control module 53. Detailed descriptions of each functional module are as follows: The first acquisition module 51 is used to acquire the initial analog voltage when the take-up machine is taking up the take-up strip, and to acquire the tension of the take-up strip and the discharge line speed of the front-end processing equipment of the take-up strip in real time. Based on the tension and the discharge line speed, the tension change rate and discharge line speed change rate of the take-up strip between the current time and the previous time are calculated respectively. The first correction module 52 is used to adjust the control coefficient in the preset voltage control algorithm according to the rate of change of the discharge line speed and the rate of change of the tension, so as to obtain the adjusted voltage control algorithm. Through the adjusted voltage control algorithm, the voltage correction amount is obtained according to the tension of the material to be received before the current moment. Control module 53 is used to correct the initial analog voltage according to the voltage correction amount to obtain the corrected analog voltage, and control the take-up machine to take up the material strip to be taken up based on the corrected analog voltage.

[0054] Optionally, the first acquisition module 51 mentioned above includes: The second acquisition unit is used to acquire the elastic coefficient of the strip to be collected, the preset tension threshold, and the diameter and roll diameter of the receiving roller in the receiving machine that collects the strip to be collected. The second correction unit is used to correct the output line speed of the material to be collected based on the tension, elastic coefficient and preset tension threshold of the material to be collected, so as to obtain the basic collection line speed of the collection roller. The third correction unit is used to correct the basic take-up linear speed according to the diameter and roll diameter of the take-up roller to obtain the initial take-up linear speed of the take-up roller, and to perform voltage analog conversion on the initial take-up linear speed to obtain the initial analog voltage.

[0055] Optionally, the third correction unit mentioned above includes: The first conversion subunit is used to obtain the initial rotational speed of the motor that controls the rotation of the take-up roller based on the roll diameter of the take-up roller and the initial take-up linear speed. The second conversion subunit is used to obtain the initial output frequency of the frequency converter that drives the motor to rotate based on the initial rotational speed; The third conversion subunit is used to obtain the limiting parameters of the frequency converter and to obtain the initial analog voltage based on the initial output frequency and the limiting parameters.

[0056] Optionally, the first acquisition module 51 mentioned above further includes: The third acquisition unit is used to acquire the distance between the material to be collected at the inlet and the sensor, based on the sensor arranged above the inlet of the material collector; The first judgment unit is used to perform the step of correcting the output line speed of the material to be collected based on the tension, elastic coefficient and preset tension threshold of the material to be collected, and obtaining the basic collection line speed of the collection roller, until the initial analog voltage is obtained if the distance is within the preset threshold range. The second judgment unit is used to determine that the material to be collected is excessively straightened if the distance exceeds the preset threshold range, and directly control the collection roller to reduce its speed. The third judgment unit is used to determine that the material to be collected is piled up if the distance does not exceed the preset threshold range, and directly control the receiving roller to speed up the process.

[0057] Optionally, the first correction module 52 mentioned above includes: The detection unit is used to detect whether the rate of change of the discharge line speed exceeds a preset first threshold and whether the rate of change of the tension exceeds a preset second threshold. The fourth judgment unit is used to adjust and increase the proportional control coefficient and derivative control coefficient in the preset voltage control algorithm according to the discharge line speed change rate and the tension change rate according to the tension change rate if the discharge line speed change rate exceeds the preset first threshold and the tension change rate exceeds the preset second threshold, and to adjust and decrease the integral control coefficient in the preset voltage control algorithm to obtain the adjusted voltage control algorithm. The fifth judgment unit is used to adjust and increase the proportional control coefficient and derivative control coefficient in the preset voltage control algorithm according to the discharge line speed change rate if the rate of change of the discharge line speed exceeds the preset first threshold and the rate of change of the tension does not exceed the preset second threshold, so as to obtain the adjusted voltage control algorithm. The sixth judgment unit is used to adjust and reduce the integral control coefficient in the preset voltage control algorithm according to the tension change rate if the tension change rate is detected to exceed the preset second threshold and the discharge line speed change rate is not exceeded the preset first threshold, so as to obtain the adjusted voltage control algorithm.

[0058] Optionally, the first correction module 52 mentioned above includes: The fourth acquisition unit is used to acquire the standard tension and, for the current time and any time before the current time, calculate the deviation between the tension of the material to be received at the current time and the standard tension. The fourth correction unit is used to obtain the voltage correction amount based on the deviation at all times using the adjusted voltage control algorithm.

[0059] Optionally, the receiving control device of the intelligent receiving machine further includes: The fifth acquisition module is used to acquire in real time the rotation speed and roll diameter of the receiving roller in the receiving machine that receives the material to be received, and to obtain the actual receiving linear speed of the receiving roller based on the rotation speed and roll diameter of the receiving roller. The feedback module is used to calculate the deviation between the actual receiving line speed and the output line speed. If the deviation exceeds a preset third threshold, the corrected analog voltage is used as the initial analog voltage, and the process returns to the steps of real-time acquisition of the tension of the receiving strip and the output line speed of the front-end processing equipment of the receiving strip, and calculating the rate of change of tension of the receiving strip and the rate of change of output line speed of the receiving strip between the current time and the previous time based on the tension and the output line speed.

[0060] Specific limitations regarding the receiving control device of the intelligent receiving machine can be found in the limitations on the receiving control method of the intelligent receiving machine mentioned above, and will not be repeated here. Each module in the aforementioned receiving control device of the intelligent receiving machine can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0061] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores the initial analog voltage, tension of the material to be received, and the output speed of the front-end processing equipment of the material to be received when the receiving machine is controlling the receiving machine. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a receiving control method for an intelligent receiving machine.

[0062] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the material receiving control method of the intelligent material receiving machine described in the above embodiment, for example... Figure 2 As shown in S201-S203, or Figures 3 to 4 As shown, to avoid repetition, it will not be described again here. Alternatively, when the processor executes a computer program, it implements the functions of each module / unit in this embodiment of the data management device, for example, Figure 5 The functions of the first acquisition module 51, the first correction module 52, and the control module 53 shown are not described again here to avoid repetition.

[0063] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the material receiving control method of the intelligent material receiving machine described above, for example... Figure 2 As shown in S201-S203, or Figures 3 to 4 As shown, to avoid repetition, it will not be described again here. Alternatively, when the processor executes a computer program, it implements the functions of each module / unit in this embodiment of the data management device, for example, Figure 5 The functions of the first acquisition module 51, the first correction module 52, and the control module 53 shown are not described again here to avoid repetition.

[0064] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0065] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0066] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A material receiving control method for an intelligent material receiving machine, characterized in that, include: When the receiving machine is receiving the material to be received, the initial analog voltage controlling the receiving machine to receive the material to be received is acquired, and the tension of the material to be received and the discharge line speed of the front-end processing equipment of the material to be received are acquired in real time. Based on the tension and the discharge line speed, the tension change rate and discharge line speed change rate of the material to be received between the current time and the previous time are calculated respectively. Based on the rate of change of the discharge line speed and the rate of change of the tension, the control coefficients in the preset voltage control algorithm are adjusted to obtain the adjusted voltage control algorithm. Through the adjusted voltage control algorithm, the voltage correction amount is obtained based on the tension of the material to be received before the current moment. The initial analog voltage is corrected according to the voltage correction amount to obtain the corrected analog voltage, and the receiving machine is controlled to receive the material strip based on the corrected analog voltage.

2. The material receiving control method of the intelligent material receiving machine according to claim 1, characterized in that, The acquisition of the initial analog voltage when controlling the take-up machine to take in the material to be taken in includes: The elastic coefficient, preset tension threshold, diameter and roll diameter of the receiving roller in the receiving machine for receiving the material to be collected are obtained. Based on the tension, elastic coefficient, and preset tension threshold of the material to be collected, the output line speed of the material to be collected is corrected to obtain the basic collection line speed of the collection roller. Based on the diameter and roll diameter of the take-up roller, the basic take-up linear speed is corrected to obtain the initial take-up linear speed of the take-up roller. The initial take-up linear speed is then converted into a voltage analog value to obtain the initial analog voltage.

3. The material receiving control method of the intelligent material receiving machine according to claim 2, characterized in that, The step of performing voltage analog conversion on the initial take-up line speed to obtain the initial analog voltage includes: Based on the roll diameter of the take-up roller and the initial take-up linear speed, the initial rotational speed of the motor controlling the rotation of the take-up roller is obtained; Based on the initial rotational speed, the initial output frequency of the frequency converter driving the motor to rotate is obtained; Obtain the limiting parameters of the frequency converter, and obtain the initial analog voltage based on the initial output frequency and the limiting parameters.

4. The material receiving control method of the intelligent material receiving machine according to claim 2, characterized in that, Before correcting the output linear speed of the receiving strip based on its tension, elastic coefficient, and preset tension threshold to obtain the base receiving linear speed of the receiving roller, the method further includes: The distance between the material to be collected at the inlet and the sensor is obtained based on the sensor arranged above the inlet of the receiving machine; If the distance is within a preset threshold range, then the step of correcting the output line speed of the material to be collected based on the tension, elastic coefficient and preset tension threshold of the material to be collected, and obtaining the basic collection line speed of the collection roller, is performed until the initial analog voltage is obtained. If the distance exceeds the preset threshold range, it is determined that the material to be collected is excessively straightened, and the collection roller is directly controlled to reduce its speed. If the distance does not exceed the preset threshold range, it is determined that the material to be collected is piled up, and the receiving roller is directly controlled to speed up the process.

5. The material receiving control method of the intelligent material receiving machine according to claim 1, characterized in that, The step of adjusting the control coefficients in the preset voltage control algorithm based on the rate of change of the discharge line speed and the rate of change of the tension to obtain the adjusted voltage control algorithm includes: The system detects whether the rate of change of the discharge line speed exceeds a preset first threshold and whether the rate of change of the tension exceeds a preset second threshold. If the rate of change of the discharge line speed exceeds the preset first threshold and the rate of change of the tension exceeds the preset second threshold, then according to the rate of change of the discharge line speed, the proportional control coefficient and the derivative control coefficient in the preset voltage control algorithm are adjusted and increased, and according to the rate of change of the tension, the integral control coefficient in the preset voltage control algorithm is adjusted and decreased, so as to obtain the adjusted voltage control algorithm. If the rate of change of the discharge line speed exceeds the preset first threshold, but the rate of change of the tension does not exceed the preset second threshold, then the proportional control coefficient and the derivative control coefficient in the preset voltage control algorithm are adjusted and increased according to the rate of change of the discharge line speed to obtain the adjusted voltage control algorithm. If the detected tension change rate exceeds the preset second threshold, but the discharge line speed change rate does not exceed the preset first threshold, then the integral control coefficient in the preset voltage control algorithm is adjusted and reduced according to the tension change rate to obtain the adjusted voltage control algorithm.

6. The material receiving control method of the intelligent material receiving machine according to claim 1, characterized in that, The voltage correction amount is obtained through the adjusted voltage control algorithm based on the tension of the material strip to be received before the current moment, including: Obtain the standard tension, and for the current time and any time before the current time, calculate the deviation between the tension of the material to be received at the current time and the standard tension; The adjusted voltage control algorithm is used to obtain the voltage correction amount based on the deviation at all times.

7. The material receiving control method for the intelligent material receiving machine according to claim 1, characterized in that, After the receiver is controlled to collect the strip to be collected based on the corrected analog voltage, the method further includes: The rotational speed and roll diameter of the receiving roller in the receiving machine that receives the material to be received are obtained in real time, and the actual receiving linear speed of the receiving roller is obtained based on the rotational speed and roll diameter of the receiving roller. Calculate the deviation between the actual receiving line speed and the output line speed. If the deviation exceeds a preset third threshold, use the corrected analog voltage as the initial analog voltage, and return to the steps of real-time acquisition of the tension of the receiving strip and the output line speed of the front-end processing equipment of the receiving strip, and calculate the rate of change of tension of the receiving strip and the rate of change of output line speed of the receiving strip between the current time and the previous time based on the tension and the output line speed.

8. A receiving control device for an intelligent receiving machine, characterized in that, include: The first acquisition module is used to acquire the initial analog voltage when the take-up machine is taking up the take-up strip, and to acquire the tension of the take-up strip and the discharge line speed of the front-end processing equipment of the take-up strip in real time. Based on the tension and the discharge line speed, the module calculates the rate of change of tension and the rate of change of discharge line speed of the take-up strip between the current time and the previous time. The first correction module is used to adjust the control coefficient in the preset voltage control algorithm according to the rate of change of the discharge line speed and the rate of change of the tension, so as to obtain the adjusted voltage control algorithm. Through the adjusted voltage control algorithm, the voltage correction amount is obtained according to the tension of the material to be received before the current moment. The control module is used to correct the initial analog voltage according to the voltage correction amount to obtain the corrected analog voltage, and to control the take-up machine to take up the material strip based on the corrected analog voltage.

9. A computer device, characterized in that, The computer device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the material receiving control method of the intelligent material receiving machine as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the material receiving control method of the intelligent material receiving machine as described in any one of claims 1 to 7.

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