A serpentine coiled biomimetic control system and method and system
The serpentine coiling bionic control system solves the problems of uniformity, stress concentration, and adaptability to multiple scenarios in the coiling operation of long strip objects in oil equipment, and realizes efficient and automated coiling control, which is suitable for complex working conditions in 2D and 3D spaces.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SICHUAN HONGHUA ELECTRIC
- Filing Date
- 2026-03-12
- Publication Date
- 2026-06-05
AI Technical Summary
In existing technologies, the coiling operations of long objects such as cables, drill pipes, and pipelines in oil equipment suffer from problems such as poor uniformity, stress concentration, low automation, and poor adaptability to multiple scenarios. In particular, it is difficult to achieve trajectory smoothness and device matching under complex working conditions in 3D space.
The system employs a serpentine coiling bionic control system, which includes a controller, a network communication transmission unit, an actuator, a feedback element, and a human-machine interaction module. The system achieves trajectory planning through a serpentine coiling algorithm curve calculation module, combined with closed-loop collaborative control of servo motors and variable frequency motors. A redundant network system is used to ensure stable data transmission, and the feedback element adjusts operating parameters in real time to achieve automated and adaptive control.
It improves the uniformity of winding, reduces stress concentration, enhances the degree of automation, adapts to multiple application scenarios, improves work efficiency, and reduces work time and equipment failure risk.
Smart Images
Figure CN122151673A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of industrial automation control technology, and in particular to a serpentine coiling bionic control system and method. Background Technology
[0002] In the operation of oilfield equipment, the coiling and laying of long, thin objects such as cables, drill pipes, and pipelines is a common procedure, especially in oil and gas onshore and offshore engineering fields. The efficiency and quality of coiling operations directly affect the service life of the equipment and operational safety. Traditional coiling methods mainly rely on manual operation or simple mechanical transmission control, which has the following technical drawbacks: Poor uniformity of winding: Manual winding can easily lead to overlapping and knotting of long strips of objects. Mechanical transmission control often uses a single-direction straight line or spiral trajectory, resulting in inconsistent spacing between adjacent winding layers and uneven density, which affects the utilization rate of storage space.
[0003] Significant stress concentration: The end transition sections often use right angles or small-radius bends, causing stress concentration at the bends in the coiled material. Over long-term use, this can easily lead to fatigue damage and shorten service life. For example, in the traditional coiling method for continuous tubing cables, end fracture failure may occur.
[0004] Low level of automation: Existing algorithms are difficult to dynamically adjust the trajectory. When the diameter, material, or parameters of the target winding device change, manual correction is required. The response speed is slow and cannot meet the real-time control requirements under complex working conditions.
[0005] Poor adaptability to multiple scenarios: Traditional roller tracks are mostly designed for 2D planar scenarios. For complex working conditions in 3D space (such as three-dimensional storage of continuous oil pipes), it is difficult to balance the smoothness of the track with the matching degree of the device, and interference or laying deviations are likely to occur.
[0006] Therefore, developing a winding algorithm curve that can achieve uniform arrangement, stress dispersion, adaptive adjustment, and is applicable to multiple scenarios has become the key to solving the pain points of existing technologies. Summary of the Invention
[0007] To address the aforementioned technical problems and overcome the shortcomings of existing technologies, such as poor uniformity of coiling operations, stress concentration, low automation, and poor adaptability to various scenarios, this invention provides a serpentine coiling biomimetic control system and method.
[0008] A serpentine coiling biomimetic control system includes: a controller, a network communication transmission unit, an actuator, a feedback element, and a human-machine interaction module; The controller has a built-in snake-like winding algorithm curve calculation module, which is used to receive feedback data, perform trajectory planning calculations and output control commands. The snake-like winding algorithm curve calculation module calculates the snake-like winding algorithm curve by periodically fitting the input winding object, winding device parameters and working condition parameters collected in real time by the feedback element. The controller adjusts the servo motor speed according to the snake-like winding algorithm curve. The network transmission unit adopts a redundant network system to realize data transmission and communication, and ensures stable network communication and low latency during the coiling motion. The actuator includes a servo motor for controlling the axial movement of the winding device and the pipeline conveying, and a variable frequency motor for controlling the rotational speed of the winding device. The servo motor and the variable frequency motor achieve closed-loop coordination of rotational speed and axial displacement through a controller. The feedback element provides real-time feedback of operating parameters through multiple sensors; The human-machine interaction module is used for parameter setting, operating condition monitoring, and fault alarm.
[0009] Furthermore, the network transmission unit includes slip ring network communication and wireless transmission equipment, and a redundant network system is used to ensure switching between slip ring network communication and AP network equipment.
[0010] Furthermore, the human-machine interaction module uses a touch screen or an industrial computer, and the diameter of the coiled object and the radius and effective length of the coiling device are input through parameter settings.
[0011] Furthermore, the feedback element includes multiple encoders, an infrared rangefinder, a position sensor, a load sensor, and a vision camera. The multiple encoders respectively collect the rotation speed of the winding device, the rotation speed of the injection head, the rotation angle of the drilling tower, and the speed of the guiding device. The load sensor collects the load of the continuous pipe system, the infrared rangefinder detects and positions the winding distance, and the vision camera monitors the pipe position in real time.
[0012] Furthermore, the serpentine winding algorithm curve in the serpentine winding algorithm curve calculation module is generated by periodic segmented curve fitting, including alternating axial straight line segments and end transition arc segments; The core parameters include: the starting point of the rotating arm's movement, i.e., time 0, is set to the position of the left major axis; the rotation angle α of the rotating arm rotating clockwise from the position of the left major axis to point P; the guide mechanism's running track is a circular track with semicircles at both ends and a rectangle in the middle; let the radius of the circles at both ends of the track be r, the distance from the center of the track to the center of the circle be l, the cantilever length be X, and the running length along the track from point 0 be L; The piecewise equation of the serpentine coiling algorithm curve is as follows: Axial straight segment: The axial displacement variable in the upper right section of the straight line segment is: , At that time, the trajectory length equation is: ; The axial displacement variable of the upper left section of the straight line segment is: , At that time, the trajectory length equation is: ; End transition arc segment: The axial displacement variable of the upper left arc segment is: , In △PNO, according to the Law of Cosines According to the law of sines The arc length of the mechanism's operation: ; The axial displacement variable in the lower left part of the circular arc segment is... In △PNO, according to the cosine and sine laws, the arc length of the mechanism's travel is: , Where β represents the arc displacement angle; When the axial displacement variable is the remaining part, it is distributed left and right and alternates up and down to achieve serpentine turning; the value range of the axial displacement variable α is the running linear velocity of the guide mechanism on each segment of the track within one cycle.
[0013] Furthermore, for 3D spatial coiling scenarios, the serpentine coiling algorithm curve also incorporates Z-axis coordinates, and the trajectory equation is expanded to: x=t, y=L, z=h(t); where h(t) is the Z-axis height function, set according to the actual working conditions.
[0014] Furthermore, the height function employs a descent function. Where θ is the emission angle. This is the initial height.
[0015] Furthermore, the piecewise equation of the serpentine coiling algorithm curve also includes other straight line segments and circular arc segments: upper left circular arc segment: ; The lower right arc segment: ; The lower left section of the straight line: ; The lower right section of the straight line: .
[0016] A serpentine coiling biomimetic control method includes the following steps: Step 1, Parameter Initialization: Input the diameter d of the object to be wound and the parameters of the winding device through the human-machine interaction module. The controller calculates the winding spacing p, the radius of the arc r and the period length L, and initializes the number of winding layers k=0 and the winding direction flag. Step 2, Data Acquisition: The feedback element collects the rotational speed n, current axial position x, and actual winding spacing p of the winding device in real time and transmits them to the controller; Step 3, Trajectory Planning: Based on the current axial position x-interval, the controller calls the serpentine winding algorithm curve equation to calculate the target y-coordinate and height z; Step 4, Deviation Correction: If the deviation between the actual winding spacing p and the set value p exceeds ±5mm, or the angle T exceeds the threshold, the controller adjusts the servo motor speed or the variable frequency motor speed through the motion control function block to achieve parameter correction. Step 5, Cycle Switching: When the winding is divided into inner circle, middle circle and outer circle, the controller updates the number of winding layers k=k+1 and switches the winding direction flag to enter the next serpentine winding cycle; Step 6, Termination Judgment: When the number of winding layers k reaches the maximum number of layers or a stop command is received, the controller outputs a stop signal, and the actuator stops working.
[0017] The beneficial effects of this invention are reflected in: 1. Significantly improved coiling uniformity: Through the periodic serpentine trajectory design, the overlap rate between coils is reduced compared to traditional coiling methods, improving the utilization rate of storage space and enabling more efficient transportation.
[0018] 2. Stacking effectively disperses stress: The end transition arc section adopts a reasonable radius design and a smooth transition combined with the curve calculation formula. The fluctuation of the coiled object's deflection position difference is controlled within ±5%. Compared with oil pipes, the stress is reduced and the service life is extended.
[0019] 3. Strong automation and adaptability: Based on closed-loop control of feedback elements and controllers, it realizes real-time parameter correction; supports 2D / 3D multi-scene applications, and can adapt to different working conditions by modifying the Z-axis height function without manual reprogramming, with a response delay of ≤150ms.
[0020] 4. Significantly improved work efficiency: Under the coordinated control of rotation speed and axial displacement, the winding efficiency is improved compared with the traditional method, and the continuous tube winding operation time is reduced. Attached Figure Description
[0021] Figure 1 This is a diagram of the control system architecture.
[0022] Figure 2 This is an example diagram of a snake coiling.
[0023] Figure 3 This is an example diagram of the straight line segment in the upper right part of the guiding mechanism in the serpentine winding algorithm.
[0024] Figure 4 This is an example diagram of the straight line segment in the upper left part of the guiding mechanism in the serpentine winding algorithm.
[0025] Figure 5 This is an example diagram of the guiding mechanism in the upper left arc segment of the serpentine coiling algorithm.
[0026] Figure 6 This is an example diagram of the guiding mechanism in the lower left arc segment of the serpentine coiling algorithm. Detailed Implementation
[0027] 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 embodiments of the present invention, and not all embodiments. 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.
[0028] In this embodiment: Refer to Figure 1 As shown in the figure, an embodiment of the present invention provides a serpentine coiling biomimetic control system. The control system includes a controller, a network communication transmission unit, an actuator, a feedback element, and a human-machine interaction module; specifically: Controller: Uses Siemens S7-1500 series PLC or equivalent industrial controller, with built-in snake-like winding algorithm curve calculation module, used to receive feedback data, perform trajectory planning calculation and output control commands; Network communication transmission unit: adopts a redundant network system, including high-performance slip ring network communication and high-performance wireless transmission equipment (AP), to ensure that slip ring network communication and AP network equipment can be switched, and that network communication is uninterrupted during the movement with a latency of no more than 150ms; Actuator: Includes multiple servo motors (controlling the axial movement of the winding device and pipeline conveying), the servo motors achieve closed-loop coordination of speed and axial displacement through the controller; Feedback components include multiple encoders (collecting the rotation speed of the winding device, the rotation angle of the drilling tower, the rotation speed of the injection head, the speed of the guiding device, etc.), an infrared rangefinder (for winding positioning), a load sensor (collecting the load of the continuous pipe system), and a vision camera (for real-time monitoring of the pipeline position), providing real-time feedback of operating parameters; Human-machine interaction module: using a touch screen or industrial computer for parameter setting (coiling distance p, arc radius r, correction coefficient, etc.), working condition monitoring and fault alarm.
[0029] In this embodiment, as Figure 2 As shown, the serpentine coiling algorithm curve in the curve calculation module is generated through periodic piecewise curve fitting, including alternating axial straight segments and end transition arc segments. The core parameters include the coiling spacing p, the end transition arc radius r, and the period length L; where: End transition arc radius r: satisfies r=R+d / 2, where R is the radius of the winding device, ensuring no rigid friction between the winding object and the edge of the device; Period length L: The axial length of a single serpentine period, L=2×(straight line length+πr)×2, ensuring that the end transition arc segments do not overlap; The piecewise equation of the serpentine coiling algorithm curve is as follows: Axial straight segment: On the straight line segment (upper right) Figure 3 Axial displacement variable is: , At that time, the trajectory length equation is: ; On the straight line segment (top left) Figure 4 Axial displacement variable is: , At that time, the trajectory length equation is: ; End transition arc segment: In the arc segment (top left) ( Figure 5 Axial displacement variable In △PNO, according to the cosine and sine laws, the arc length of the mechanism's travel is: Where β represents the arc displacement angle. As can be seen from the figure, α and β are in the same triangle. β is the angle formed by the radial line OP connecting the center O of the circle and the reference direction ON (pointing to the center N of the rectangle) to the tangent point P of the trajectory. As point P moves to the lower left, the smaller α becomes, the larger β becomes.
[0030] In the arc segment (lower left) Figure 6 Axial displacement variable is: In △PNO, according to the Law of Cosines According to the law of sines The arc length of the mechanism's operation: ; For the remaining axial displacement variables, they are distributed in the order of upper left, lower left, straight line, lower right, upper right, and straight line, alternating up and down to achieve a serpentine steering.
[0031] The piecewise equation of the serpentine coiling algorithm curve also includes other straight line segments and circular arc segments: upper left circular arc segment: ; The lower right arc segment: ; The lower left section of the straight line: ; The lower right section of the straight line: ; (The value range of the axial displacement variable α belongs to the three intervals of the outer circle, middle circle, and inner circle.) Furthermore, for 3D spatial coiling scenarios, the serpentine coiling algorithm curve incorporates Z-axis coordinates, and the trajectory equation is expanded to: x = t, y = L, z = h(t); where h(t) is the Z-axis height function, set according to actual working conditions, such as a linear descent function. (θ is the emission angle,) (Initial height).
[0032] The axial movement, within one cycle, can be divided into 8 segments, corresponding to different straight segments and curved segments, based on the relationship between the linear velocity of the guiding mechanism on each track segment, the sliding motion of the guiding mechanism on the cantilever arm, and the rotational motion parameters of the drilling tower.
[0033] In this embodiment, based on the above-described control system, the control flow is as follows: 1. Parameter initialization: Input the diameter d of the object to be wound and the parameters of the winding device (radius R, effective length) through the human-machine interaction module. The controller will automatically calculate the core parameters such as the winding spacing p, the radius of the arc r, and the cycle length L, and initialize the number of winding layers k=0 and the winding direction flag. 2. Data Acquisition: The feedback element collects real-time operating data such as the rotational speed n of the winding device, the current axial position x, and the actual winding spacing p, and transmits it to the controller; 3. Trajectory planning: Based on the current axial position x-section (straight line segment / circular arc segment), the controller calls the winding algorithm curve equation to calculate the target y-coordinate and Z-axis height z; 4. Deviation correction: If the deviation between the actual winding spacing p and the set value p exceeds ±5cm, or the angle T exceeds the threshold (e.g., 5 degrees), the controller adjusts the servo motor speed or the variable frequency motor speed through the motion control function block to achieve parameter correction. 5. Cycle switching: When the winding is divided into inner circle, middle circle and outer circle, the controller updates the number of winding layers k=k+1 and switches the winding direction flag to enter the next winding cycle; 6. Termination judgment: When the number of winding layers k reaches the maximum number of layers (calculated according to the capacity of the winding device) or a stop command is received, the controller outputs a stop signal and the actuator stops working.
[0034] In actual operation, the operation process can be divided into 5 steps: the process of introducing the guide device and injection head into the coiled tube, the process of lowering the coiled tube, the drilling process, the process of lifting the coiled tube, and the process of removing the coiled tube from the injection head and guide device.
[0035] (a) The process of introducing the guiding device and injection head into the continuous tube: 1. Rotate the rig to the end position of the coiled tubing tool (circumferential direction); 2. Slide the guide device to the end position of the continuous tube (radial direction); 3. Further jog the drilling rig drive motor and the guide device sliding motor, and use the crane to assist in aligning the end of the continuous pipe with the inlet of the guide device pipe; 4. Use a rope crane to guide the continuous tube into the guide device at the head of the continuous tube until the continuous tube passes through the upper guide device of the guide device; 5. The continuous tube head is guided into the gooseneck of the injection head using a rope crane. A hand-operated hoist or small winch can be used to assist the continuous tube in entering the injection head. 6. When the continuous tube enters the middle position of the injection head clamping range, the clamping electric cylinder and the injection head drive motor can be used to slowly assist the continuous tube to enter until the head of the continuous tube is below the plane of the injection head operating platform, and the electric cylinder is kept in the clamping state. (II) Continuous tube lowering process: 1. The target speed is controlled by the storage tube speed. The drilling tower rotation speed, the guide sliding motor speed, the clamping drive motor speed, and the injection head drive motor rotation speed are all matched with the target speed. 2. The motion matching between the clamping drive motor and the injection head drive motor adopts a constant speed control mode, that is, the speed of the injection head drive motor is controlled to maintain a constant speed of the continuous tube between the clamping device and the injection head; 3. When the continuous tube is inserted in small quantities, if the weight of the continuous tube and the lower part of the tool held by the injection head is insufficient to overcome the resistance to downward movement, the direction of the injection head motor torque is the same as the direction of continuous tube movement; when the weight of the lower part of the injection head is greater than the resistance to downward movement, the direction of the injection head motor torque is opposite to the direction of continuous tube movement.
[0036] (III) Drilling process: 1. The following drilling speed target control speeds, drilling tower rotation speed, guide sliding motor speed, clamping drive motor speed, and injection head drive motor rotation speed are all matched with the target speed; 2. The motion matching between the clamping drive motor rotation and the injection head drive motor rotation adopts a constant torque control mode, that is, controlling the torque of the clamping drive motor to maintain a constant tension in the continuous tube between the guiding device and the injection head; 3. The direction of the clamping drive motor torque is opposite to the direction of movement, and this torque gives the continuous tube a certain downward pressure; 4. When the coiled tubing is low, if the weight of the coiled tubing and the lower part of the tool held by the injection head is insufficient to overcome the resistance to downward movement (including drilling pressure), the direction of the injection head motor torque is the same as the direction of coiled tubing movement; when the weight of the lower part of the injection head is greater than the resistance to downward movement (including drilling pressure), the direction of the injection head motor torque is opposite to the direction of coiled tubing movement.
[0037] (iv) Continuous tube lifting process: 1. With the storage tube speed as a target control speed, the drilling tower rotation speed, clamping drive motor speed, guide sliding motor speed, and injection head drive motor rotation speed are all matched with the target speed; 2. The motion matching between the clamping drive motor rotation and the injection head drive motor rotation adopts a constant torque control mode, that is, controlling the torque of the clamping drive motor to maintain a constant tension in the continuous tube between the guiding device and the injection head; 3. The torque direction of the guide drive motor is the same as the direction of motion; this torque gives the continuous tube a certain downward pressure; 4. When the weight of the lower part of the injection head and the resistance to upward movement are greater than the tension of the continuous tube between the guiding device and the injection head, the direction of the injection head motor torque is the same as the direction of continuous tube movement; if the weight of the lower part of the injection head and the resistance to upward movement are less than the tension of the continuous tube between the guiding device and the injection head, the direction of the injection head motor torque is opposite to the direction of continuous tube movement.
[0038] (v) The process of the continuous tube exiting the injection head and the guiding device: 1. The injection head clamps the continuous tube with a small clamping force. The injection head motor drives the continuous tube to slowly rise. When the head of the continuous tube is close to the middle of the clamping position, the injection head motor stops. The continuous tube is then pulled out from the upper part of the injection head and the gooseneck using a crane.
[0039] 2. Using a guiding and clamping device, drive rollers to retract the continuous tubing pulled from the injection head, while a crane assists the guiding device in retrieving the tubing. During the process, the drilling rig rotates and guides the tubing to slide, storing the retrieved continuous tubing into the storage device.
[0040] In the description of embodiments of the present invention, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise stated, "a plurality of" means two or more.
[0041] In the description of embodiments of the present invention, the term "and / or" is used only to describe the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " generally indicates that the preceding and following associated objects are in an "or" relationship.
[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A serpentine coiling biomimetic control system, characterized in that, Includes a controller, a network communication transmission unit, an actuator, a feedback element, and a human-machine interface module; The controller has a built-in serpentine winding algorithm curve calculation module, which is used to receive feedback data, perform trajectory planning calculations and output control commands. The serpentine winding algorithm curve calculation module calculates the serpentine winding algorithm curve by periodically fitting the input winding tube, winding device parameters and real-time operating parameters collected by the feedback element. The controller adjusts the motor speed of the servo motor according to the serpentine winding algorithm curve. The network transmission unit adopts a redundant network system to realize data transmission and communication, and ensures stable network communication and low latency during the coiling motion. The actuator includes a servo motor that controls the rotation of the winding device, the axial movement of the guiding device, and the pipeline conveying, and a variable frequency motor that controls the rotation speed of the winding device. The controller controls the speed coordination of multiple servo motors to achieve closed-loop coordination of rotation speed and axial displacement. The feedback element provides real-time feedback of operating parameters through multiple sensors; The human-machine interaction module is used for parameter setting, operating condition monitoring, and fault alarm.
2. The serpentine coiling bionic control system according to claim 1, characterized in that, The network transmission unit includes slip ring network communication and wireless transmission equipment, and a redundant network system is used to ensure the switching between slip ring network communication and AP network equipment.
3. The serpentine coiling bionic control system according to claim 1, characterized in that, The human-machine interaction module uses a touch screen or industrial computer, and the diameter of the coiled object, the radius and effective length of the coiling device are input through parameter settings.
4. The serpentine coiling bionic control system according to claim 1, characterized in that, The feedback element includes multiple encoders, an infrared rangefinder, a position sensor, a load sensor, and a vision camera. The multiple encoders respectively collect the rotation speed of the winding device, the rotation speed of the injection head, the rotation angle of the drilling tower, and the speed of the guiding device. The load sensor collects the load of the continuous pipe system, the infrared rangefinder detects and positions the winding distance, and the vision camera monitors the pipe position in real time.
5. The serpentine coiling bionic control system according to claim 1, characterized in that, The serpentine coiling algorithm curve in the serpentine coiling algorithm curve calculation module is generated by periodic segmented curve fitting, including alternating axial straight line segments and end transition arc segments; The core parameters include: the starting point of the rotating arm's movement, i.e., time 0, is set to the position of the left major axis; the rotation angle α of the rotating arm rotating clockwise from the position of the left major axis to point P; the guide mechanism's running track is a circular track with semicircles at both ends and a rectangle in the middle; let the radius of the circles at both ends of the track be r, the distance from the center of the track to the center of the circle be l, the cantilever length be X, and the running length along the track from point 0 be L; The piecewise equation of the serpentine coiling algorithm curve is as follows: Axial straight segment: The axial displacement variable of the upper right section of the straight line is: , At that time, the equation for the trajectory length is: ; The axial displacement variable of the upper left section of the straight line is: , At that time, the equation for the trajectory length is: ; End transition arc segment: The axial displacement variable of the upper left arc segment is: ， In △PNO, according to the Law of Cosines According to the law of sines The arc length of the mechanism's operation: ； The axial displacement variable in the lower left part of the circular arc segment is... In △PNO, according to the cosine and sine laws, the arc length of the mechanism's travel is: ； Where β represents the arc displacement angle; When the axial displacement variable is the remaining part, it is distributed left and right and alternates up and down to achieve serpentine turning; the value range of the axial displacement variable α is the running linear velocity of the guide mechanism on each segment of the track within one cycle.
6. The serpentine coiling bionic control system according to claim 5, characterized in that, For 3D spatial coiling scenarios, the serpentine coiling algorithm curve also incorporates Z-axis coordinates, and the trajectory equation is expanded to: x=t, y = L, z=h(t); where h(t) is the Z-axis height function, which is set according to the actual working conditions.
7. The serpentine coiling bionic control system according to claim 6, characterized in that, The height function adopts a descent function. Where θ is the emission angle. This is the initial height.
8. The serpentine coiling bionic control system according to claim 5, characterized in that, The piecewise equation of the serpentine winding algorithm curve also includes other straight line segments and circular arc segments: upper left part circular arc segment: ； The lower right arc segment: ； The lower left section of the straight line: ； The lower right section of the straight line: 。 9. A serpentine coiling biomimetic control method, employing the system described in claims 1-8, characterized in that, Includes the following steps: Step 1, Parameter Initialization: Input the diameter d of the object to be wound and the parameters of the winding device through the human-machine interaction module. The controller calculates the winding spacing p, the radius of the arc r and the period length L, and initializes the number of winding layers k=0 and the winding direction flag. Step 2, Data Acquisition: The feedback element collects the rotational speed n, current axial position x, and actual winding spacing p of the winding device in real time and transmits them to the controller; Step 3, Trajectory Planning: Based on the current axial position x-interval, the controller calls the serpentine winding algorithm curve equation to calculate the target y-coordinate and height z; Step 4, Deviation Correction: If the deviation between the actual winding spacing p and the set value p exceeds ±5mm, or the angle T exceeds the threshold, the controller adjusts the servo motor speed or the variable frequency motor speed through the motion control function block to achieve parameter correction. Step 5, Cycle Switching: When the winding is divided into inner circle, middle circle and outer circle, the controller updates the number of winding layers k=k+1 and switches the winding direction flag to enter the next serpentine winding cycle; Step 6, Termination Judgment: When the number of winding layers k reaches the maximum number of layers or a stop command is received, the controller outputs a stop signal, and the actuator stops working.