CN114593856B - Gyroscope-based indirect flexible material tension detection method and system - Google Patents
Gyroscope-based indirect flexible material tension detection method and system Download PDFInfo
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- CN114593856B CN114593856B CN202210236101.3A CN202210236101A CN114593856B CN 114593856 B CN114593856 B CN 114593856B CN 202210236101 A CN202210236101 A CN 202210236101A CN 114593856 B CN114593856 B CN 114593856B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
- G01L5/042—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands by measuring vibrational characteristics of the flexible member
Abstract
The invention discloses a gyroscope-based indirect flexible material tension detection method and a gyroscope-based indirect flexible material tension detection system, wherein the method comprises the following steps: obtaining first position change information of the test swing rod through a gyroscope; obtaining the swinging angular velocity information of the tested swinging rod through a gyroscope, and calculating to obtain the swinging velocity information according to the parameter information of the swinging rod and the swinging angular velocity information; inputting the first position change information and the swing speed information into a material tension evaluation model to obtain a first tension evaluation result; if the first tension evaluation result does not meet a preset flexible material tension threshold value, obtaining a flexible material tension deviation value; and controlling the tension of the first flexible material according to the tension deviation value of the flexible material. The tension measuring device solves the technical problems that the tension measured by an angle sensor is inaccurate in the prior art, and mechanical abrasion, mechanical clearance and material running speed are not beneficial to high-precision constant tension closed-loop control during installation.
Description
Technical Field
The invention relates to the field of data detection, in particular to a method and a system for indirectly detecting the tension of a flexible material based on a gyroscope.
Background
According to the traditional method for detecting the indirect tension of the printing material, a sensor capable of detecting an angle is arranged on a fixed fulcrum, when the tension of the material is changed, a swing bracket capable of rotating around the fulcrum, namely a swing rod, can swing left and right (or up and down, and the specific direction depends on the installation direction) around the fulcrum, and an angle sensor arranged on the fulcrum can detect the swing amplitude, so that the tension of the printing material is indirectly reflected.
However, in the process of implementing the technical scheme of the invention of the present application, it is found that the above technology has at least the following technical problems:
in the prior art, the tension measured by using the angle sensor is inaccurate, and the mechanical abrasion, the mechanical clearance and the material running speed during installation are not beneficial to high-precision constant tension closed-loop control.
Disclosure of Invention
The application provides an indirect flexible material tension detection method and system based on gyroscope, the problem of inaccurate tension measured by an angle sensor in the prior art is solved, mechanical abrasion during installation, mechanical clearance and material running speed are not beneficial to the technical problem of high-precision constant tension closed-loop control, indirect tension detection is achieved through the gyroscope, the mechanical installation method is simplified, mechanical clearance during installation is avoided, and mechanical abrasion during long-time running, the detection tension stability of high-low-speed running and long-time running of printed materials is kept, more comprehensive information of a swing rod is obtained from multiple dimensions, so that indirect tension detection values are closer to actual material tension, and the technical effect of tension closed-loop control precision is improved.
In view of the above, the present invention has been made to provide a method that overcomes or at least partially solves the above mentioned problems.
In a first aspect, the present application provides a gyroscope-based indirect flexible material tension detection method, including: obtaining first position change information of the test swing rod through a gyroscope, wherein the first position change information comprises displacement information in X and Y directions; obtaining the swinging angular velocity information of the tested swinging rod through the gyroscope, and calculating to obtain the swinging velocity information according to the swinging rod parameter information and the swinging angular velocity information; inputting the first position change information and the swing speed information into a material tension evaluation model to obtain a first tension evaluation result; evaluating the tension according to the printing requirement information and the flexible material performance information to obtain a preset flexible material tension threshold; if the first tension evaluation result does not meet the preset flexible material tension threshold value, obtaining a flexible material tension deviation value; and controlling the tension of the first flexible material according to the tension deviation value of the flexible material.
In another aspect, the present application further provides a gyroscope-based indirect flexible material tension detection system, the system comprising: the first obtaining unit is used for obtaining first position change information of the test swing rod through a gyroscope, and the first position change information comprises displacement information in the X direction and the Y direction; the second obtaining unit is used for obtaining the swinging angular velocity information of the test swinging rod through the gyroscope and calculating and obtaining the swinging velocity information according to the swinging rod parameter information and the swinging angular velocity information; a third obtaining unit, configured to input the first position change information and the swing speed information into a material tension evaluation model to obtain a first tension evaluation result; the fourth obtaining unit is used for evaluating the tension according to the printing requirement information and the flexible material performance information to obtain a preset flexible material tension threshold value; a fifth obtaining unit, configured to obtain a flexible material tension deviation value if the first tension evaluation result does not satisfy the preset flexible material tension threshold value; and the first control unit is used for carrying out tension control on the first flexible material according to the flexible material tension deviation value.
In a third aspect, the present application provides an electronic device comprising a bus, a transceiver, a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, and the computer program implements the steps of any of the methods when executed by the processor.
In a fourth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of any of the methods described above.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
the technical scheme includes that displacement information and swing angular velocity information of a tested swing rod in X and Y directions are measured through a gyroscope, swing velocity information is obtained through calculation according to swing rod parameter information and swing angular velocity information, first position change information and swing velocity information are input into a material tension evaluation model to obtain a first tension evaluation result, tension is evaluated according to printing requirement information and flexible material performance information to obtain a preset flexible material tension threshold value, and if the first tension evaluation result does not meet the preset flexible material tension threshold value, tension control is conducted on a first flexible material according to a flexible material tension deviation value. And then reach and carry out tension detection indirectly through the gyroscope, simplify mechanical installation method, avoid the mechanical clearance when installing to and the mechanical wear of long-time operation, keep the high low-speed operation of printing material and the detection tension stability of long-time operation, obtain more comprehensive information of pendulum rod from a plurality of dimensions, thereby make indirect tension detection value more be close to actual material tension, improve the technological effect of tension closed-loop control precision.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
FIG. 1 is a schematic flow chart of a gyroscope-based indirect flexible material tension detection method according to the present application;
FIG. 2 is a schematic view of a process for obtaining a measurement sensitivity of a gyroscope according to the present application in an indirect gyroscope-based flexible material tension detection method;
FIG. 3 is a schematic flow chart illustrating temperature compensation of a gyroscope according to the present application in an indirect flexible material tension detection method based on a gyroscope;
FIG. 4 is a schematic flow chart illustrating the generation of a set of continuous position change information in a gyro-based indirect flexible material tension detection method according to the present application;
FIG. 5 is a schematic diagram of a gyroscope-based indirect flexible material tension detection system according to the present application;
fig. 6 is a schematic structural diagram of an exemplary electronic device of the present application.
Description of reference numerals: a first obtaining unit 11, a second obtaining unit 12, a third obtaining unit 13, a fourth obtaining unit 14, a fifth obtaining unit 15, a first control unit 16, a bus 1110, a processor 1120, a transceiver 1130, a bus interface 1140, a memory 1150, an operating system 1151, an application 1152 and a user interface 1160.
Detailed Description
In the description of the present application, those skilled in the art should appreciate that the present application may be embodied as methods, apparatuses, electronic devices, and computer-readable storage media. Thus, the present application may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), a combination of hardware and software. Furthermore, in some embodiments, the present application may also be embodied in the form of a computer program product in one or more computer-readable storage media having computer program code embodied therein.
The computer-readable storage media described above may take any combination of one or more computer-readable storage media. The computer-readable storage medium includes: an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium include: a portable computer diskette, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a flash memory, an optical fiber, a compact disc read-only memory, an optical storage device, a magnetic storage device, or any combination thereof. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, device, or system.
According to the technical scheme, the data acquisition, storage, use, processing and the like meet relevant regulations of national laws.
The method, the device and the electronic equipment are described by the flow chart and/or the block diagram.
It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions. These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner. Thus, the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
The present application is described below with reference to the drawings attached hereto.
Example one
As shown in fig. 1, the present application provides a method for indirect tension detection of a flexible material based on a gyroscope, the method is applied to a system for tension detection of a material, the system includes a test pendulum and a gyroscope, the gyroscope is fixedly installed at the tail end of the test pendulum, the method includes:
step S100: obtaining first position change information of the test swing rod through the gyroscope, wherein the first position change information comprises displacement information in X and Y directions;
specifically, the tension detection is the mutual traction force existing in the material and perpendicular to the contact surface of two adjacent parts when the material is subjected to the tensile force, the force of the stretched flexible material such as a string, a rope, a paper and the like on other objects stretching the material or the force between the parts in the stretched flexible material. The tension control function mainly realizes the synchronization between the rollers and the uniform control of winding and unwinding so as to ensure the production quality of the flexible material.
The gyroscope is an angular motion detection device around one or two axes orthogonal to the rotation axis with respect to the inertial space using a momentum moment sensitive housing of a high-speed rotation body, and is preferably a MEMS (Micro Electro Mechanical systems) gyroscope. The micro-electro-mechanical system refers to a technology for designing, processing, manufacturing, measuring and controlling micron/nanometer materials, and can integrate mechanical components, an optical system, a driving part and an electric control system into a micro-system of an integral unit. The MEMS gyroscope is an upgraded version of an acceleration sensor that can detect and sense linear motion in a certain axial direction, and the gyroscope can detect and sense linear motion in a 3D space, thereby recognizing a direction, confirming a posture, and calculating an angular velocity.
The utility model discloses a flexible material, including the pivot, the pivot is installed to the MEMS gyroscope, and the pivot is installed to the MEMS gyroscope, uses the MEMS gyroscope to replace, and the mounting means is the snap-on at the pendulum rod end, through the gyroscope obtains the first position change information of test pendulum rod, first position change information includes the displacement change information of test pendulum rod in X, Y two directions, and when flexible material changed like the tension of paper, the pendulum rod can be around the pivot (or from top to bottom, and specific direction depends on the installation direction) swing, and the range of swing can be detected out to the MEMS gyroscope of installing on the end to indirect reflection printing material's tension can be more comprehensive acquirees swing position change information.
Step S200: obtaining the swing angular velocity information of the test swing rod through the gyroscope, and calculating to obtain swing velocity information according to the swing rod parameter information and the swing angular velocity information;
specifically, the swing angular speed information of the test swing rod, namely the angle of the test swing rod rotated in unit time, is obtained through the gyroscope, and the speed of the object moving around the circle center is described. The swing rod parameter information comprises length information of the swing rod, namely a tension test radius, and swing speed information, namely swing linear speed information, is obtained by calculation according to the swing rod parameter information and the swing angular speed information, namely the product of the tension test radius and the swing angular speed.
Step S300: inputting the first position change information and the swing speed information into a material tension evaluation model to obtain a first tension evaluation result;
further, the method further comprises the following steps:
step S310: obtaining an initial hidden layer value of the recurrent neural network, and obtaining a first input weight matrix based on the initial hidden layer value;
step S320: taking historical position change information and swing speed information as input layer information, and training the recurrent neural network according to the input layer information and the first input weight matrix;
step S330: and taking the input layer information and the initial hidden layer value as a next hidden layer value, sequentially carrying out iterative training, and constructing the material tension evaluation model.
Specifically, the first position change information and the swing speed information are input into a material tension evaluation model, wherein the material tension evaluation model is a recurrent neural network model and is used for tension evaluation of the flexible material and comprises an input layer, a hidden layer and an output layer. In the process of processing input information by the processing layer in the recurrent neural network, the processing layer not only processes the input information according to the current input information, but also stores output information of the previous time sequence, processes the output information as the input information of the current time sequence, and further obtains output, and the processing layer is continuously updated along with the advance of the time sequence. The recurrent neural network not only relates to the current input but also relates to the output at the last moment by using the neurons with self feedback, so that the recurrent neural network has short-term memory capability when processing time series data of any length.
The initial hidden layer value can be obtained in a self-defined mode, a first input weight matrix is obtained based on the initial hidden layer value, in the processing process, the current input information and the output information of the previous time sequence are predicted according to a certain weight ratio, namely the weight matrix is obtained, and in the updating process of the processing layer, the weight value in the weight matrix is stable and unchangeable. Taking historical position change information and swing speed information as input layer information, training the cyclic neural network according to the input layer information and the first input weight matrix, taking an input layer and a previous hidden layer at each time as hidden layers at each time, wherein the hidden layer at each time is the next hidden layer value, finishing supervision training and constructing the material tension evaluation model when the output result of the cyclic neural network reaches a certain accuracy rate or convergence through sequential iterative training. And obtaining an output result of the material tension evaluation model, namely a first tension evaluation result, wherein the first tension evaluation result shows the tension of the flexible material, so that the tension evaluation result is more accurate and reasonable, a basis is provided for subsequent tension closed-loop control, and the processing quality of the flexible material is ensured.
Step S400: evaluating the tension according to the printing requirement information and the flexible material performance information to obtain a preset flexible material tension threshold;
specifically, the printing requirement information is a quality requirement for printing of a flexible material, including image-text definition, printing color requirements, and the like, and the flexible material performance information is a processed flexible material performance, including material type such as coated paper, offset paper, synthetic paper, printing film, and the like, thickness, bearing force, tensile strength, and the like. The preset flexible material tension threshold is the optimal control tension range in the flexible material printing process and is determined by the printing requirements and the flexible material performance. If the tension is too large, the processing material can be stretched and deformed; tension is too low, stress between layers of the coiled material can be deformed, winding is irregular, overprinting is inaccurate, and processing quality is affected.
Step S500: if the first tension evaluation result does not meet the preset flexible material tension threshold value, obtaining a flexible material tension deviation value;
step S600: and controlling the tension of the first flexible material according to the tension deviation value of the flexible material.
Specifically, if the first tension evaluation result does not satisfy the preset flexible material tension threshold value, which indicates that the tension evaluation result is not the optimal tension range at the moment, a flexible material tension deviation value of the first tension evaluation result and the preset flexible material tension threshold value is obtained. And performing tension control on the first flexible material according to the flexible material tension deviation value, namely, adjusting the flexible material tension value to be larger or smaller through a tension closed-loop control system to ensure accurate control on the flexible material tension. The gyroscope is used for indirectly detecting tension, a mechanical installation method is simplified, mechanical gaps during installation are avoided, mechanical abrasion caused by long-time operation is avoided, the stability of the tension detection caused by high-low-speed operation and long-time operation of a printing material is kept, more comprehensive information of the swing rod is obtained from multiple dimensions, so that the indirect tension detection value is closer to the actual material tension, and the processing quality of the flexible material is ensured.
As shown in fig. 2, further, the present application further includes:
step S710: acquiring the position of the test swing rod in real time through the gyroscope to obtain a position change information set;
step S720: performing learning classification on the position change information set to generate a continuous position change information set;
step S730: generating a position change rate of the oscillating bar according to the continuous position change information set;
step S740: obtaining the measurement sensitivity of the gyroscope based on the variance calculation of the position change rate of the oscillating bar;
step S750: and performing compensation correction on the first position change information according to the measurement sensitivity.
Specifically, the position of the test swing rod is obtained through the gyroscope to be collected in real time, displacement change information sets of the test swing rod in the X direction and the Y direction are obtained, the position change information sets obtained through the computer in an unsupervised learning and classifying mode are conducted on the position change information sets, and a continuous position change information set and a discrete position change information set are generated. The unsupervised learning means that due to the lack of sufficient prior knowledge, when the class is difficult to label manually or the cost for labeling manually is too high, a machine is used for replacing manpower to complete part of work, and the problem in pattern recognition is solved according to a training sample with unknown class, namely, no data label and only data. Data in the continuous position change information set represent the trend of monitoring change data of the position of the swing rod, the discrete position change information set may be discrete position data caused by factors such as shutdown caused by improper roller control, and classification of the position change data in the position change information set is achieved through unsupervised learning.
And generating a position change rate of the oscillating bar according to the continuous position change information set, wherein the position change rate of the oscillating bar indicates the change amplitude of the position of the tested oscillating bar, and the larger the position change rate is, the larger the change amplitude of the oscillating bar is. The measurement sensitivity of the gyroscope is the test deviation stability of the gyroscope, and the smaller the measurement sensitivity is, the higher the test stability is, by performing variance calculation on the position change rate of the oscillating bar, namely deviation degree calculation, because the gyroscope possibly has deviation values due to different individuals. And compensating and correcting the first position change information according to the measurement sensitivity, reducing the influence of an error source of the gyroscope, ensuring the test stability and the test accuracy of the gyroscope and further improving the tension test accuracy.
As shown in fig. 3, further, step S750 of the present application further includes:
step S751: obtaining a working environment temperature threshold of the gyroscope;
step S752: recording the working temperature of the test swing rod through the temperature sensing device to generate a first working temperature change curve;
step S753: obtaining a measurement hysteresis coefficient in the first operating temperature variation curve that is not within the operating environment temperature threshold;
step S754: and performing temperature compensation on the gyroscope according to the measurement hysteresis coefficient based on a piecewise linear approximation method to obtain second position change information.
Specifically, the working environment temperature of the gyroscope influences the testing precision of the gyroscope, and the working environment temperature threshold of the gyroscope is the effective working environment temperature range of the gyroscope, so that the measuring precision can be ensured in the range. And recording the working temperature of the test swing rod through the temperature sensing device such as a built-in temperature sensor of the gyroscope to generate a first working temperature change curve, wherein the first working temperature change curve is the change of the environmental temperature in the working process of the gyroscope. With the printing processing of the flexible material, the working temperature of the gyroscope is higher and higher, and the measurement result of the working time period which is not within the working environment temperature threshold value in the first working temperature change curve is limited, so that the delay of the measurement result is inaccurate.
The measurement hysteresis coefficient is used for indicating the test delay degree of the gyroscope, and the larger the hysteresis coefficient is, the higher the test inaccuracy of the result is in the test environment with higher temperature. And performing temperature compensation on the gyroscope according to the measurement hysteresis coefficient by a piecewise linear approximation method, namely dividing the whole temperature interval into a plurality of sub-intervals, and adopting different linear compensation functions to achieve optimal compensation on different sub-intervals. Theoretically, any precision can be achieved as long as the temperature subinterval is small enough, so that the measurement error caused by temperature is reduced, the second position change information after temperature compensation correction is obtained, and the testing accuracy of the gyroscope on the flexible material in practical application is guaranteed.
As shown in fig. 4, in addition to performing learning classification on the position change information set to generate a continuous position change information set, step S720 of the present application further includes:
step S721: traversing and visiting the position change information set to generate a uniform position change information set;
step S722: defining data in the uniform position change information set as P clusters, and carrying out average calculation on pairwise distances of data points in the P clusters to obtain an average distance data set;
step S723: obtaining a class position change information set according to the average distance data set, wherein the class position change information set comprises a classification set with the minimum distance average value;
step S724: according to the similar position change information set, carrying out layer-by-layer recursive clustering on the average distance data set until a position change clustering tree of the uniform position change information set is generated;
step S725: and according to the position change clustering tree, carrying out learning classification on the position change information set.
Specifically, a uniform position change information set may be generated by performing traversal access on all data in the position change information set through a computer, and then defining the data in the uniform position change information set as P clusters. Clustering refers to the process of grouping similar things together, while dividing dissimilar things into different categories, the process of dividing a set of physical or abstract objects into multiple classes consisting of similar objects is called clustering, and a cluster generated by clustering is a set of data objects that are similar to objects in the same cluster and different from objects in other clusters. And further measuring and calculating pairwise distances between the position change data points in the P clusters, and then performing average value calculation to obtain an average distance between the position change data points in the P clusters, namely the average distance data set. The average distance data set comprises P average value data which are respectively in one-to-one correspondence with the P clusters.
And further obtaining the P pieces of clustering average position change data information, namely the class position change information set, according to the average distance data set. And the class position change information set comprises a cluster set with the minimum distance average value. And carrying out layer-by-layer recursive clustering on the average distance data set according to the similar position change information set until a position change clustering tree of the uniform position change information set is generated. The layer-by-layer recursive clustering refers to merging data with the maximum or minimum average distance data into a large class according to the size of the average distance data and the sequence from large to small or from small to large. And finally, learning and classifying the position change information set according to the position change clustering tree, so that the technical effects of intelligent calculation and more accurate and efficient learning and classifying the position change information set are achieved.
Further, the method further comprises the following steps:
step S810: obtaining roll wrap angle information according to printing process information, and obtaining a printing friction factor according to the material characteristics of the tension roll;
step S820: constructing a tension amplification function formula:
；
step S830: inputting the roll wrap angle information and the printing friction factor into the tension amplification function formula to obtain a tension amplification coefficient;
step S840: and correcting the first tension evaluation result according to the tension amplification factor to obtain a second tension evaluation result.
Specifically, roll wrap angle information is obtained according to design structure information of a printing process, and the roll wrap angle information refers to a central angle of a contact arc between the belt and the belt wheel, the size of the wrap angle and the length of the contact arc between the belt and the circular surface of the belt wheel. The printing friction factor is determined according to the material characteristics of the tension roller, the friction factors of objects made of different materials are different, and the friction factor is larger when the object is rougher. Constructing a tension amplification function formula:
，/>
for a tension amplification factor, is selected>
For printing friction factors>
And (3) roll wrap angle, inputting the roll wrap angle information and the printing friction factor into the tension amplification function formula to obtain a calculated tension amplification coefficient. The tension amplification factor is the amplification capacity of the tension roller and is an important parameter for tension calculation, the first tension evaluation result is multiplied and corrected according to the tension amplification factor, for example, the amplification factor is amplified by 1.5 times, a second tension evaluation result after amplification and correction is obtained, and the tension amplification is calculated by combining the condition of the flexible material in actual application, so that the tension evaluation result is more in line with the application actual effect.
Further, step S840 of the present application further includes:
step S841: obtaining the test angle information between the test swing rod and the tension roller;
step S842: calculating to obtain a printing positive pressure based on the printing pressure of the first flexible material and the test angle information;
step S843: taking the product of the printing positive pressure and the printing friction factor as a friction loss coefficient;
step S844: and correcting the second tension evaluation result according to the friction loss coefficient.
Specifically, the test angle information between the test swing link and the tension roller is an angle between the swing link and the tension roller, and the printing positive pressure is calculated and obtained based on the product of the printing pressure of the first flexible material and the test angle information. And taking the product of the printing positive pressure and the printing friction factor as a friction loss coefficient, wherein the friction loss coefficient is the friction loss of the tension roller, and the deformation of the tension roller can be caused, so that the tension is influenced. And correcting the second tension evaluation result according to the friction loss coefficient, and considering the deformation of the friction loss to the tension roller in the operation process, so that the accuracy of the tension evaluation result of the flexible material is ensured, and the indirect tension detection value is closer to the actual material tension.
In summary, the method and the system for detecting the tension of the indirect flexible material based on the gyroscope provided by the application have the following technical effects:
the technical scheme includes that displacement information and swing angular velocity information of a tested swing rod in X and Y directions are measured through a gyroscope, swing velocity information is obtained through calculation according to swing rod parameter information and swing angular velocity information, first position change information and swing velocity information are input into a material tension evaluation model to obtain a first tension evaluation result, tension is evaluated according to printing requirement information and flexible material performance information to obtain a preset flexible material tension threshold value, and if the first tension evaluation result does not meet the preset flexible material tension threshold value, tension control is conducted on a first flexible material according to a flexible material tension deviation value. And then reach and carry out tension detection indirectly through the gyroscope, simplify mechanical installation method, avoid the mechanical clearance when installing to and the mechanical wear of long-time operation, keep the high low-speed operation of printing material and the detection tension stability of long-time operation, obtain more comprehensive information of pendulum rod from a plurality of dimensions, thereby make indirect tension detection value more be close to actual material tension, improve the technological effect of tension closed-loop control precision.
Example two
Based on the same inventive concept as the gyroscope-based indirect flexible material tension detection method in the foregoing embodiment, the present invention further provides a gyroscope-based indirect flexible material tension detection system, as shown in fig. 5, the system includes:
a first obtaining unit 11, where the first obtaining unit 11 is configured to obtain first position change information of the test swing link through a gyroscope, where the first position change information includes displacement information in an X direction and a Y direction;
a second obtaining unit 12, where the second obtaining unit 12 is configured to obtain information of a swing angular velocity of the tested swing link through the gyroscope, and calculate to obtain information of the swing velocity according to the information of the swing link parameter and the information of the swing angular velocity;
a third obtaining unit 13, where the third obtaining unit 13 is configured to input the first position change information and the swing speed information into a material tension evaluation model to obtain a first tension evaluation result;
a fourth obtaining unit 14, where the fourth obtaining unit 14 is configured to evaluate the tension according to the printing requirement information and the flexible material performance information, and obtain a preset flexible material tension threshold;
a fifth obtaining unit 15, wherein the fifth obtaining unit 15 is configured to obtain a flexible material tension deviation value if the first tension evaluation result does not satisfy the preset flexible material tension threshold value;
a first control unit 16, wherein the first control unit 16 is configured to perform tension control on the first flexible material according to the flexible material tension deviation value.
Further, the system further comprises:
the sixth obtaining unit is used for acquiring the position of the test swing rod in real time through the gyroscope to obtain a position change information set;
a first generation unit configured to perform learning classification on the set of location change information and generate a set of continuous location change information;
the second generating unit is used for generating a position change rate of the swing rod according to the continuous position change information set;
a seventh obtaining unit configured to obtain a measurement sensitivity of the gyroscope based on a variance calculation of the rate of change of the position of the swing link;
a first correction unit for performing compensation correction on the first position change information according to the measurement sensitivity.
Further, the system further comprises:
an eighth obtaining unit, configured to obtain a working environment temperature threshold of the gyroscope;
the third generating unit is used for recording the working temperature of the test swing rod through the temperature sensing device and generating a first working temperature change curve;
a ninth obtaining unit, configured to obtain a measured hysteresis coefficient in the first operating temperature variation curve that is not within the operating environment temperature threshold;
a tenth obtaining unit, configured to perform temperature compensation on the gyroscope according to the measurement hysteresis coefficient based on a piecewise linear approximation method, and obtain second position change information.
Further, the system further comprises:
a fourth generating unit, configured to perform traversal access processing on the position change information set, and generate a uniform position change information set;
an eleventh obtaining unit, configured to define data in the uniform position change information set as P clusters, and perform average calculation on pairwise distances between data points in the P clusters to obtain an average distance data set;
a twelfth obtaining unit, configured to obtain a class position change information set according to the average distance data set, where the class position change information set includes a classification set with a minimum distance average;
a fifth generating unit, configured to perform layer-by-layer recursive clustering on the average distance data set according to the similar position change information set until a position change clustering tree of the uniform position change information set is generated;
and the first classification unit is used for learning and classifying the position change information set according to the position change clustering tree.
Further, the system further comprises:
a thirteenth obtaining unit, configured to obtain roll wrap angle information according to printing process information, and obtain a printing friction factor according to a material characteristic of the tension roll;
a first construction unit for constructing a tension amplification function formula:
；
a fourteenth obtaining unit, configured to input the roll wrap angle information and the printing friction factor into the tension amplification function formula, so as to obtain a tension amplification factor;
a fifteenth obtaining unit, configured to correct the first tension evaluation result according to the tension amplification factor, and obtain a second tension evaluation result.
Further, the system further comprises:
a sixteenth obtaining unit, configured to obtain information on a test angle between the test swing link and the tension roller;
a seventeenth obtaining unit configured to obtain a printing positive pressure by calculation based on the printing pressure of the first flexible material and the test angle information;
a first loss unit for taking a product of the printing positive pressure and the printing friction factor as a friction loss coefficient;
a first correction unit for correcting the second tension evaluation result according to the friction loss coefficient.
Further, the system further comprises:
an eighteenth obtaining unit, configured to obtain an initial hidden layer value of the recurrent neural network, and obtain a first input weight matrix based on the initial hidden layer value;
the first training unit is used for taking historical position change information and swing speed information as input layer information and training the recurrent neural network according to the input layer information and the first input weight matrix;
and the second construction unit is used for performing iterative training in sequence by taking the input layer information and the initial hidden layer value as a next hidden layer value to construct the material tension evaluation model.
Various modifications and specific examples of the foregoing method for detecting tension of an indirect flexible material based on a gyroscope in the first embodiment of fig. 1 are also applicable to the system for detecting tension of an indirect flexible material based on a gyroscope in this embodiment, and through the foregoing detailed description of the method for detecting tension of an indirect flexible material based on a gyroscope, those skilled in the art can clearly know the method for implementing the system for detecting tension of an indirect flexible material based on a gyroscope in this embodiment, so for the brevity of the description, detailed descriptions are omitted here.
In addition, the present application further provides an electronic device, which includes a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the transceiver, the memory, and the processor are connected via the bus, respectively, and when the computer program is executed by the processor, the processes of the above-mentioned method for controlling output data are implemented, and the same technical effects can be achieved, and are not described herein again to avoid repetition.
Exemplary electronic device
In particular, referring to fig. 6, the present application further provides an electronic device comprising a bus 1110, a processor 1120, a transceiver 1130, a bus interface 1140, a memory 1150, and a user interface 1160.
In this application, the electronic device further includes: a computer program stored on the memory 1150 and executable on the processor 1120, the computer program, when executed by the processor 1120, implementing the various processes of the method embodiments of controlling output data described above.
A transceiver 1130 for receiving and transmitting data under the control of the processor 1120.
In this application, a bus architecture (represented by bus 1110), bus 1110 may include any number of interconnected buses and bridges, bus 1110 connecting various circuits including one or more processors, represented by processor 1120, and memory, represented by memory 1150.
Processor 1120 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits in hardware or instructions in software in a processor. The processor described above includes: general purpose processors, central processing units, network processors, digital signal processors, application specific integrated circuits, field programmable gate arrays, complex programmable logic devices, programmable logic arrays, micro-control units or other programmable logic devices, discrete gates, transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in this application may be implemented or performed. For example, the processor may be a single core processor or a multi-core processor, which may be integrated on a single chip or located on multiple different chips.
Processor 1120 may be a microprocessor or any conventional processor. The steps of a method disclosed in connection with the present application may be performed directly by a hardware decoding processor or by a combination of hardware and software modules within a decoding processor. The software modules may reside in random access memory, flash memory, read only memory, programmable read only memory, erasable programmable read only memory, registers, and the like, as is known in the art. The readable storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the method.
The bus 1110 may also connect various other circuits such as peripherals, voltage regulators, or power management circuits to provide an interface between the bus 1110 and the transceiver 1130, as is well known in the art. Therefore, it will not be further described in this application.
The transceiver 1130 may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. For example: the transceiver 1130 receives external data from other devices, and the transceiver 1130 transmits data processed by the processor 1120 to other devices. Depending on the nature of the computer device, a user interface 1160 may also be provided, such as: touch screen, physical keyboard, display, mouse, speaker, microphone, trackball, joystick, stylus.
It is to be appreciated that in the subject application, the memory 1150 can further include memory remotely located from the processor 1120, which can be coupled to a server via a network. One or more portions of the above-described network may be an ad hoc network, an intranet, an extranet, a virtual private network, a local area network, a wireless local area network, a wide area network, a wireless wide area network, a metropolitan area network, the internet, a public switched telephone network, a plain old telephone service network, a cellular telephone network, a wireless fidelity network, and a combination of two or more of the above. For example, the cellular telephone network and the wireless network may be global mobile communications devices, code division multiple access devices, global microwave interconnect access devices, general packet radio service devices, wideband code division multiple access devices, long term evolution devices, LTE frequency division duplex devices, LTE time division duplex devices, long term evolution advanced devices, universal mobile communications devices, enhanced mobile broadband devices, mass machine type communications devices, ultra-reliable low-latency communications devices, and the like.
It will be appreciated that the memory 1150 in the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. Wherein the nonvolatile memory includes: a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, or a flash memory.
The volatile memory includes: random access memory, which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as: static random access memory, dynamic random access memory, synchronous dynamic random access memory, double data rate synchronous dynamic random access memory, enhanced synchronous dynamic random access memory, synchronous link dynamic random access memory, and direct memory bus random access memory. The memory 1150 of the electronic device described herein includes, but is not limited to, the above-described and any other suitable types of memory.
In the present application, the memory 1150 stores the following elements of the operating system 1151 and application programs 1152: an executable module, a data structure, or a subset thereof, or an expanded set thereof.
Specifically, the operating system 1151 includes various device programs, such as: a framework layer, a core library layer, a driver layer, etc. for implementing various basic services and processing hardware-based tasks. Applications 1152 include various applications such as: media player, browser, used to realize various application services. A program implementing the method of the present application may be included in the application 1152. The application 1152 includes: applets, objects, components, logic, data structures, and other computer device-executable instructions that perform particular tasks or implement particular abstract data types.
In addition, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements each process of the above method for controlling output data, and can achieve the same technical effect, and is not described herein again to avoid repetition.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method for detecting tension of a flexible material indirectly based on a gyroscope, the method being applied to a system for detecting tension of a material, the system including a test pendulum and a gyroscope, the gyroscope being fixedly mounted at an end of the test pendulum, the method comprising:
obtaining first position change information of the test swing rod through the gyroscope, wherein the first position change information comprises displacement information in X and Y directions;
obtaining the swinging angular velocity information of the tested swinging rod through the gyroscope, and calculating to obtain the swinging velocity information according to the swinging rod parameter information and the swinging angular velocity information;
inputting the first position change information and the swing speed information into a material tension evaluation model to obtain a first tension evaluation result;
evaluating the tension according to the printing requirement information and the flexible material performance information to obtain a preset flexible material tension threshold value;
if the first tension evaluation result does not meet the preset flexible material tension threshold value, obtaining a flexible material tension deviation value;
performing tension control on the first flexible material according to the tension deviation value of the flexible material;
wherein the method comprises the following steps:
obtaining an initial hidden layer value of a recurrent neural network, and obtaining a first input weight matrix based on the initial hidden layer value;
taking historical position change information and swing speed information as input layer information, and training the recurrent neural network according to the input layer information and the first input weight matrix;
and taking the input layer information and the initial hidden layer value as a next hidden layer value, sequentially carrying out iterative training, and constructing the material tension evaluation model.
2. The method of claim 1, wherein the method comprises:
the position of the test oscillating bar is collected in real time through the gyroscope, and a position change information set is obtained;
performing learning classification on the position change information set to generate a continuous position change information set;
generating a position change rate of the oscillating bar according to the continuous position change information set;
obtaining the measurement sensitivity of the gyroscope based on the variance calculation of the position change rate of the oscillating bar;
and performing compensation correction on the first position change information according to the measurement sensitivity.
3. The method of claim 2, wherein the material tension sensing system further comprises a temperature sensing device, the method comprising:
obtaining a working environment temperature threshold of the gyroscope;
recording the working temperature of the test swing rod through the temperature sensing device to generate a first working temperature change curve;
obtaining a measured hysteresis coefficient in the first operating temperature change curve that is not within the operating environment temperature threshold;
and performing temperature compensation on the gyroscope according to the measurement hysteresis coefficient based on a piecewise linear approximation method to obtain second position change information.
4. The method of claim 2, wherein the learning classification of the set of location change information to generate a set of continuous location change information comprises:
traversing and visiting the position change information set to generate a uniform position change information set;
defining data in the uniform position change information set as P clusters, and calculating the average value of the pairwise distance of each data point in the P clusters to obtain an average distance data set;
obtaining a class position change information set according to the average distance data set, wherein the class position change information set comprises a classification set with the minimum distance average value;
carrying out layer-by-layer recursive clustering on the average distance data set according to the similar position change information set until a position change clustering tree of the uniform position change information set is generated;
and according to the position change clustering tree, carrying out learning classification on the position change information set.
5. The method of claim 1, wherein the method comprises:
obtaining roll wrap angle information according to the printing process information, and obtaining a printing friction factor according to the material characteristics of the tension roll;
constructing a tension amplification function formula:
；
inputting the roll wrap angle information and the printing friction factor into the tension amplification function formula to obtain a tension amplification coefficient;
and correcting the first tension evaluation result according to the tension amplification coefficient to obtain a second tension evaluation result.
6. The method of claim 5, wherein the method comprises:
obtaining the test angle information between the test swing rod and the tension roller;
calculating to obtain a printing positive pressure based on the printing pressure of the first flexible material and the test angle information;
taking the product of the printing positive pressure and the printing friction factor as a friction loss coefficient;
and correcting the second tension evaluation result according to the friction loss coefficient.
7. A gyroscope-based indirect flexible material tension detection system, the system comprising:
the first obtaining unit is used for obtaining first position change information of the test swing rod through a gyroscope, and the first position change information comprises displacement information in the X direction and the Y direction;
the second obtaining unit is used for obtaining the swing angular speed information of the tested swing rod through the gyroscope and calculating and obtaining the swing speed information according to the swing rod parameter information and the swing angular speed information;
a third obtaining unit, configured to input the first position change information and the swing speed information into a material tension evaluation model to obtain a first tension evaluation result;
the fourth obtaining unit is used for evaluating the tension according to the printing requirement information and the flexible material performance information to obtain a preset flexible material tension threshold value;
a fifth obtaining unit, configured to obtain a flexible material tension deviation value if the first tension evaluation result does not satisfy the preset flexible material tension threshold value;
the first control unit is used for carrying out tension control on the first flexible material according to the tension deviation value of the flexible material;
an eighteenth obtaining unit, configured to obtain an initial hidden layer value of a recurrent neural network, and obtain a first input weight matrix based on the initial hidden layer value;
the first training unit is used for taking historical position change information and swing speed information as input layer information and training the recurrent neural network according to the input layer information and the first input weight matrix;
and the second construction unit is used for performing iterative training on the input layer information and the initial hidden layer value as a next hidden layer value in sequence to construct the material tension evaluation model.
8. A gyroscope-based indirect flexible material tension detection electronics comprising a bus, a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the transceiver, the memory and the processor being connected via the bus, characterized in that the computer program when executed by the processor implements the steps of the method as claimed in any one of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-6.
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| US6433499B1 (en) * | 2000-11-29 | 2002-08-13 | Heidelberger Druckmaschinen Ag | Device and method for automatic tension transducer calibration |
| US6845282B2 (en) * | 2002-09-04 | 2005-01-18 | The Procter & Gamble Company | Method of controlling tension in a web |
| JP2007246184A (en) * | 2006-03-14 | 2007-09-27 | Dainippon Printing Co Ltd | Web tension measuring device and method |
| CN204607206U (en) * | 2015-01-30 | 2015-09-02 | 杭州添丽装饰纸有限公司 | The tenslator of 3D science and technology paper |
| CN210973269U (en) * | 2019-11-07 | 2020-07-10 | 长沙晚报利德印务有限公司 | Newspaper printing machine tension and surplus paper controlling means |
| CN211569616U (en) * | 2020-01-15 | 2020-09-25 | 湖北福好医疗用品有限公司 | Rolling constant tension control device of printing machine |
| CN113086719A (en) * | 2021-04-06 | 2021-07-09 | 常德烟草机械有限责任公司 | Paper tape tension control device and control method |
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