A method and system for automated production control of shielded cables

Abstract

This invention belongs to the field of automated control technology in cable manufacturing, and relates to an automated production control method and system for shielded cables. Addressing the technical problem of uneven braiding pitch caused by micro-slippage due to mechanical vibration in existing high-speed production processes, this invention constructs a micro-vibration energy index by collecting machine vibration data and traction motor current to assess the slippage risk under current operating conditions. Based on the micro-vibration energy index, the effective traction efficiency of the cable is calculated using a logarithmic decay model. Finally, the speed command of the braiding machine is dynamically compensated by combining the effective traction efficiency with the motor load current. This invention eliminates the quality risks caused by micro-slippage, ensures the consistency of the braiding pitch of shielded cables, and improves the product qualification rate, eliminating the need for expensive speed measurement hardware.

Description

Technical Field

[0001] This invention relates to the field of automated control in cable manufacturing, and more particularly to an automated production control method and system for shielded cables. Background Technology

[0002] In the manufacturing of high-performance shielded cables, the wire braiding process is a crucial step in determining the product's electromagnetic compatibility and impedance stability. This process typically involves a traction mechanism pulling the cable core in a continuous linear motion, while the braiding machine drives spindles to rotate at high speed around the core, thus tightly covering the insulation layer with a metal mesh. To ensure the geometric consistency of the braided layer structure, the braiding pitch must remain constant, which theoretically depends on the synchronization ratio between the traction line speed and the braiding machine speed. Existing industrial control systems mostly employ classic PID control algorithms and primarily rely on a rotary encoder mounted on the shaft of the traction servo motor to collect speed signals, using this as a reference for adjusting the braiding machine speed.

[0003] However, with the ever-increasing demands for production capacity and efficiency in modern cable manufacturing, production equipment routinely operates at high speeds, often exceeding 20 meters per minute. Under such high-speed conditions, the braiding machine, due to its massive moment of inertia and asymmetry, inevitably experiences severe high-frequency mechanical centrifugal vibration. This mechanical vibration is directly transmitted through the rigid structure of the equipment to the contact interface between the traction track and the cable core, causing high-frequency nonlinear fluctuations in the normal pressure distribution and friction coefficient between the contact surfaces. According to tribological principles, when the vibration energy accumulates to a certain level and disrupts the static friction balance of the interface, microscopic slippage, imperceptible to the naked eye, is induced between the traction mechanism and the cable core.

[0004] In this microscopic slippage state, existing control technologies face serious sensing failure problems. Because the encoder is rigidly connected to the drive motor, its feedback value is actually the surface linear velocity of the traction track, i.e., the idle speed of the drive side. However, the actual forward speed of the cable core affected by slippage lags significantly behind this value. Unable to obtain the true operating speed of the cable core, the control system is misled by false feedback signals, thus maintaining the original high-speed command, resulting in the number of metal wires covering a unit length of cable core exceeding the design standard. This disconnect between control and actual operating conditions not only causes a hidden waste of expensive metal raw materials but also leads to uneven fluctuations in the transmission impedance characteristics along the entire cable length. Given the high randomness, concealment, and nonlinear dependence on linear velocity inherent in this slippage behavior, traditional PID control is insufficient to effectively monitor and eliminate it. Summary of the Invention

[0005] The purpose of this invention is to propose an automated production control method and system for shielded cables, in order to solve the technical problem that microscopic slippage of the traction contact surface caused by mechanical vibration during the production of shielded cables leads to uneven braiding pitch, which is difficult to be detected and eliminated by traditional PID control.

[0006] To solve the above problems, the technical solution of the automated production control method for shielded cables proposed in this invention is as follows: An automated production control method for shielded cables includes the following steps: The vibration acceleration signals of the braiding machine spindle and the pressure roller of the traction machine, the real-time bus current of the traction servo motor, and the current set traction line speed are collected, and the vibration acceleration signals are bandpass filtered to extract characteristic vibration acceleration. The micro-vibration energy index is calculated based on the energy value of the characteristic vibration acceleration and the set traction line speed. The micro-vibration energy index is used to characterize the degree of slippage risk of the contact surface under the current working condition. Based on the micro-vibration energy index, the effective traction efficiency is calculated using a logarithmic decay model that includes a reference grip coefficient. The effective traction efficiency characterizes the ratio between the actual speed of the cable and the set traction line speed. The standard speed is corrected based on the effective traction efficiency, and torque compensation is performed in conjunction with the real-time bus current to generate a target speed command for the braiding machine. The braiding machine is then controlled to execute the target speed command to eliminate braiding pitch deviation caused by micro-slippage.

[0007] Beneficial effects: By collecting multi-dimensional data and combining it with physical model analysis, this invention can accurately assess the degree of slippage of the contact surface and dynamically compensate the speed of the braiding machine without relying on expensive speed measurement hardware. This eliminates the quality hazards caused by micro-slippage, ensures the consistency of the braiding pitch of the shielded cable, and improves the product qualification rate.

[0008] Further, the step of calculating the micro-vibration energy index based on the energy value of the characteristic flutter acceleration and the set traction line velocity includes: The root mean square value of the characteristic flutter acceleration within a preset time window is calculated as the basic vibration energy; a gain coefficient containing the square of the set traction linear velocity is constructed, and the basic vibration energy is multiplied by the gain coefficient to obtain the micro-flutter energy index, which reflects the nonlinear destructive effect of vibration on the friction balance of the contact surface under high linear velocity conditions.

[0009] Furthermore, the formula for calculating the micro-vibration energy index is as follows:

[0010] In the formula, The energy index of micro-vibration. The first one collected within the time window Each characteristic tremor acceleration sample value, This represents the total number of sampling points within the time window. To set the traction line speed, This is the rated reference speed constant of the equipment. Let be the system's mechanical damping constant.

[0011] Beneficial effects: By setting the square term of the traction line speed, the micro-vibration energy index increases nonlinearly with the increase of the traction line speed, reflecting the disruptive effect of the increase of cable kinetic energy on the friction balance, and providing a mathematical basis that conforms to physical laws for judging slip risk; at the same time, the introduction of the mechanical damping constant avoids the division by zero error and ensures the mathematical stability of the formula under extreme working conditions such as equipment start-up and shutdown.

[0012] Furthermore, the calculation of effective traction efficiency using a logarithmic decay model incorporating a baseline grip coefficient includes: A logarithmic increment term based on the micro-vibration energy index is constructed to characterize the nonlinear disturbance impedance of vibration to the steady state of contact surface friction. The reference grip coefficient is superimposed with the logarithmic increment term to form the total system impedance, which includes friction failure factors, under the current operating conditions. The effective traction efficiency is obtained by calculating the ratio of the reference grip coefficient to the total impedance of the system.

[0013] Furthermore, the formula for calculating the effective traction efficiency is as follows:

[0014] In the formula, To effectively improve efficiency, As the baseline grip coefficient, As a sensitivity adjustment factor, It is a logarithmic function with base 10. The energy index of the micro-vibration.

[0015] Beneficial effects: The logarithmic function characteristic causes the effective traction efficiency to decrease rapidly in the initial stage of the increase in the micro-vibration energy exponent, while the rate of decrease slows down after slippage occurs. This trend conforms to the actual physical process of frictional failure, improving the accuracy of the model in describing actual working conditions.

[0016] Furthermore, the calculation formula for the target speed command of the weaving machine is as follows:

[0017] In the formula, This is the target speed command for the braiding machine. The standard rotational speed is calculated based on the set traction line speed and the target process pitch. This is the torque compensation weighting coefficient. The real-time bus current is [value missing]. This is the rated current constant of the traction motor.

[0018] Beneficial effects: The model introduces a torque compensation mechanism based on current load. When slippage is detected, which leads to a decrease in effective traction efficiency and is accompanied by high load current, a certain torque margin is retained through the compensation term. This soft protection strategy maintains the traction tension to prevent the equipment from jamming and also takes into account the stability of the weaving pitch, thus realizing multi-variable collaborative control.

[0019] Further, the bandpass filtering of the vibration acceleration signal includes: The original vibration acceleration signal is processed using a Butterworth bandpass filter. The passband frequency range is set to cover the rotation frequency of the braiding machine spindle and its harmonic components, filtering out environmental noise and retaining the characteristic vibration acceleration related to the braiding process.

[0020] Furthermore, the passband frequency range is set to 0.5 to 5 times the rotation frequency.

[0021] Furthermore, the acquisition of vibration acceleration signals from the braiding machine spindle and the traction machine pressure roller includes: The vibration acceleration signal is obtained by an acceleration sensor that is rigidly fixed to the main shaft base of the braiding machine and the pressure roller bracket of the traction machine, respectively.

[0022] Beneficial effects: By rigidly fixing the accelerometer to key mechanical components, it is possible to directly capture the mechanical waves of the equipment under high-frequency operation, minimizing attenuation and distortion during signal transmission, and ensuring the authenticity and real-time nature of vibration data acquisition.

[0023] The technical solution of the shielded cable automated production control system proposed in this invention is as follows: An automated production control system for shielded cables includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the automated production control method for shielded cables described in any of the above technical solutions is implemented.

[0024] The beneficial effects of this invention are as follows: This invention solves the technical problem of uneven braiding pitch caused by micro-slippage due to mechanical vibration in the high-speed production of shielded cables. By collecting vibration acceleration and current data and combining them with physical model analysis, this invention can accurately assess the slippage risk of the contact surface without relying on expensive speed measurement hardware. It uses a logarithmic decay model to calculate the effective traction efficiency and dynamically compensates for the braiding machine speed. At the same time, combined with a torque correction mechanism based on current load, it maintains the traction tension to prevent equipment jamming and ensures the consistency of the braiding pitch, thereby avoiding material waste caused by excessively dense braiding layers and improving the impedance uniformity, production qualification rate, and stability of the process system of the cable products. Attached Figure Description

[0025] Figure 1 This is a flowchart of the automated production control method for shielded cables according to an embodiment of the present invention; Figure 2 This is a two-dimensional feature distribution map of slip risk based on operating conditions in an embodiment of the present invention; Figure 3 This is a distribution diagram of the coordinated control decision between effective traction efficiency and load current in an embodiment of the present invention; Figure 4 This is a comparison diagram of the weaving pitch deviation samples of the embodiments of the present invention and the prior art under high-speed operating conditions. Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0027] Specific embodiments of the automated production control method for shielded cables proposed in this invention: like Figure 1 As shown, the automated production control method for shielded cables includes the following steps: S1. Collect the vibration acceleration signals of the braiding machine spindle and the pressure roller of the traction machine, the real-time bus current of the traction servo motor, and the current set traction line speed, and perform bandpass filtering on the vibration acceleration signals to extract characteristic vibration acceleration.

[0028] In this step, to accurately capture the mechanical vibration waves of the equipment under high-frequency operation, a MEMS triaxial accelerometer is selected as the core acquisition element. This accelerometer is rigidly fixed to the main shaft base of the braiding machine and the pressure roller bracket of the traction machine using bolts or strong industrial adhesive. This rigid connection eliminates relative displacement between the accelerometer and the object being measured, ensuring the synchronization and fidelity of the vibration signal transmission. Simultaneously, a Hall current sensor is connected to the power supply line of the traction servo motor to collect the real-time bus current of the traction servo motor. The sampling frequency is set to no less than 1kHz to fully capture the transient load change characteristics in the current signal. Furthermore, the control system establishes a data connection with the programmable logic controller (PLC) through a standard industrial communication protocol, directly reading the current set traction line speed as a reference variable for system calculations.

[0029] Entering the signal preprocessing stage, considering that the acquired raw vibration signals often contain environmental noise such as airflow noise from the cooling fan and low-frequency interference introduced by ground resonance, this step uses a Butterworth bandpass filter with flat passband response characteristics to digitally filter the signal. The passband frequency range of the filter is specifically set to cover the spindle rotation frequency of the braiding machine and its main harmonic range. The specific parameter setting strategy is to set the lower cutoff frequency to 0.5 times the spindle rotation frequency and the upper cutoff frequency to 5 times the spindle rotation frequency, thereby constructing an effective characteristic frequency band. Taking the typical operating condition of a braiding machine spindle rotation frequency of 50Hz as an example, the passband frequency range will be set to 25Hz to 250Hz. Through this targeted frequency domain screening and purification, environmental background noise and high-frequency noise unrelated to the braiding process can be effectively filtered out, thereby extracting the characteristic vibration acceleration strongly correlated only with the braiding process, laying a solid and pure data foundation for the accurate construction of subsequent mathematical models and slip risk assessment.

[0030] S2. Calculate the micro-vibration energy index based on the energy value of the characteristic vibration acceleration and the set traction line speed. The micro-vibration energy index is used to characterize the degree of slippage risk of the contact surface under the current working condition.

[0031] In this embodiment, vibration amplitude alone is insufficient to fully characterize the slippage risk at the traction interface. This is because as the traction line speed increases, the kinetic energy carried by the cable core increases significantly, making the static frictional equilibrium between the contact surfaces more easily disrupted when subjected to vibration of equal intensity. Therefore, this step constructs a micro-flutter energy index that integrates the effects of vibration energy and kinetic energy. The construction method is as follows: calculate the root mean square value of the characteristic flutter acceleration within a preset time window as the basic vibration energy; construct a gain coefficient that includes the square of the set traction line speed; multiply the basic vibration energy and the gain coefficient to obtain the micro-flutter energy index, which reflects the nonlinear destructive effect of vibration on the frictional equilibrium of the contact surface under high linear speed conditions.

[0032] The formula for calculating the energy index of micro-vibrations is:

[0033] In the formula, The energy index of micro-vibrations, in units of .

[0034] The first one collected within the time window Each characteristic tremor acceleration sample value, in units of In this embodiment, the time window is a sampling interval of 50 milliseconds. This represents the total number of sampling points within the time window, which depends on the hardware's sampling frequency.

[0035] To set the traction line speed, the unit is... .

[0036] The rated reference speed constant for the equipment, used as a normalization benchmark, is typically set to half of the equipment's maximum design speed, for example, 30. To balance sensitivity under high and low speed conditions.

[0037] Here is the system's mechanical damping constant, in units of... It not only represents the inherent absorption and dissipation capability of the traction track material for high-frequency vibration, but also plays the role of a stabilizer in the mathematical structure, ensuring that even in extreme cases where the reference speed is improperly set or close to zero, the denominator is always positive, thereby avoiding division by zero errors and ensuring the numerical stability and engineering robustness of the control algorithm under all working conditions.

[0038] The above formula is based on mechanical vibration and the kinetic energy theorem, where the root mean square value is... It is a well-known mathematical model in the field of signal processing for measuring the effective energy of alternating vibration signals, and it can truly reflect the destructive force of mechanical waves; while setting up... The squared term is based on the kinetic energy theorem in classical physics. In contact tribology, the breaking of the static friction equilibrium at the interface depends not only on the vertical vibrational impact force, but also on the kinetic energy carried by the macroscopic motion of the object. When the linear velocity increases, the kinetic energy of the cable core is amplified quadratically, making it easier for the microscopic interface to overcome the potential barrier for static friction work under the same vibrational energy excitation.

[0039] By using the mathematical model, this invention achieves nonlinear coupling of multi-dimensional mechanical vibration signals with traction speed variables, thereby generating numerical values ​​that can intuitively characterize the system state. This enables the system to accurately capture and assess the potential risks of micro-slippage at the contact interface under complex operating conditions at high speeds.

[0040] S3. Based on the micro-vibration energy index, the effective traction efficiency is calculated using a logarithmic attenuation model that includes a reference grip coefficient. The effective traction efficiency characterizes the ratio between the actual speed of the cable and the set traction line speed.

[0041] This step is based on tribological principles, fully considering that as the energy exponent of micro-vibrations accumulates, the frictional breakdown process between contact surfaces does not exhibit a simple linear relationship, but rather a nonlinear decay trend. To accurately fit this physical phenomenon, the system constructs a specific logarithmic function calculation logic. Specifically, it includes: A logarithmic increment term based on the micro-vibration energy index is constructed to characterize the nonlinear perturbation impedance of vibration on the steady state of contact surface friction. The reference grip coefficient is superimposed with the logarithmic increment term to form the total system impedance, which includes friction failure factors, under the current operating conditions. The effective traction efficiency is obtained by calculating the ratio of the reference grip coefficient to the total impedance of the system.

[0042] In this embodiment, the formula for calculating the effective traction efficiency is:

[0043] The formula is based on the Strabec nonlinear friction evolution law in tribology, which states that when the interface undergoes a transition from static friction to sliding friction, the attenuation of grip force is not nonlinear, but rather exhibits a damping characteristic of initial sharp drop followed by saturation.

[0044] In the formula, To improve traction efficiency; The baseline grip coefficient is a physical constant determined based on the inherent friction coefficient of the track rubber material. For example, it is taken as 50 for standard industrial rubber tracks. It determines the basic grip capability of the system under steady state.

[0045] The sensitivity adjustment factor is a parameter used to balance numerical magnitudes, and its unit is 1 / 2 Ω. In this embodiment, the value is 5, which is used to adjust the weight of the influence of the micro-vibration energy index on the final effective traction efficiency. The micro-vibration energy index is calculated in step S2.

[0046] The base-10 logarithmic function is used because, in engineering control and vibration acoustics, the destructive effects of mechanical wave energy typically vary by powers of 10. Using a base-10 logarithm maps multi-order-of-magnitude high-frequency energy abrupt changes, such as a 10-fold or 100-fold increase in energy exponent, to a linearly increasing penalty factor, such as 1 or 2. This significantly prevents the PLC's underlying control algorithm from crashing due to data overflow. Furthermore, the increment of the denominator calculated using this function is smoother, avoiding a decrease in effective traction efficiency during the initial slippage phase. It is excessively reduced, thus conforming to the macroscopic physical common sense that the rubber material of actual industrial belts has a certain elastic yield tolerance.

[0047] The above calculation model ensures that the effective traction efficiency calculated under no vibration or low vibration conditions approaches the theoretical maximum value, while the efficiency decreases smoothly according to a curve that conforms to physical laws under high vibration conditions, thus providing a high-fidelity reference for subsequent speed compensation.

[0048] S4. Correct the standard speed according to the effective traction efficiency, and perform torque compensation in combination with the real-time bus current to generate a target speed command for the braiding machine. Control the braiding machine to execute the target speed command to eliminate the braiding pitch deviation caused by micro-slippage.

[0049] This step employs a dual dynamic compensation strategy to ensure a constant weaving pitch while preventing equipment jamming due to excessive system resistance. The strategy first calculates the theoretical standard rotational speed by dividing the current set traction speed by the target process pitch. This standard speed represents the rotational speed the weaving machine should have under ideal, slip-free conditions. Subsequently, to eliminate deviations caused by micro-slip and adapt to load changes, the system introduces a comprehensive correction algorithm that includes efficiency reduction and torque compensation terms to calculate the target rotational speed command for the weaving machine.

[0050] Specifically, the formula for calculating the target speed command of the braiding machine is as follows:

[0051] In the formula, This is the target speed command for the braiding machine. The standard rotational speed is calculated based on the set traction line speed and the target process pitch, specifically by dividing the set traction line speed by the target process pitch.

[0052] The torque compensation weighting coefficient is an empirically set value, ranging from 0.1 to 0.5. In this embodiment, it is set to 0.2, which is used to adjust the intensity of the current signal intervention control.

[0053] This represents the real-time bus current. This is the rated current constant of the traction motor.

[0054] This is a torque compensation term based on the current signal; This is the motor load ratio, used to characterize the current load pressure on the equipment; This is the slip loss factor, used to characterize the severity of the current slippage.

[0055] This formula is based on the natural law in motor drive control theory that electromagnetic torque is proportional to current. In known servo motor technology, the magnitude of the bus active current directly maps to the real-time mechanical load at the motor shaft end. When micro-slip occurs, relying solely on speed feedforward compensation often leads to increased track idling; this formula introduces cross-decoupling logic based on current feedback, the physical essence of which is: utilizing the slip loss factor As a dynamic switch, when the system determines that slippage has occurred and is accompanied by high load, it means that the current equipment is overcoming additional nonlinear frictional resistance, such as local jamming. At this time, a certain target speed is compensated in proportion to the current, and the transient torque output characteristics of the motor are used to maintain mechanical tension, preventing the equipment from breaking the wire due to sudden loss or sudden increase of tension at high speed.

[0056] Through the aforementioned algorithm, the control system can generate precise target speed commands for the braiding machine and drive it to execute. The physical meaning of this control logic is as follows: when a decrease in effective traction efficiency is detected, the control system will correspondingly reduce the target speed command for the braiding machine to match the actual speed of the cable reduced due to slippage, thereby preventing the braiding pitch from becoming too small and the braiding layers too dense due to the relatively high braiding machine speed. Simultaneously, when a large real-time bus current of the traction servo motor is detected, the torque compensation term will take effect, ensuring that the final generated target speed command for the braiding machine retains a slight lead speed based solely on the correction for effective traction efficiency. This mechanism can maintain necessary traction tension while correcting braiding pitch deviations, thus effectively improving the system's operational stability under complex working conditions while ensuring product quality.

[0057] The following combination Figures 2-4 The solution and effects of the present invention will be further explained.

[0058] Figure 2 This paper presents a two-dimensional characteristic distribution of slip risk based on operating conditions. The graph is constructed on a coordinate system with traction linear velocity as the horizontal axis and the effective value of fuselage vibration acceleration as the vertical axis. The background area in the graph, calculated using the micro-vibration energy index formula, exhibits a risk gradient. The actual collected data points clearly reflect the physical characteristics under different operating conditions. In the upper right corner, where traction linear velocity is high and fuselage vibration is strong, data points are concentrated in the high-risk slip zone, indicating an extremely high slip risk. Conversely, in the lower left corner, where traction linear velocity is low and operation is stable, data points are stably distributed within the safe and stable zone. This distribution characteristic intuitively and powerfully verifies that the present invention can accurately identify and determine the slip risk level under complex operating conditions.

[0059] Figure 3 The diagram illustrates the coordinated control decision distribution between effective traction efficiency and load current. The data points in the graph are clearly divided into two distinct control states by defined control decision boundaries. Data points in the lower right region of the graph exhibit high effective traction efficiency and normal current load, belonging to the linear servo domain, where the system primarily performs conventional speed tracking control. In contrast, data points in the upper left region represent a condition with significantly reduced effective traction efficiency and high motor current, marked as the deep compensation domain. In this case, the system automatically activates a torque compensation mechanism to maintain tension and correct deviations. This fully demonstrates that the present invention can execute differentiated decision logic based on the real-time combination of multi-dimensional sensor data.

[0060] Figure 4 This paper presents a comparative distribution of weaving pitch deviation samples under high-speed operating conditions, with strict upper and lower tolerance limits set as quality judgment criteria. The forked sample points, representing existing technologies, are scattered across the graph, exhibiting significant discrete fluctuations, and several sample points clearly exceed the tolerance limits, reflecting insufficient control stability. In stark contrast, the circular sample points, representing this invention, show extremely high aggregation, tightly converging within a very narrow range centered on zero deviation, with all data points strictly remaining within the tolerance zone. This comparative result clearly demonstrates the excellent effectiveness of this solution in suppressing micro-slippage, ensuring constant weaving pitch, and improving product quality consistency.

[0061] Specific embodiments of the shielded cable automated production control system proposed in this invention: The shielded cable automated production control system includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the shielded cable automated production control method in the above embodiments is implemented.

[0062] The automated production control system for shielded cables also includes other components well known to those skilled in the art, such as communication buses and communication interfaces. Their setup and functions are known in the art and will not be described in detail here.

[0063] While various embodiments of the invention have been shown and described in this specification, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention.

Claims

1. An automated production control method for shielded cables, characterized in that, Includes the following steps: The vibration acceleration signals of the braiding machine spindle and the pressure roller of the traction machine, the real-time bus current of the traction servo motor, and the current set traction line speed are collected, and the vibration acceleration signals are bandpass filtered to extract characteristic vibration acceleration. The micro-vibration energy index is calculated based on the energy value of the characteristic vibration acceleration and the set traction line speed. The micro-vibration energy index is used to characterize the degree of slippage risk of the contact surface under the current working condition. Based on the micro-vibration energy index, the effective traction efficiency is calculated using a logarithmic decay model that includes a reference grip coefficient. The effective traction efficiency characterizes the ratio between the actual speed of the cable and the set traction line speed. The standard speed is corrected based on the effective traction efficiency, and torque compensation is performed in conjunction with the real-time bus current to generate a target speed command for the braiding machine. The braiding machine is then controlled to execute the target speed command to eliminate braiding pitch deviation caused by micro-slippage.

2. The shielded electrical cable automated production control method of claim 1, wherein, The calculation of the micro-vibration energy index based on the energy value of the characteristic flutter acceleration and the set traction line velocity includes: The root mean square value of the characteristic flutter acceleration within a preset time window is calculated as the basic vibration energy; a gain coefficient containing the square of the set traction linear velocity is constructed, and the basic vibration energy is multiplied by the gain coefficient to obtain the micro-flutter energy index, which reflects the nonlinear destructive effect of vibration on the friction balance of the contact surface under high linear velocity conditions.

3. The shielded electrical cable automated production control method of claim 2, wherein, The formula for calculating the micro-vibration energy index is as follows: In the formula, The energy index of micro-vibration. The first one collected within the time window Each characteristic tremor acceleration sample value, This represents the total number of sampling points within the time window. To set the traction line speed, This is the rated reference speed constant of the equipment. Let be the system's mechanical damping constant.

4. The shielded electrical cable automated production control method of claim 3, wherein, The calculation of effective traction efficiency using a logarithmic decay model incorporating a baseline grip coefficient includes: A logarithmic increment term based on the micro-vibration energy index is constructed to characterize the nonlinear disturbance impedance of vibration to the steady state of contact surface friction. The reference grip coefficient is superimposed with the logarithmic increment term to form the total system impedance, which includes friction failure factors, under the current operating conditions. The effective traction efficiency is obtained by calculating the ratio of the reference grip coefficient to the total impedance of the system.

5. The shielded electrical cable automated production control method of claim 4, wherein, The formula for calculating the effective traction efficiency is: In the formula, To effectively improve efficiency, As the baseline grip coefficient, As a sensitivity adjustment factor, It is a logarithmic function with base 10. The energy index of the micro-vibration.

6. The shielded electrical cable automated production control method of claim 5, wherein, The formula for calculating the target speed command of the braiding machine is as follows: In the formula, This is the target speed command for the braiding machine. The standard rotational speed is calculated based on the set traction line speed and the target process pitch. This is the torque compensation weighting coefficient. The real-time bus current is [value missing]. This is the rated current constant of the traction motor.

7. The shielded electrical cable automated production control method of claim 1, wherein, The bandpass filtering process for the vibration acceleration signal includes: The original vibration acceleration signal is processed using a Butterworth bandpass filter. The passband frequency range is set to cover the rotation frequency of the braiding machine spindle and its harmonic components, filtering out environmental noise and retaining the characteristic vibration acceleration related to the braiding process.

8. The shielded electrical cable automated production control method of claim 7, wherein, The passband frequency range is set to 0.5 to 5 times the rotation frequency.

9. The shielded electrical cable automated production control method of claim 1, wherein, The acquisition of vibration acceleration signals from the main shaft of the braiding machine and the pressure roller of the traction machine includes: The vibration acceleration signal is obtained by an acceleration sensor that is rigidly fixed to the main shaft base of the braiding machine and the pressure roller bracket of the traction machine, respectively.

10. A shielded cable automated production control system characterized by, It includes a processor and a memory, the memory storing computer program instructions, which, when executed by the processor, implement the automated production control method for shielded cables as described in any one of claims 1-9.

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