A dynamic control method for cable shielding layer wrapping angle

Abstract

This invention relates to the field of cable manufacturing technology and discloses a dynamic control method for the wrapping angle of a cable shield, comprising: calculating the target wrapping angular velocity based on the traction line speed and real-time outer diameter; evaluating the inertial lag phase angle of the drive shaft in conjunction with the desired angular acceleration, and reconstructing the pre-compensation command angular velocity; calculating the torsional excitation torque change based on the command mutation, mapping the surface vibration line velocity of the cable core and solving the active damping force; analyzing the radial compression of the cable core and the overlap width deviation caused by the active damping force, and solving the tension compensation amount using the Poisson's ratio effect of the strip; and finally synchronously synthesizing the rotational speed, damping force and tension command.

Description

Technical Field

[0001] This invention relates to the field of cable manufacturing technology, specifically to a method for dynamically adjusting the wrapping angle of a cable shielding layer. Background Technology

[0002] In cable cabling, the shielding layer wrapping process directly affects the cable's structural stability. Existing cable shielding layer wrapping equipment typically employs a fixed traction line speed matching strategy with the wrapping reel's rotation speed. Some technologies introduce speed closed-loop control, simply adjusting the basic operating speed of the wrapping motor based on the set wrapping angle. In actual continuous traction scenarios for flexible cable cores, the cable core experiences slight deformation due to traction tension fluctuations. This deformation causes high-frequency micro-fluctuations in the real-time outer diameter of the cable core. Existing speed control logic lacks a transient mapping mechanism for outer diameter distortion, easily leading to distortions in the theoretical wrapping pitch and actual wrapping angle. To correct these distortions, the control system needs to issue dynamic speed change commands. Due to the high rotational inertia of the wrapping reel and its supporting tape, the transmission system experiences forced torsional deformation when outputting the desired angular acceleration. This deformation causes an objective inertial lag in the actual execution trajectory of the wrapping phase. If a leading angular velocity is superimposed at the command level to eliminate the lag, the sudden change in transient command will induce torsional vibration waves in the transmission chain. The excitation torque is converted into high-frequency vibration linear velocity on the cable core surface, causing relative slippage between the shielding layer and the cable core. To suppress this surface slippage, contact damping constraints are often applied. However, when physical damping force is applied, the normal lateral pressure inevitably leads to localized radial shrinkage of the flexible cable core. This radial shrinkage is transmitted along with the helical geometry projection, causing dimensional deviations in the effective overlap width of the winding tape. Existing control methods cannot achieve feedforward decoupling of this multi-physics transient coupling defect.

[0003] In summary, a dynamic control method for the cable shielding wrapping angle is needed to overcome the problem that existing feedback control cannot cope with the transient coupling diffraction defects of multi-physics fields. The method should eliminate the structural distortion caused by small changes in outer diameter, inertial lag, torsional vibration and radial compression through feedforward decoupling and synchronization. Summary of the Invention

[0004] This invention provides a method for dynamically adjusting the wrapping angle of a cable shielding layer, which helps to solve the problems mentioned in the background art.

[0005] This invention provides the following technical solution: a method for dynamically adjusting the wrapping angle of a cable shielding layer, comprising: Calculate the target wrapping angular velocity based on the cable core traction line speed, the real-time outer diameter of the cable core, and the set wrapping angle; The desired angular acceleration of the encircling disk is calculated using the target encircling angular velocity, the target encircling angular velocity of the previous control cycle, and the control cycle time step. The inertial lag angle is calculated based on the desired angular acceleration of the encircling disk, the moment of inertia of the encircling disk, and the torsional stiffness of the transmission shaft. The pre-compensation command angular velocity is calculated based on the target wrap-around angular velocity, the inertial lag phase angle, and the control cycle time step. The torsional excitation torque variation is calculated using the pre-compensation command angular velocity, the target wrapping angular velocity, the rotational inertia of the wrapping disk, and the control cycle time step. The torsional vibration angular velocity amplitude is calculated based on the torsional excitation torque variation and the cable core torsional resistance. The surface vibration linear velocity of the cable core is calculated using the amplitude of the torsional vibration angular velocity and the real-time outer diameter of the cable core. The active damping force is then calculated based on the surface vibration linear velocity of the cable core and the dynamic viscosity coefficient of the damping wheel. The radial compression of the cable core is calculated based on the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel. The overlap width deviation is then calculated using the radial compression of the cable core and the set wrapping angle. The tension compensation amount is calculated using the overlap width deviation, the elastic modulus of the shielding tape, the cross-sectional area of ​​the shielding tape, the Poisson's ratio of the shielding tape, and the initial width of the shielding tape. The pre-compensated command angular velocity is output as the final rotational speed command around the shield, the active damping force is output as the final damping force command, and the basic set tension and the tension compensation amount are superimposed as the final shielding belt tension command.

[0006] Optionally, the step of calculating the target wrapping angular velocity based on the cable core traction line speed, the real-time outer diameter of the cable core, and the set wrapping angle includes: A traction line speed sensor and a laser diameter measuring instrument are installed in the traction section, an active damping guide wheel with dynamic servo capability is installed at the winding entry end, and a tension servo motor is installed at the unwinding end. Set the set wrapping angle; obtain the cable core traction line speed and the real-time outer diameter of the cable core; Multiply the cable core traction speed by 2 to obtain the first product; Multiply the first product by the tangent of the set wrapping angle to obtain the second product; Divide the second product by the real-time outer diameter of the cable core to obtain the target wrapping angular velocity.

[0007] Optionally, the step of calculating the desired angular acceleration of the encircling disk using the target encircling angular velocity, the target encircling angular velocity of the previous control cycle, and the control cycle time step, and calculating the inertial lag angle based on the desired angular acceleration of the encircling disk, the moment of inertia of the encircling disk, and the torsional stiffness of the transmission shaft, includes: Set the time step of the control cycle; Obtain the rotational inertia of the surrounding disc and the torsional stiffness of the transmission shaft; Obtain the target wraparound angular velocity of the previous control cycle; Subtracting the target wrapping angular velocity of the previous control cycle from the target wrapping angular velocity yields the first difference. Divide the first difference by the control cycle time step to obtain the desired angular acceleration around the envelope; Multiply the moment of inertia of the circle around the disk by the desired angular acceleration of the circle around the disk to obtain the third product; Dividing the third product by the torsional stiffness of the transmission shaft yields the inertial hysteresis phase angle.

[0008] Optionally, the step of calculating the pre-compensation command angular velocity based on the target wrap-around angular velocity, the inertial lag phase angle, and the control cycle time step includes: Divide the inertial hysteresis phase angle by the control cycle time step to obtain the angular velocity compensation component; The target wrap-around angular velocity is added to the angular velocity compensation component to obtain the pre-compensated command angular velocity.

[0009] Optionally, the step of calculating the torsional excitation torque change using the pre-compensation command angular velocity, the target wrapping angular velocity, the moment of inertia of the wrapping disc, and the control cycle time step, and calculating the torsional vibration angular velocity amplitude based on the torsional excitation torque change and the cable core torsional resistance, includes: Obtain the torsional resistance of the cable core; Subtracting the target wrap-around angular velocity from the pre-compensation command angular velocity yields the second difference; Divide the second difference by the control cycle time step to obtain the first quotient; Multiplying the moment of inertia around the circumference by the first quotient yields the change in torsional excitation torque. The amplitude of the torsional vibration angular velocity is obtained by dividing the change in torsional excitation torque by the torsional resistance of the cable core.

[0010] Optionally, the step of calculating the surface vibration linear velocity of the cable core using the torsional vibration angular velocity amplitude and the real-time outer diameter of the cable core, and calculating the active damping force based on the surface vibration linear velocity of the cable core and the dynamic viscosity coefficient of the damping wheel, includes: Obtain the dynamic viscosity coefficient of the damping wheel; Multiply the amplitude of the torsional vibration angular velocity by the real-time outer diameter of the cable core to obtain the fourth product; Divide the fourth product by 2 to obtain the vibration linear velocity of the cable core surface; The active damping force is obtained by multiplying the dynamic viscosity coefficient of the damping wheel by the vibration linear velocity of the cable core surface.

[0011] Optionally, the step of calculating the radial compression of the cable core based on the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel, and calculating the overlap width deviation using the radial compression of the cable core and the set wrapping angle, includes: Obtain the radial elastic modulus of the cable core and the contact length of the damping wheel; Multiply the radial elastic modulus of the cable core by the contact length of the damping wheel to obtain the second denominator value; Divide the active damping force by the second denominator value to obtain the radial compression of the cable core; The overlap width deviation is obtained by multiplying the constant of pi, the radial compression of the cable core, and the sine of the set wrapping angle.

[0012] Optionally, the step of calculating the tension compensation amount using the overlap width deviation, the elastic modulus of the shielding tape, the cross-sectional area of ​​the shielding tape, the Poisson's ratio of the shielding tape, and the initial width of the shielding tape includes: Obtain the Poisson's ratio of the shielding strip, the initial width of the shielding strip, the elastic modulus of the shielding strip, and the cross-sectional area of ​​the shielding strip; Multiply the overlap width deviation, the elastic modulus of the shielding tape, and the cross-sectional area of ​​the shielding tape together to obtain the numerator product value; Multiply the Poisson's ratio of the shielding strip by the initial width of the shielding strip to obtain the product value in the denominator; The tension compensation amount is obtained by dividing the numerator product value by the denominator product value.

[0013] Optionally, the step of outputting the pre-compensated command angular velocity as the final rotational speed command around the shield, outputting the active damping force as the final damping force command, and outputting the sum of the basic set tension and the tension compensation amount as the final shielding tape tension command includes: Set the aforementioned basic tension; The pre-compensated command angular velocity is output as the final rotational speed command around the envelope; The active damping force is output as the final damping force command; The basic set tension is added to the tension compensation amount to obtain the final shielding tape tension command, which is then output.

[0014] The present invention has the following beneficial effects:

[0015] 1. This scheme calculates the target wrapping angular velocity based on the cable core traction line velocity and the real-time outer diameter of the cable core. It then generates a pre-compensated command angular velocity by incorporating the inertial lag phase angle. Next, an active damping force is applied to the amplitude of the torsional vibration angular velocity, and the tension compensation is calculated using the Poisson's ratio of the shielding tape to correct the overlap width deviation caused by radial compression. This scheme is designed for the specific environment of continuous wrapping of the flexible cable shielding layer. In this working environment, distortion of the cable core outer diameter due to micro-vibration will cause distortion of the set wrapping angle. The high rotational inertia of the wrapping disc and transmission system will generate physical torsional stiffness resistance and execution phase lag during dynamic speed adjustment. Using the pre-compensated command angular velocity to force phase alignment will excite changes in torsional excitation torque, leading to relative slippage on the cable core surface. Simultaneously, contact damping constraints will cause radial elastic contraction of the flexible cable core and reduction in the tape overlap size. To address the aforementioned causal and progressive physical coupling problems, this scheme incorporates the secondary dynamic deformation and oscillations derived in the control process into the system feedforward link. Compared to single-speed-following control, this method simultaneously outputs the final wrapping speed command, the final damping force command, and the final shielding tape tension command. This process achieves a gradual decoupling of kinematic compensation, vibration energy absorption, and material elastic deformation, improving the uneven tape coverage caused by the combined effects of system mechanical inertia, transient torsional vibration, and lateral pressure. It also maintains the structural stability of the shielding layer under transient fluctuation conditions and the compliance of various wrapping process parameters.

[0016] 2. By arranging traction line speed sensors and laser diameter gauges in the traction section and acquiring parameters such as the set wrapping angle, the traction line speed of the cable core is combined with the tangent of the set wrapping angle, and the real-time outer diameter of the cable core is used for calculation to obtain the target wrapping angular velocity. This processing step transforms the spatial geometric correlation in the spiral winding process into a dynamic calculation model, incorporating the real-time minute deformation of the cable core caused by the traction wave force into the control reference, so that the theoretically calculated pitch of the system can be synchronized with the actual fluctuation state of the physical outer edge of the cable. This calculation method avoids the wrapping angle deviation caused by treating the outer diameter as a constant, suppresses the subsequent winding error caused by the dimensional distortion at the structural source, improves the uneven wrapping phenomenon caused by the transient shrinkage or expansion of the cable core diameter, and maintains the geometric consistency of the shielding tape winding trajectory.

[0017] 3. By acquiring the control cycle time step, the inherent structural parameters of the equipment such as the rotational inertia around the shield and the torsional stiffness of the transmission shaft, the desired angular acceleration around the shield is calculated using the difference between the current target angular velocity around the shield and the target angular velocity around the shield in the previous control cycle. The inertial lag phase angle is then derived by combining the aforementioned inherent parameters. This calculation logic transforms the torsional resistance characteristics of the transmission system when facing rapid changes in rotational speed into specific kinematic defect values, objectively quantifying the forced elastic deformation that inevitably occurs in high-inertia equipment during speed change. This evaluation method based on the dynamic static equilibrium conversion law is free from dependence on the response delay of feedback signals, and pre-locks the hysteresis deviation of the shield phase that will occur in the actual execution trajectory, providing the system with a forward-looking physical deformation basis and reducing phase following misalignment caused by mechanical inertia.

[0018] 4. By allocating the calculated inertial lag phase angle to the control cycle time step to generate an angular velocity compensation component, and superimposing this component with the target wrapping angular velocity, a pre-compensation command angular velocity containing feedforward advance is reconstructed. This processing step converts the static phase lag defect generated in space into a dynamic velocity increment in the time dimension, enabling the system to generate a cancellation action in advance at the underlying command level. This calculation strategy, which integrates the advance compensation amount into the reference angular velocity, can force the high-inertia wrapping disk to cross the phase error range caused by mechanical distortion within an extremely short control cycle, reducing the action delay effect caused by the physical flexibility of the transmission chain, and enabling the actual output wrapping phase trajectory to conform to the set wrapping angle, thus improving the command execution follow-up under transient speed change conditions.

[0019] 5. By extracting the difference between the pre-compensation command angular velocity and the target wrapping angular velocity to characterize the artificially injected advance disturbance, and combining it with the rotational inertia of the wrapping disc to calculate the change in torsional excitation torque, and further reducing it to the amplitude of torsional vibration angular velocity based on the torsional impedance of the cable core; this step analyzes the secondary dynamic impact caused by the transient change of the pre-compensation command on the rear transmission and cable core system, and clarifies the energy transmission path of the torque jump into high-frequency micro oscillation; this deduction combined with mechanical impedance characteristics strips away the basic load during steady-state operation, and extracts the vibration kinetic energy head that can cause relative slippage and damage between the shielding strip and the cable core, realizing the targeted deconstruction of the excitation interference variables, and providing an independent reference target quantity for subsequent precise physical blocking and energy dissipation.

[0020] 6. By utilizing the real-time outer diameter of the cable core, the amplitude of the torsional vibration angular velocity in the rotational dimension is spatially mapped to the linear velocity of the cable core surface vibration at the outer edge of the cable. Combined with the dynamic viscosity coefficient of the damping wheel, the active damping force that can suppress the slippage effect is derived. This design visualizes the microscopic and difficult-to-measure torsional oscillation as the actual slippage velocity of the surface medium and applies a reverse mechanical action based on the principle of linear fluid viscosity constraint. This process transforms the dissipation requirement of vibration kinetic energy into specific contact damping constraint indicators, enabling the damping mechanism to provide absorption matching the intensity of transient oscillations. This reduces the transmission of excitation energy to the outer edge shielding strip, mitigates the drastic change in tangential friction on the surface of the strip wrapping, limits the tendency of the shielding layer to slip relative to the cable core, and maintains the physical bonding stability of the winding interface.

[0021] 7. By combining the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel, the radial compression of the cable core due to lateral pressure is calculated. Furthermore, by combining the sine value of the set wrapping angle and the constant of pi, the spiral integral difference is derived to calculate the overlap width deviation. This calculation process takes into account the unavoidable normal compression side effect of the contact energy absorption mechanism on the flexible cable core, and converts the microscopic radial shrinkage effect of the material into a macroscopic process defect through spatial winding geometric projection. This step of quantifying the secondary deformation caused by damping intervention decouples the physical contradiction between suppressing vibration and maintaining size, clarifies the amount of effective coverage area loss of the strip due to the transient reduction of the outer perimeter of the cable core, and lays the dimensional compensation benchmark for subsequent correction of strip misalignment and overlap process parameters.

[0022] 8. By introducing physical properties such as the elastic modulus, cross-sectional area, Poisson's ratio, and initial width of the shielding tape, the overlap width deviation is substituted into the three-dimensional stress and transverse tensile strain inverse solution rules for calculation, thereby deriving the required tension compensation amount. This step utilizes the inherent physical constitutive property of polymer and metal composite tapes that inevitably undergo transverse dimensional shrinkage when subjected to longitudinal tensile stress fields, transforming the geometric requirement of correcting the overlap width into a control requirement of adjusting tensile tension. This inverse solution mechanism based on the material's lateral Poisson effect offsets the reduction in overlapping area caused by cable core compression by changing the transient physical width of the tape itself, achieving adaptive offsetting of the overlap deviation without adding additional mechanical guiding and correction devices, and ensuring the coverage overlap rate of the shielding tape in the locally compressed section of the cable core.

[0023] 9. By configuring the pre-compensation command angular velocity as the final wrapping disc speed command for the main motor, configuring the active damping force as the final damping force command output, and performing superposition calculation on the basic set tension and tension compensation amount as the final shielding tape tension command, this operation step summarizes the correction parameters extracted from the aforementioned decoupled dimensions at the end, completing the parameter assembly of multi-degree-of-freedom actuators such as speed control, contact damping constraint, and tension adjustment; this collaborative method of parallel issuance of multi-dimensional commands enables the system to synchronously respond to three physical disturbances that present causal deviance, vibration slippage, and overlap distortion at the same time node, maintaining the synchronicity of control commands in the execution space and the balance in the force field, and improving the uniformity of the cable shielding layer forming structure under complex interference conditions. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the basic process of the present invention.

[0025] Figure 2 This is a diagram showing the equipment layout and control command relationship of the present invention.

[0026] Figure 3 This is a diagram showing the relationship between inertial hysteresis, pre-compensation, and active damping in this invention.

[0027] Figure 4 This is a diagram showing the relationship between radial compression, overlap deviation, and tension compensation in this invention. Detailed Implementation

[0028] 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.

[0029] Example 1, refer to Figure 1 A method for dynamically adjusting the wrapping angle of a cable shielding layer, comprising: Calculate the target wrapping angular velocity based on the cable core traction line speed, the real-time outer diameter of the cable core, and the set wrapping angle; The desired angular acceleration of the encircling disk is calculated using the target encircling angular velocity, the target encircling angular velocity of the previous control cycle, and the control cycle time step. The inertial lag angle is calculated based on the desired angular acceleration of the encircling disk, the moment of inertia of the encircling disk, and the torsional stiffness of the transmission shaft. The pre-compensation command angular velocity is calculated based on the target wrap-around angular velocity, the inertial lag phase angle, and the control cycle time step. The torsional excitation torque variation is calculated using the pre-compensation command angular velocity, the target wrapping angular velocity, the rotational inertia of the wrapping disk, and the control cycle time step. The torsional vibration angular velocity amplitude is calculated based on the torsional excitation torque variation and the cable core torsional resistance. The surface vibration linear velocity of the cable core is calculated using the amplitude of the torsional vibration angular velocity and the real-time outer diameter of the cable core. The active damping force is then calculated based on the surface vibration linear velocity of the cable core and the dynamic viscosity coefficient of the damping wheel. The radial compression of the cable core is calculated based on the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel. The overlap width deviation is then calculated using the radial compression of the cable core and the set wrapping angle. The tension compensation amount is calculated using the overlap width deviation, the elastic modulus of the shielding tape, the cross-sectional area of ​​the shielding tape, the Poisson's ratio of the shielding tape, and the initial width of the shielding tape. The pre-compensated command angular velocity is output as the final rotational speed command around the shield, the active damping force is output as the final damping force command, and the basic set tension and the tension compensation amount are superimposed as the final shielding belt tension command.

[0030] The calculation of the target wrapping angular velocity based on the cable core traction line speed, the real-time outer diameter of the cable core, and the set wrapping angle includes: Reference Figure 2 The traction section, the wrapping entry end, the wrapping reel, and the unwinding end are arranged along the traction direction of the cable core, and the sensors, active damping guide wheels, and tension servo motors are respectively used to collect and execute data at the corresponding positions. The purpose and principle of this step is to solve the problem that "micro-vibration of the cable core causes micro-changes in the real-time outer diameter, which in turn causes distortion of the theoretical wrapping pitch and wrapping angle"; it uses the mapping relationship of spatial spiral winding to synchronously correct the theoretically matched angular velocity based on the outer diameter fluctuation. A traction line speed sensor and a laser diameter measuring instrument are installed in the traction section, an active damping guide wheel with dynamic servo capability is installed at the winding entry end, and a tension servo motor is installed at the unwinding end. In this embodiment, the moment of inertia around the shield, the torsional stiffness of the drive shaft, the torsional resistance of the cable core, the radial elastic modulus of the cable core, the contact length of the damping wheel, the dynamic viscosity coefficient of the damping wheel, and the physical properties of the shielding tape are all obtained from the equipment's factory calibration data, material specification data, or the parameter table pre-stored by the controller. Before performing this step, you first need to set the wrapping angle; At the same time, the cable core traction speed and the real-time outer diameter of the cable core are obtained in real time through measuring instruments; To achieve dynamic matching between linear velocity and outer diameter, the unbiased reference angular velocity that the system should achieve is determined from the measured physical state, and the theoretical target wrap-around angular velocity is calculated. The target wrap-around angular velocity is calculated through the following steps: Multiply the cable core traction speed by 2 to obtain the first product; multiply the first product by the tangent of the set wrapping angle to obtain the second product; divide the second product by the real-time outer diameter of the cable core to obtain the target wrapping angular velocity.

[0031] By arranging traction line velocity sensors and laser diameter gauges in the traction section and acquiring parameters such as the set wrapping angle, the traction line velocity of the cable core is combined with the tangent of the set wrapping angle, and then calculated in conjunction with the real-time outer diameter of the cable core to obtain the target wrapping angular velocity. This processing step transforms the spatial geometric correlation in the spiral winding process into a dynamic calculation model, incorporating the real-time minute deformation of the cable core caused by the traction wave force into the control reference, so that the theoretically calculated pitch of the system can remain synchronized with the actual fluctuation state of the physical outer edge of the cable. This calculation method avoids the wrapping angle deviation caused by treating the outer diameter as a constant, suppresses the subsequent winding error caused by the dimensional distortion at the structural source, improves the uneven wrapping phenomenon caused by the transient shrinkage or expansion of the cable core diameter, and maintains the geometric consistency of the shielding tape winding trajectory.

[0032] Reference Figure 3 The target wrap-around angular velocity, structural inertial parameters, pre-compensation commands, and damping parameters form a coupling relationship, which is used to characterize the intermediate link from inertial hysteresis correction to active damping force output. The step of calculating the desired angular acceleration of the encircling disk using the target encircling angular velocity, the target encircling angular velocity of the previous control cycle, and the control cycle time step, and calculating the inertial lag angle based on the desired angular acceleration of the encircling disk, the moment of inertia of the encircling disk, and the torsional stiffness of the transmission shaft, includes: The purpose and principle of this step is to solve the problem that "the high inertia of the wrapper causes the transmission system to undergo resistive torsion when it follows the target rotational speed change, resulting in an objective lag in the wrapper phase"; the desired angular acceleration is obtained by using differential time, and the lag defect is evaluated by combining Hooke's stiffness law; Before performing this step, the control cycle time step must be set; Obtain the moment of inertia around the diaphragm and the torsional stiffness of the drive shaft; Obtain the target angular velocity around the envelope in the previous control cycle; First, in order to assess the degree of dynamic abrupt change required for the system to follow the aforementioned target angular velocity, the desired angular acceleration required to complete unbiased following around the envelope is calculated. The desired angular acceleration around the envelope is calculated through the following steps: Subtract the target angular velocity around the envelope from the target angular velocity of the previous control cycle to obtain the first difference; divide the first difference by the control cycle time step to obtain the desired angular acceleration around the envelope. Subsequently, in order to map this acceleration onto the physical deformation of the transmission system, the inertial hysteresis phase angle caused by the torsion of the transmission shaft is calculated based on the dynamic static equilibrium conversion law. The inertial hysteresis phase angle is calculated through the following steps: Multiply the moment of inertia about the disc by the desired angular acceleration about the disc to obtain the third product; divide the third product by the torsional stiffness of the drive shaft to obtain the inertial hysteresis phase angle.

[0033] By acquiring the control cycle time step, as well as inherent equipment structural parameters such as the rotational inertia around the shield and the torsional stiffness of the transmission shaft, the desired angular acceleration around the shield is calculated using the difference between the current target angular velocity around the shield and the target angular velocity around the shield in the previous control cycle. Combined with the aforementioned inherent parameters, the inertial lag phase angle is derived. This calculation logic transforms the torsional resistance characteristics of the transmission system when facing rapid changes in rotational speed into specific kinematic defect values, objectively quantifying the forced elastic deformation that inevitably occurs in high-inertia equipment during speed change tracking. This evaluation method based on the dynamic static equilibrium conversion law is free from dependence on feedback signal response delay, pre-locks the hysteresis deviation of the shield phase that will occur in the actual execution trajectory, provides the system with a forward-looking physical deformation basis, and reduces phase tracking misalignment caused by mechanical inertia.

[0034] The calculation of the pre-compensation command angular velocity based on the target wrap-around angular velocity, the inertial lag phase angle, and the control cycle time step includes: The purpose and principle of this step is to convert the calculated lag phase angle defect into an advanced command compensation angular velocity within an extremely short control cycle, and to implement phase alignment to reduce lag. To fundamentally compensate for inertial lag, the obtained lag phase angle is converted into angular velocity lead within the control cycle, reconstructing a pre-compensation command angular velocity containing feedforward components. The pre-compensation command angular velocity is calculated through the following steps: Divide the inertial lag phase angle by the control cycle time step to obtain the angular velocity compensation component; add the target wrap-around angular velocity to the angular velocity compensation component to obtain the pre-compensation command angular velocity.

[0035] By allocating the calculated inertial lag phase angle to the control cycle time step to generate an angular velocity compensation component, and then superimposing this component with the target wrapping angular velocity, a pre-compensated command angular velocity containing feedforward advance is reconstructed. This processing step converts the static phase lag defect generated in space into a dynamic velocity increment in the time dimension, enabling the system to generate a cancellation action in advance at the underlying command level. This calculation strategy, which integrates the advance compensation amount into the reference angular velocity, can force the high-inertia wrapping disk to cross the phase error range caused by mechanical distortion within an extremely short control cycle, reducing the action delay effect caused by the physical flexibility of the transmission chain, and ensuring that the actual output wrapping phase trajectory can fit the set wrapping angle, thus improving the command execution follow-up under transient speed change conditions.

[0036] The calculation of the torsional excitation torque change using the pre-compensated command angular velocity, the target wrapping angular velocity, the moment of inertia of the wrapping disc, and the control cycle time step, and the calculation of the torsional vibration angular velocity amplitude based on the torsional excitation torque change and the cable core torsional resistance, includes: The purpose and principle of this step is to solve the problem that "when a feedforward angular velocity is injected, the transient torque change will induce torsional vibration slip in the cable core"; the excitation torque is derived through the momentum theorem, and the amplitude of the excitation is evaluated by combining the mechanical impedance characteristics in a dimension reduction manner. Obtain the torsional resistance of the cable core; First, in order to determine the additional dynamic impact exerted on the cable core by the transmission system when the advance command is initiated, the change in torsional excitation torque caused by the advance command entering the system is calculated through the following steps: Subtract the target wrap-around angular velocity from the pre-compensation command angular velocity to obtain the second difference; divide the second difference by the control cycle time step to obtain the first quotient; multiply the moment of inertia around the wrap-around disk by the first quotient to obtain the change in torsional excitation torque; Next, in order to quantify the actual vibration effect excited by the impact torque inside the medium, the amplitude of the microscopic torsional vibration angular velocity excited by the sudden torque at the end of the cable core was calculated based on the impedance conduction law. The amplitude of the torsional vibration angular velocity was calculated through the following steps: Dividing the change in torsional excitation torque by the torsional resistance of the cable core yields the amplitude of the torsional vibration angular velocity.

[0037] By extracting the difference between the pre-compensation command angular velocity and the target wrapping angular velocity to characterize the artificially injected advance disturbance, and combining it with the rotational inertia of the wrapping disc to calculate the change in torsional excitation torque, and further reducing it to the amplitude of torsional vibration angular velocity based on the torsional impedance of the cable core, this step analyzes the secondary dynamic impact caused by the transient change of the pre-compensation command on the rear transmission and cable core system, and clarifies the energy transmission path of the torque jump into high-frequency micro oscillation. This deduction combined with mechanical impedance characteristics strips away the basic load during steady-state operation and extracts the vibration kinetic energy head that can cause relative slippage and damage between the shielding strip and the cable core, realizing the targeted deconstruction of the excitation interference variables, and providing an independent reference target quantity for subsequent precise physical blocking and energy dissipation.

[0038] The calculation of the surface vibration linear velocity of the cable core using the torsional vibration angular velocity amplitude and the real-time outer diameter of the cable core, and the calculation of the active damping force based on the surface vibration linear velocity of the cable core and the dynamic viscosity coefficient of the damping wheel, includes: The purpose and principle of this step is to suppress torsional vibration. The actual surface slip velocity is determined by mapping the spatial rotation radius, and then an inverse active viscous damping constraint is applied to reduce the impact of oscillations. Obtain the dynamic viscosity coefficient of the damping wheel; First, in order for the damping mechanism to act precisely on the outer edge, the micro-torsional vibration is converted into the vibration linear velocity of the physical surface of the cable's outer edge. The vibration linear velocity of the cable core surface is calculated through the following steps: Multiply the amplitude of the torsional vibration angular velocity by the real-time outer diameter of the cable core to obtain the fourth product; divide the fourth product by 2 to obtain the surface vibration linear velocity of the cable core. Subsequently, in order to directly counteract the surface slip effect calculated above, based on the principle of linear viscous fluid constraint, the active damping force required to suppress the slip tendency corresponding to the vibration linear velocity is calculated. The active damping force is calculated through the following steps: The active damping force is obtained by multiplying the dynamic viscosity coefficient of the damping wheel by the vibration linear velocity of the cable core surface.

[0039] By utilizing the real-time outer diameter of the cable core, the amplitude of the torsional vibration angular velocity in the rotational dimension is spatially mapped to the linear velocity of the cable core surface vibration at the outer edge of the cable. Combined with the dynamic viscosity coefficient of the damping wheel, the active damping force that can suppress the slippage effect is derived. This design visualizes the microscopic and difficult-to-measure torsional oscillation as the actual slippage velocity of the surface medium and applies a reverse mechanical action based on the principle of linear fluid viscosity constraint. This process transforms the dissipation requirement of vibration kinetic energy into specific contact damping constraint indicators, enabling the damping mechanism to provide absorption matching the intensity of transient oscillations. This reduces the transmission of excitation energy to the outer edge shielding strip, mitigates the drastic change in tangential friction on the surface of the strip wrapping, limits the tendency of the shielding layer to slip relative to the cable core, and maintains the physical bonding stability of the winding interface.

[0040] Reference Figure 4 The active damping force creates radial compression of the cable core. The overlap width deviation, combined with the physical properties of the shielding tape, generates tension compensation and the final shielding tape tension command. The step of calculating the radial compression of the cable core based on the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel, and calculating the overlap width deviation using the radial compression of the cable core and the set wrapping angle, includes: The purpose and principle of this step is to solve the problem that "the active damping force will inevitably apply normal lateral pressure to the flexible cable core, induce local radial contraction, and thus cause a slight reduction in the effective overlap width of the subsequent winding tape". Obtain the radial elastic modulus of the cable core and the contact length of the damping wheel; First, to investigate the degree of material deformation induced by damping force, based on Hooke's law for distributed load in elastic media, the microscopic radial compression of the cable core caused by damping pressure is calculated. The radial compression of the cable core is calculated through the following steps: Multiply the radial elastic modulus of the cable core by the contact length of the damping wheel to obtain the second denominator value; divide the active damping force by the second denominator value to obtain the radial compression of the cable core. Next, in order to convert the local radial shrinkage into a macroscopic defect in the helical winding process, the effective overlap width deviation caused by the outer diameter shrinkage is deduced through the difference conversion logic of the helical integral. The overlap width deviation is calculated through the following steps: The overlap width deviation is obtained by multiplying the constant of pi, the radial compression of the cable core, and the sine of the set wrapping angle. By combining the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel, the radial compression of the cable core due to lateral pressure is calculated. Furthermore, by combining the sine value of the set wrapping angle and the constant of pi, the spiral integral difference is derived to calculate the overlap width deviation. This calculation process takes into account the unavoidable normal compression side effect of the contact energy absorption mechanism on the flexible cable core, and converts the microscopic radial shrinkage effect of the material into a macroscopic process defect through spatial winding geometric projection. This step of quantifying the secondary deformation caused by damping intervention decouples the physical contradiction between suppressing vibration and maintaining size, clarifies the amount of effective coverage area loss of the strip due to the transient reduction of the outer perimeter of the cable core, and lays the dimensional compensation benchmark for subsequent correction of strip misalignment and overlap process parameters.

[0041] The calculation of tension compensation using the overlap width deviation, the elastic modulus of the shielding tape, the cross-sectional area of ​​the shielding tape, the Poisson's ratio of the shielding tape, and the initial width of the shielding tape includes: The purpose and principle of this step is to compensate for the aforementioned width deviation. By adjusting the wrapping tension of the servo system, the lateral Poisson contraction effect of the material under stress field is used to change the width of the strip itself, thereby achieving physical cancellation of the macroscopic deviation. Before performing this calculation, the Poisson's ratio, initial width, elastic modulus, and cross-sectional area of ​​the shielding tape must be obtained from the material property table and factory specifications. To control the lateral deformation of the strip by changing the tension to compensate for overlap loss, the tension compensation amount corresponding to offsetting the width reduction is directly obtained based on the inverse solution rules of three-dimensional stress and lateral tensile strain. The tension compensation amount is calculated through the following steps: Multiply the overlap width deviation, the elastic modulus of the shielding tape, and the cross-sectional area of ​​the shielding tape to obtain the numerator product value; multiply the Poisson's ratio of the shielding tape by the initial width of the shielding tape to obtain the denominator product value; divide the numerator product value by the denominator product value to obtain the tension compensation amount.

[0042] By introducing physical properties such as the elastic modulus, cross-sectional area, Poisson's ratio, and initial width of the shielding tape, the overlap width deviation is substituted into the three-dimensional stress and transverse tensile strain inverse solution rules for calculation, thereby deriving the required tension compensation amount. This step utilizes the inherent physical constitutive property of polymer and metal composite tapes that inevitably undergo transverse dimensional shrinkage when subjected to longitudinal tensile stress fields, transforming the geometric requirement of correcting the overlap width into a control requirement of adjusting tensile tension. This inverse solution mechanism based on the material's lateral Poisson effect offsets the reduction in overlapping area caused by cable core compression by changing the transient physical width of the tape itself, achieving adaptive offsetting of the overlap deviation without adding additional mechanical guiding and correction devices, and ensuring the coverage overlap rate of the shielding tape in the locally compressed section of the cable core.

[0043] The step of outputting the pre-compensated command angular velocity as the final rotational speed command around the shield, outputting the active damping force as the final damping force command, and outputting the sum of the basic set tension and the tension compensation amount as the final shielding tape tension command includes: The purpose and principle of this step is to summarize the corrected data obtained from the deconstruction at each level, complete the parameter assembly of multiple degrees of freedom, and finally generate the control commands required by the system driver. Set the basic tension; First, in order to make the main motor operate according to the command including hysteresis compensation, the final winding speed command for the main motor is synthesized and output. The final winding speed command is calculated through the following steps: The pre-compensated command angular velocity is output as the final rotational speed command around the envelope; Secondly, in order to suppress the resonant energy excited along the line, the final damping force command for the active guide wheel servo cylinder is synthesized and output. The final damping force command is calculated through the following steps: The active damping force is output as the final damping force command; Finally, to ensure that the tensioning mechanism can apply a precise Poisson lateral scaling effect on top of the basic process, the basic tension parameters are superimposed with the Poisson compensated tension to output the final shielding tape tension command for the servo unwinder. The final shielding tape tension command is calculated through the following steps: The basic tension setting and the tension compensation amount are added together to obtain the final shielding tape tension command, which is then output.

[0044] By configuring the pre-compensation command angular velocity as the final wrapping disc speed command for the main motor, configuring the active damping force as the final damping force command output, and performing superposition calculation on the basic set tension and tension compensation amount as the final shielding tape tension command, this operation step summarizes the correction parameters extracted from the aforementioned decoupled dimensions at the end, completing the parameter assembly of multi-degree-of-freedom actuators such as speed control, contact damping constraint, and tension adjustment. This collaborative method of parallel issuance of multi-dimensional commands enables the system to synchronously respond to three physical disturbances that present causal deviance, vibration slippage, and overlap distortion at the same time node, maintaining the synchronicity of control commands in the execution space and the balance in the force field, and improving the uniformity of the cable shielding layer forming structure under complex interference conditions.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for dynamically adjusting the wrapping angle of a cable shielding layer, characterized in that, include: Calculate the target wrapping angular velocity based on the cable core traction line speed, the real-time outer diameter of the cable core, and the set wrapping angle; The desired angular acceleration of the encircling disk is calculated using the target encircling angular velocity, the target encircling angular velocity of the previous control cycle, and the control cycle time step. The inertial lag angle is calculated based on the desired angular acceleration of the encircling disk, the moment of inertia of the encircling disk, and the torsional stiffness of the transmission shaft. The pre-compensation command angular velocity is calculated based on the target wrap-around angular velocity, the inertial lag phase angle, and the control cycle time step. The torsional excitation torque variation is calculated using the pre-compensation command angular velocity, the target wrapping angular velocity, the rotational inertia of the wrapping disk, and the control cycle time step. The torsional vibration angular velocity amplitude is calculated based on the torsional excitation torque variation and the cable core torsional resistance. The surface vibration linear velocity of the cable core is calculated using the amplitude of the torsional vibration angular velocity and the real-time outer diameter of the cable core. The active damping force is then calculated based on the surface vibration linear velocity of the cable core and the dynamic viscosity coefficient of the damping wheel. The radial compression of the cable core is calculated based on the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel. The overlap width deviation is then calculated using the radial compression of the cable core and the set wrapping angle. The tension compensation amount is calculated using the overlap width deviation, the elastic modulus of the shielding tape, the cross-sectional area of ​​the shielding tape, the Poisson's ratio of the shielding tape, and the initial width of the shielding tape. The pre-compensated command angular velocity is output as the final rotational speed command around the shield, the active damping force is output as the final damping force command, and the basic set tension and the tension compensation amount are superimposed as the final shielding belt tension command.

2. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 1, characterized in that, The calculation of the target wrapping angular velocity based on the cable core traction line speed, the real-time outer diameter of the cable core, and the set wrapping angle includes: A traction line speed sensor and a laser diameter measuring instrument are installed in the traction section, an active damping guide wheel with dynamic servo capability is installed at the winding entry end, and a tension servo motor is installed at the unwinding end. Set the set wrapping angle; obtain the cable core traction line speed and the real-time outer diameter of the cable core; Multiply the cable core traction speed by 2 to obtain the first product; Multiply the first product by the tangent of the set wrapping angle to obtain the second product; Divide the second product by the real-time outer diameter of the cable core to obtain the target wrapping angular velocity.

3. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 2, characterized in that, The step of calculating the desired angular acceleration of the encircling disk using the target encircling angular velocity, the target encircling angular velocity of the previous control cycle, and the control cycle time step, and calculating the inertial lag angle based on the desired angular acceleration of the encircling disk, the moment of inertia of the encircling disk, and the torsional stiffness of the transmission shaft, includes: Set the time step of the control cycle; Obtain the rotational inertia of the surrounding disc and the torsional stiffness of the transmission shaft; Obtain the target wraparound angular velocity of the previous control cycle; Subtracting the target wrapping angular velocity of the previous control cycle from the target wrapping angular velocity yields the first difference. Divide the first difference by the control cycle time step to obtain the desired angular acceleration around the envelope; Multiply the moment of inertia of the circle around the disk by the desired angular acceleration of the circle around the disk to obtain the third product; Dividing the third product by the torsional stiffness of the transmission shaft yields the inertial hysteresis phase angle.

4. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 3, characterized in that, The calculation of the pre-compensation command angular velocity based on the target wrap-around angular velocity, the inertial lag phase angle, and the control cycle time step includes: Divide the inertial hysteresis phase angle by the control cycle time step to obtain the angular velocity compensation component; The target wrap-around angular velocity is added to the angular velocity compensation component to obtain the pre-compensated command angular velocity.

5. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 4, characterized in that, The calculation of the torsional excitation torque change using the pre-compensated command angular velocity, the target wrapping angular velocity, the moment of inertia of the wrapping disc, and the control cycle time step, and the calculation of the torsional vibration angular velocity amplitude based on the torsional excitation torque change and the cable core torsional resistance, includes: Obtain the torsional resistance of the cable core; Subtracting the target wrap-around angular velocity from the pre-compensation command angular velocity yields the second difference; Divide the second difference by the control cycle time step to obtain the first quotient; Multiplying the moment of inertia around the circumference by the first quotient yields the change in torsional excitation torque. The amplitude of the torsional vibration angular velocity is obtained by dividing the change in torsional excitation torque by the torsional resistance of the cable core.

6. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 5, characterized in that, The calculation of the surface vibration linear velocity of the cable core using the torsional vibration angular velocity amplitude and the real-time outer diameter of the cable core, and the calculation of the active damping force based on the surface vibration linear velocity of the cable core and the dynamic viscosity coefficient of the damping wheel, includes: Obtain the dynamic viscosity coefficient of the damping wheel; Multiply the amplitude of the torsional vibration angular velocity by the real-time outer diameter of the cable core to obtain the fourth product; Divide the fourth product by 2 to obtain the vibration linear velocity of the cable core surface; The active damping force is obtained by multiplying the dynamic viscosity coefficient of the damping wheel by the vibration linear velocity of the cable core surface.

7. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 6, characterized in that, The step of calculating the radial compression of the cable core based on the active damping force, the radial elastic modulus of the cable core, and the contact length of the damping wheel, and calculating the overlap width deviation using the radial compression of the cable core and the set wrapping angle, includes: Obtain the radial elastic modulus of the cable core and the contact length of the damping wheel; Multiply the radial elastic modulus of the cable core by the contact length of the damping wheel to obtain the second denominator value; Divide the active damping force by the second denominator value to obtain the radial compression of the cable core; The overlap width deviation is obtained by multiplying the constant of pi, the radial compression of the cable core, and the sine of the set wrapping angle.

8. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 7, characterized in that, The calculation of tension compensation using the overlap width deviation, the elastic modulus of the shielding tape, the cross-sectional area of ​​the shielding tape, the Poisson's ratio of the shielding tape, and the initial width of the shielding tape includes: Obtain the Poisson's ratio of the shielding strip, the initial width of the shielding strip, the elastic modulus of the shielding strip, and the cross-sectional area of ​​the shielding strip; Multiply the overlap width deviation, the elastic modulus of the shielding tape, and the cross-sectional area of ​​the shielding tape together to obtain the numerator product value; Multiply the Poisson's ratio of the shielding strip by the initial width of the shielding strip to obtain the product value in the denominator; The tension compensation amount is obtained by dividing the numerator product value by the denominator product value.

9. The method for dynamically adjusting the wrapping angle of a cable shielding layer according to claim 8, characterized in that, The step of outputting the pre-compensated command angular velocity as the final rotational speed command around the shield, outputting the active damping force as the final damping force command, and outputting the sum of the basic set tension and the tension compensation amount as the final shielding tape tension command includes: Set the aforementioned basic tension; The pre-compensated command angular velocity is output as the final rotational speed command around the envelope; The active damping force is output as the final damping force command; The basic set tension is added to the tension compensation amount to obtain the final shielding tape tension command, which is then output.

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