CN101526822B - Method and device for tension control - Google Patents
Method and device for tension control Download PDFInfo
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- CN101526822B CN101526822B CN2009100310312A CN200910031031A CN101526822B CN 101526822 B CN101526822 B CN 101526822B CN 2009100310312 A CN2009100310312 A CN 2009100310312A CN 200910031031 A CN200910031031 A CN 200910031031A CN 101526822 B CN101526822 B CN 101526822B
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Abstract
The invention provides a method and a device for tension control. A wind-up roller (3) can be simply driven by controlling an asynchronous motor (2) by a common transducer (1), an unwinding roller (4) is controlled by a permanent magnet synchronous servo motor (5), and tension comes from the torque of the permanent magnet synchronous servo motor (5). The control device achieves the control of the tension by controlling the torque of the permanent magnet synchronous servo motor, and in fact, the permanent magnet synchronous servo motor (5) is dragged to operate by a drive motor of the wind-up roller, wherein the permanent magnet synchronous servo motor (5) works in an electric power generating state, and generated electric energy is also fed back to an electric network through the control device. At the same time of improving the control precision of the load torque and the system tension, the electric energy generated in such a way that the permanent magnet synchronous servo motor (5) is dragged to operate by the drive motor of the wind-up roller (3) is fed back to the electric network, thereby saving the energy, omitting a cooling system of the prior art and reducing the cost of the device.
Description
Technical field
The present invention relates to torque or tension control system in the industrial circle, especially a kind of control method and device that adopts permanent magnet synchronous servo motor to come control system tension force.
Background technology
Torque or tension control system have a wide range of applications at industrial circle, and Tension Control generally has two kinds of approach, and the one, by the velocity contrast formation tension force of two power points, the 2nd, direct controlling torque forms tension force.
Come the system of adjustment of tonicity by velocity contrast, need tension pick-up, but at big or small volume initialization, stop, quickening, slow down, can not accomplish when stopping the stable of tension force, can influence the quality of output product.
Form the method for tension force by direct controlling torque, can be divided into dual mode again:
First kind of mode is directly to control the torque of the motor of wind-up roll, allows the drive motor control system of wind-up roll work in the torque control mode.There is shortcoming in this, mainly be if the winding motor control system is operated under the torque control mode, its speed ring is with open loop, that is to say, be difficult to guarantee simultaneously the constant of its speed, because the whole active force of opening the rolling tension system is provided by winding motor, so the winding motor velocity perturbation will cause the bigger fluctuation of the speed of whole tension system.
The second way is to allow pay-off roll connect the device that load torque can be provided, control the load torque that this device provides, can form control to system tension, and the drive motor control system of wind-up roll works under the speed control method, the Tension Control precision of whole like this tension system can reach higher level, and speed also can be controlled effectively simultaneously.In this manner, that links to each other with pay-off roll can provide the device of load torque, is running passively under the dragging of the drive motor of wind-up roll.
The core of the above-mentioned second way is and receives the load torque control device that uncoiling mechanism is connected, at present generally be to adopt the load torque that powder clutch provides to be needed, but there are some intrinsic defectives to be difficult to overcome, at first magnetic powder brake will produce very big heat, cause the waste of energy, also needed a cooling system.In addition, the control accuracy of the load torque that magnetic powder brake provides is not high, is difficult to dynamically adjust yet.When winding radius under situation about constantly changing, need guarantee the constant of tension force by dynamically adjusting load torque, in this case, magnetic powder brake can't meet the demands.
Summary of the invention
The purpose of this invention is to provide a kind of tension control method and device based on permanent magnet synchronous servo motor, this device not only can be realized torque, tension force dynamic adjustments, can also be with electric energy that permanent magnet synchronous servo motor produced mode feedback grid by inversion, realized energy-conservationly, also saved cooling system.
The present invention is achieved by the following technical solutions:
A kind of tension control method, adopt frequency converter 1 control asynchronous motor 2 to drive wind-up roll 3, and drag pay-off roll 4 operation, it is characterized in that adopting permanent magnet synchronous servo motor 5 to control pay-off roll 4, realize system tension control by the torque of controlling this permanent magnet synchronous servo motor 5, simultaneously described permanent magnet synchronous servo motor 5 is fed back to electrical network because of the electric energy that is dragged operation by the drive motor of wind-up roll and produce.
As optimized technical scheme: described permanent magnet synchronous servo motor 5 is operated under the torque closed-loop control state, regulates the output torque by the size of control stator current.The electric energy that described permanent magnet synchronous servo motor 5 produces feeds back to electrical network after inversion, described inversion feedback link is the control structure of two closed loops, outer shroud is a Voltage loop, the control DC bus-bar voltage maintains the size of setting, interior ring is an electric current loop, the control inverter current, inverter current is controlled respectively according to real component and idle component, by measuring the phase place of line voltage, finish the decomposition of the meritorious and idle component of inverter current, the component identical with electric network voltage phase is real component, with its quadrature be idle component, by control, realize the power factor of expection to meritorious and idle component.
A kind of tenslator, comprise rolling part and uncoiling part, wherein rolling partly comprises the wind-up roll 3 that links to each other successively, winding motor is an asynchronous motor 2, frequency converter 1, uncoiling partly comprises pay-off roll 4 and the load torque generator that links to each other successively, it is characterized in that described load torque generator is a permanent magnet synchronous servo motor 5, the three-phase alternating current end of described permanent magnet synchronous servo motor 5 links to each other with the end that exchanges of motor side inverter 6, the DC terminal of motor side inverter 6 links to each other by the DC terminal of dc bus with mains side rectification adverser 7, the interchange end of mains side rectification adverser 7 links to each other with line voltage, and described motor side inverter 6 and mains side rectification adverser 7 switch control end separately link to each other with two groups of pwm pulse output terminals with a slice digital signal processor 8 respectively.
As optimized technical scheme: described permanent magnet synchronous servo motor 5 is connected to the normal optical photoelectric coder 9 that does not contain U, V, W positioning signal, comprise the initial alignment link in the described control device, adopt the way of dynamically searching, finish the detection of permanent magnet synchronous servo motor initial position.Described mains side rectification adverser 7 and motor side inverter 6 are all worked under digital signal processor 8 controls, A/D change-over circuit in the digital signal processor 8 is used to gather the stator current of grid side alternating voltage, DC bus-bar voltage and permanent magnet synchronous servo motor, Sine Wave Pulse Width Modulation circuit in the digital signal processor 8 links to each other with the switch controlling signal input end of mains side rectification adverser 7, motor side inverter 6 respectively, and the orthogonal pulses coding circuit in the digital signal processor 8 links to each other with photoelectric encoder 9.
The present invention has the following advantages with respect to prior art:
1, the present invention adopts permanent magnet synchronous servo motor to control pay-off roll, realize Tension Control by the torque of controlling this permanent magnet synchronous servo motor, and, finally improved the control accuracy of load torque and system tension by controlling the dynamic adjustments of stator current realization torque, tension force.
2, the present invention feeds back to electrical network with permanent magnet synchronous servo motor because of dragged the electric energy that produces of operation by the drive motor of wind-up roll, has realized energy-conservationly, has also saved cooling system of the prior art, has reduced installation cost.
3, to feed back to the inversion feedback link that electrical network adopts be the control structure of pair closed loops because of dragged the electric energy that produces of operation by the drive motor of wind-up roll with permanent magnet synchronous servo motor in the present invention, outer shroud is a Voltage loop, maintains the size of setting in order to the control DC bus-bar voltage; Control inverter current by current inner loop, inverter current is controlled respectively according to real component and idle component; By measuring the phase place of line voltage, can finish the decomposition of the meritorious and idle component of inverter current, the component identical with electric network voltage phase is real component, with its quadrature be idle component; By control to meritorious and idle component, can realize the power factor of expecting, based on this principle, adopt and idle component in the inverter current is made as 0 control mode, can make the power factor of inversion feedback approach 1.
Description of drawings
Bottom is further described the present invention with embodiment in conjunction with the accompanying drawings.
Fig. 1 is the composition structured flowchart of the embodiment of the invention;
Fig. 2 is the control principle block diagram of " mains side rectification adverser " in the embodiment of the invention;
Fig. 3 is the control principle block diagram of " motor side inverter " in the embodiment of the invention;
Fig. 4 is the initial position of rotor instrumentation plan of well-behaved inventive embodiments;
Fig. 5 is the startup process flow diagram of the embodiment of the invention;
Fig. 6 is the control method process flow diagram of " motor side inverter " in the embodiment of the invention;
Fig. 7 is the control method process flow diagram of " mains side rectification adverser " in the embodiment of the invention.
Embodiment
As shown in Figure 1, tension control method that the present invention relates to and device, can simply drive wind-up roll 3 by common frequency converter 1 control asynchronous motor 2, and pay-off roll 4 is controlled by a permanent magnet synchronous servo motor 5, tension force is from the torque of this permanent magnet synchronous servo motor 5, and the control device of introduction of the present invention is realized Tension Control by the torque of controlling this permanent magnet synchronous servo motor.This permanent magnet synchronous servo motor 5 is actual to be that driving motor by wind-up roll drags operation, and this permanent magnet synchronous servo motor 5 works in generating state, generate electricity can, also the control device by introduction of the present invention feeds back to electrical network.
Design philosophy of the present invention is as follows:
Permanent magnet synchronous servo motor 5 is operated under the torque closed-loop control state, and the position of permanent magnet synchronous servo motor rotor is measured directly or indirectly, according to the position of rotor, determines the position of stator field.The position of stator field should be definite like this, and it is controlled to zero along the component of rotor field direction (d direction of principal axis), and whole stator field is along the q direction of principal axis, with the rotor quadrature.Under these conditions, the torque of the output of motor is directly proportional with the size of stator current.
Regulate output torque (or output tension force) by the method for control stator current size, this control procedure is undertaken by following mode: the two-phase in the three-phase current of motor stator is measured directly or indirectly, and calculates the third phase electric current according to measurement result.By measurement to motor rotor position, can set up the d-q axis coordinate system, by the rotational transform computing, the motor stator electric current has been broken down in this coordinate system along the component of d axle with along the component of q axle.Two components are controlled respectively, and the controlled target of d axle component is zero, and the controlled target of q axle component is then determined by the size of the output torque (or output tension force) of hope.
The control of output torque is to be prerequisite to the real-time correct measurement of permanent magnet synchronous servo motor rotor-position, in device of the present invention, adopt increment photoelectric pulse encoder 9 as detecting element, in conjunction with detection, can obtain the absolute position of rotor in 0-360 ° of scope to initial position.
Such as previously expressed, permanent magnet synchronous servo motor 5 is used to provide required torque (or tension force), it is to move passively under the dragging of the driving motor of wind-up roll 3, it is actually and is operated in generating state, it will produce a large amount of electric energy when torque (or tension force) is provided.These electric energy should be transmitted back in the electrical network and go by the mode of inversion feedback.On this problem, the present invention also provides a kind of method of solution, and Using such method can realize the consistent of inverter current and electric network voltage phase, thereby reach higher power factor.
The electric energy that permanent magnet synchronous servo motor 5 is sent in the process that produces torque (or tension force) will cause the rising of DC bus-bar voltage, and the effect of inversion feedback link from without, promptly is to make the DC bus-bar voltage trend constant by force.Inversion feedback link is the control structure of two closed loops, and outer shroud is a Voltage loop, maintains the size of setting in order to the control DC bus-bar voltage.Control inverter output current by current inner loop, inverter output current is controlled respectively according to real component and idle component.By measuring the phase place of line voltage, can finish the decomposition of the meritorious and idle component of inverter current, the component identical with electric network voltage phase is real component, with its quadrature be idle component.Control by to meritorious and idle component can realize the power factor of expecting.
Embodiment: accompanying drawing 1 is the composition structural representation of control device of the present invention, and mains side rectification adverser 7 and motor side inverter 6 be work under digital signal processor 8 (being called for short DSP) control all.In order to finish control, need carry out the detection of grid ac voltage phase place, grid side inverter output current, DC bus-bar voltage etc. to " mains side rectification adverser 7 ".In order to finish control, need detect the permanent magnet synchronous servo motor phase current to " motor side inverter 6 ".All detection limits all convert digital quantity to through the A/D change-over circuit of DSP inside, concrete input mode is as follows: the network voltage detection amount is by the ADCINAO ALT-CH alternate channel input of DSP, the two-phase inverter output current detection limit of grid side is respectively by ADCINA1 and the input of ADCINA2 ALT-CH alternate channel, and the DC bus-bar voltage detection limit is by the ADCINA3 ALT-CH alternate channel input of DSP.The phase current detection limit of permanent magnet synchronous servo motor is imported by ADCINBO and the ADCINB1 ALT-CH alternate channel of DSP respectively.
Described " mains side rectification adverser 7 " constitutes (model is IRAPMX20UP60) by a slice Intelligent Power Module IPM1, the Sine Wave Pulse Width Modulation circuit of DSP (being called for short PWM) output signal can link to each other with the control input end of this IPM1 by the coupling transmission of high-speed photoelectric coupler spare (model is 6N137).Concrete connected mode is as follows: HIN1, the LIN1 end of the PWM1 of DSP, PWM2 signal controlling IPM1; HIN2, the LIN2 end of the PWM3 of DSP, PWM4 signal controlling IPM; HIN3, the LIN3 end of the PWM5 of DSP, PWM6 signal controlling IPM.
Described " motor side inverter 6 " also constitutes (model also is IRAPMX20UP60) by a slice Intelligent Power Module IPM2, the PWM output signal of DSP can link to each other with the control input end of this IPM2 by the coupling transmission of high-speed photoelectric coupler spare (model is 6N137).Concrete connected mode is as follows: HIN1, the LIN1 end of the PWM7 of DSP, PWM8 signal controlling IPM2; HIN2, the LIN2 end of the PWM9 of DSP, PWM10 signal controlling IPM; HIN3, the LIN3 end of the PWM11 of DSP, PWM12 signal controlling IPM.
Described permanent magnet synchronous servo motor 5 is connected to the common incremental optical-electricity encoder 9 (model is ZSP5810) that does not contain U, V, W positioning signal, is used to detect the angle of rotor of permanent magnet synchronous servo motor.Three groups of difference pulse signals of this incremental encoder 9 outputs, be respectively A ,/A; B ,/B; Z ,/Z.These three groups of difference pulse signals form signal SA, SB, SZ after can passing through three differential passages receptions of differential line receiver (model is MC3486); The signal of scrambler is through orthogonal pulses coding circuit (being called for short QEP) the interface input of DSP, concrete connected mode is: the SA pulse signal is by the CAP1_QEP1 end input of DSP, the SB signal is by the CAP2_QEP2 end input of DSP, and the SZ signal is by the CAP3_QEPI1 end input of DSP.
This device at first carries out system start-up by flow process shown in Figure 5, after the line voltage process " mains side rectification adverser 7 ", form DC bus-bar voltage, " mains side rectification adverser 7 " IPM1 includes 3 brachium pontis, totally 6 IGBT switching tubes, each IGBT switching tube all with the fly-wheel diode inverse parallel." mains side rectification adverser 7 " can be operated under rectification or the inverter mode, when just starting working in system according to the requirement of control, be operated in short time under the rectification state, 6 fly-wheel diode work of its inside are finished rectification, to set up DC bus-bar voltage.Under normal Tension Control state, " mains side rectification adverser 7 " works in inverter mode, the direct current energy on the dc bus, and the mode by inversion feeds back to electrical network.
" motor side inverter 6 " IPM2 is used to control the output torque of motor 5, when system just starts working, " motor side inverter 6 " is operated under the inverter mode in short time, with the DC bus-bar voltage inversion is permanent magnet synchronous servo motor required alternating voltage when starting, under normal Tension Control state, " motor side inverter 6 " mainly finished by control permanent magnet synchronous servo motor 5 stator currents and adjusted the output torque.
" mains side rectification adverser 7 " and " motor side inverter 6 " all works under the control of a slice DSP, DSP selects TMS320F2812 for use, this DSP has 12 road SPWM output, and wherein 6 road SPWM (A) are used for control " mains side rectification adverser " other 6 road SPWM (B) and are used for control " motor side inverter ".
DSP has two to the target of " mains side rectification adverser 7 " control: first in DC side, the electric energy inversion feedback grid on the dc bus, keeps the constant of DC bus-bar voltage.Second in AC side, makes inverter output current identical with electric network voltage phase, realizes higher power factor.
To achieve these goals, the alternating voltage, inverter output current, DC bus-bar voltage etc. that need the detection of grid side.The alternating voltage of grid side can detect by voltage transformer (VT), and inverter output current can detect by current transformer, and DC bus-bar voltage can detect by the mode of electric resistance partial pressure.All detected values all convert digital quantity to by the digital-to-analog conversion converter (A/D) of DSP inside.
Shown in accompanying drawing 2, accompanying drawing 7, DSP realizes control to " mains side rectification adverser 7 " according to the mode of DC bus-bar voltage and two control loops of inverter output current, the DC bus-bar voltage control loop is an outer shroud, and the inverter output current closed loop is interior ring, and two control loops are combined in the mode of tandem.
In accompanying drawing 2, YT is the DC bus-bar voltage controller, adopts pid algorithm.The output of YT can be used as the given of real component in the inverter output current.In formula (1), φ
aBe the instantaneous phase of line voltage, i
A, i
B, i
CIt is respectively the three-phase inversion output current.According to formula (1), can obtain the real component i in the inverter output current
PWith idle component i
N
Under situation about having realized, by reactive current component i to the decomposition of real component in the inverter current and idle component
N=0 control mode can make the power factor of inversion feedback approach 1.
DSP is to the vector control strategy of the conventional three-phase permanent synchronous servo motor of the control employing of " motor side inverter 6 ", referring to accompanying drawing 3 and accompanying drawing 6.Permanent magnet synchronous servo motor 5 is operated under the torque state of a control, and its control purpose is will be according to instruction output corresponding torque (or tension force).In order to export maximum torque under certain stator current amplitude, optimum control type is direction (d direction of principal axis) quadrature that makes stator current and rotor magnetic pole, overlaps with the q axle, just will keep i
d=0.Under this control mode, from model, the AC permanent-magnet synchronous servo motor has been equivalent to direct current permanent magnet motor, and its torque expression formula is
T＝P
nΨ
rI
1 (2)
In the formula, Ψ
rBe the rotor flux component; T is the output electromagnetic torque; I
1Be stator current; P
nMagnetic pole logarithm for the three-phase permanent synchronous servo motor.
From formula (2) as can be seen, after the phase place that has satisfied stator current and this condition of rotor direction (d axle) quadrature, the output torque of motor is directly proportional with stator current, and the size of control stator current just can be controlled the torque of motor.
Realize that the above-mentioned purpose prerequisite is accurately to measure the position of rotor, can adopt the increment photoelectric pulse encoder, utilize " the QEP circuit " of DSP inside interface as code device signal as detecting element.
Adopt the rotor position detection element of the common increment photoelectric pulse encoder of no U, V, W positioning signal as the sine wave permanent magnet synchronous servo motor, just record the accurate initial position of rotor in the time of must just powering in system, at any time obtain the correct position of rotor in like this could process afterwards, comprise the initial alignment link in the control device of the present invention, adopt the way of dynamically searching, finish the detection of permanent magnet synchronous servo motor initial position.
Just switch in control system, still during off-duty, the work of initial position of rotor just should at first be measured to motor by system.In this process, according to the job requirement of system, in the process of seeking initial position, rotor only allows very small shake, and very fast recurrence original position.The concrete course of work can be by accompanying drawing 4 simple declarations.
In the process of initial alignment, during beginning, a given initial phase produces stator current vector I
1, I
1Direction be to get surely arbitrarily, establish I
1Angle with respect to rotor is γ
1, because the initial position of rotor is a unknown quantity to be measured, so γ
1Also be unknown.As long as γ
1Non-vanishing, that is to say, as long as I
1Do not overlap with rotor-position, rotor is at I
1Effect under, just be bound to rotate, rotate at the beginning, the photoimpact scrambler sends pulse, control system has received the pulse of photoimpact scrambler, has just known I
1Do not overlap with rotor, then immediate cancel current phasor I
1, and use and current phasor I
1, become current phasor-I of 180 °
1Make the rotor homing, finished the cyclic process first time of seeking initial position of rotor thus, once small shake has only taken place in rotor, and the work of seeking initial position of rotor also needs to proceed.According to the directional information that pulse signal embodied that photoimpact scrambler just now sends, system can confirm that rotor is at I
1Which side, thereby towards reducing I
1Change the phase place of stator current vector with the direction of rotor angle, make I
1Become I
2, begun to seek for the second time the cyclic process of initial position, I
2With the angle of rotor be γ
2If, γ
2Still non-vanishing, also will continue cyclic process, send current phasor I towards the direction that reduces angle
3, I
4, up to finally, stator current vector has overlapped with rotor, and at this moment rotor will no longer be shaken, and the photoimpact scrambler also no longer includes pulse and sends, and system judges current phasor in view of the above and overlaps with rotor.At this moment, the phasing degree of stator current vector just equals the initial position angle of rotor.
The all available prior art of technical scheme of launching explanation among the present invention is realized.
Though described embodiments of the present invention in conjunction with the accompanying drawings, those of ordinary skills can make various distortion or modification within the scope of the appended claims.
Claims (6)
1. tension control method, adopt frequency converter (1) control asynchronous motor (2) to drive wind-up roll (3), and drag pay-off roll (4) operation, it is characterized in that adopting permanent magnet synchronous servo motor (5) to control pay-off roll (4), realize system tension control by the torque of controlling this permanent magnet synchronous servo motor (5), simultaneously described permanent magnet synchronous servo motor (5) is fed back to electrical network because of the electric energy that is dragged operation by the asynchronous motor of wind-up roll (2) and produce.
2. tension control method according to claim 1 is characterized in that described permanent magnet synchronous servo motor (5) is operated under the torque closed-loop control state, regulates the output torque by the size of control stator current.
3. tension control method according to claim 2, it is characterized in that the electric energy that described permanent magnet synchronous servo motor (5) produces feeds back to electrical network after inversion, described inversion feedback link is the control structure of two closed loops, outer shroud is a Voltage loop, the control DC bus-bar voltage maintains the size of setting, interior ring is an electric current loop, the control inverter current, inverter current is controlled respectively according to real component and idle component, by measuring the phase place of line voltage, finish the decomposition of the meritorious and idle component of inverter current, the component identical with electric network voltage phase is real component, with its quadrature be idle component, by control, realize the power factor of expection to meritorious and idle component.
4. tenslator, comprise rolling part and uncoiling part, wherein rolling partly comprises the wind-up roll (3) that links to each other successively, winding motor is asynchronous motor (2), frequency converter (1), uncoiling partly comprises pay-off roll (4) and the load torque generator that links to each other successively, it is characterized in that described load torque generator is a permanent magnet synchronous servo motor (5), the three-phase alternating current end of described permanent magnet synchronous servo motor (5) links to each other with the end that exchanges of motor side inverter (6), the DC terminal of motor side inverter (6) links to each other by the DC terminal of dc bus with mains side rectification adverser (7), the interchange end of mains side rectification adverser (7) links to each other with line voltage, and described motor side inverter (6) and mains side rectification adverser (7) switch control end separately link to each other with two groups of pwm pulse output terminals with a slice digital signal processor (8) respectively.
5. tenslator according to claim 4, it is characterized in that described permanent magnet synchronous servo motor (5) is connected to the normal optical photoelectric coder (9) that does not contain U, V, W positioning signal, comprise the initial alignment link in the described control device, adopt the way of dynamically searching, finish the detection of permanent magnet synchronous servo motor initial position.
6. according to claim 4 or 5 described tenslators, it is characterized in that all work under digital signal processor (8) control of described mains side rectification adverser (7) and motor side inverter (6), A/D change-over circuit in the digital signal processor (8) is used to gather the grid side alternating voltage, the stator current of DC bus-bar voltage and permanent magnet synchronous servo motor, Sine Wave Pulse Width Modulation circuit in the digital signal processor (8) respectively with mains side rectification adverser (7), the switch controlling signal input end of motor side inverter (6) links to each other, and the orthogonal pulses coding circuit in the digital signal processor (8) links to each other with photoelectric encoder (9).
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| CN2009100310312A CN101526822B (en) | 2009-04-24 | 2009-04-24 | Method and device for tension control |
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| CN2009100310312A CN101526822B (en) | 2009-04-24 | 2009-04-24 | Method and device for tension control |
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| CN102645632B (en) * | 2012-04-01 | 2014-08-13 | 南京航空航天大学 | Efficiency test system and control method for no-angle sensor of permanent magnet synchronous motor |
| CN103457295B (en) * | 2013-09-25 | 2015-12-23 | 南京工程学院 | Servo type tension control system regenerative electric energy utilizes devices and methods therefor |
| CN103738048B (en) * | 2013-10-30 | 2016-08-24 | 陕西北人印刷机械有限责任公司 | A kind of control method of the cross-section precision of printing machine online |
| CN103979349B (en) * | 2014-04-21 | 2016-04-13 | 深圳市海浦蒙特科技有限公司 | Motor winding constant-tension control method and system |
| CN112050985A (en) * | 2020-08-12 | 2020-12-08 | 北京首钢自动化信息技术有限公司 | Method and device for acquiring tension value |
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