CN116675066B - Winding and unwinding control method, winding and unwinding control device, control equipment and storage medium - Google Patents
Winding and unwinding control method, winding and unwinding control device, control equipment and storage medium Download PDFInfo
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- CN116675066B CN116675066B CN202310975069.5A CN202310975069A CN116675066B CN 116675066 B CN116675066 B CN 116675066B CN 202310975069 A CN202310975069 A CN 202310975069A CN 116675066 B CN116675066 B CN 116675066B
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- 238000004804 winding Methods 0.000 title claims abstract description 327
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
- B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
- B65H59/385—Regulating winding speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
- B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
- B65H59/387—Regulating unwinding speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
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- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
Abstract
The application discloses a winding and unwinding control method, a winding and unwinding control device, control equipment and a storage medium. Wherein the method is applicable to a control device in a mechanical system, and the mechanical system further comprises a winding and unwinding motor, the method comprising: acquiring a real-time winding diameter of a winding and unwinding motor; determining a target angular speed of the winding and unwinding motor according to the real-time winding diameter and a preset expected linear speed; and controlling the winding and unwinding motor to operate based on the target angular speed. Through this application scheme, can make the linear velocity that receive and releases the reel keep stable, ensure the synchronism between the receive and releases the reel to reduce the condition that receive and releases the reel machine and shut down.
Description
Technical Field
The application belongs to the technical field of control, and particularly relates to a winding and unwinding control method, a winding and unwinding control device, control equipment and a computer readable storage medium.
Background
In the process of winding and unwinding, the winding and unwinding diameter is continuously changed, and is generally expressed as follows: the unreeling reel diameter will generally be smaller and the reeling reel diameter will generally be larger. The change of the winding and unwinding diameters can influence the linear speed of material winding and unwinding, so that the linear speed of material winding and unwinding is difficult to keep stable. Under the condition of unstable winding and unwinding speed, the synchronism of winding and unwinding is reduced, the beat of winding and unwinding can be unstable, and further the winding and unwinding machine is stopped, so that the winding and unwinding efficiency is affected.
Disclosure of Invention
The application provides a winding and unwinding control method, a winding and unwinding control device, control equipment and a computer readable storage medium, which can keep the linear speed of winding and unwinding stable, ensure the synchronism between winding and unwinding, and reduce the shutdown of a winding and unwinding machine.
In a first aspect, the present application provides a winding and unwinding control method, where the winding and unwinding control method is applied to a control device in a mechanical system, and the mechanical system further includes a winding and unwinding motor; the winding and unwinding control method comprises the following steps:
acquiring a real-time winding diameter of a winding and unwinding motor;
determining a target angular speed of the winding and unwinding motor according to the real-time winding diameter and a preset expected linear speed;
and controlling the winding and unwinding motor to operate based on the target angular speed.
In a second aspect, the present application provides a winding and unwinding control device, where the winding and unwinding control device is applied to a control device in a mechanical system, and the mechanical system further includes a winding and unwinding motor; the winding and unwinding control device comprises:
the acquisition module is used for acquiring the real-time winding diameter of the winding and unwinding motor;
the first determining module is used for determining the target angular speed of the winding and unwinding motor according to the real-time winding diameter and the preset expected linear speed;
and the control module is used for controlling the winding and unwinding motor to run based on the target angular speed.
In a third aspect, the present application provides a control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method of the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method of the first aspect described above.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, implements the steps of the method of the first aspect described above.
Compared with the prior art, the beneficial effects that this application exists are: the real-time winding diameter of the winding and unwinding motor can be obtained when winding and unwinding. The winding speed of the winding and unwinding is unstable only due to the change of the winding diameter of the winding and unwinding, so that the target angular speed of the winding and unwinding motor can be determined through the real-time winding diameter and the preset expected linear speed. Therefore, when the winding and unwinding motor is controlled based on the target angular speed, the winding and unwinding speed can be kept near the expected linear speed, so that the winding and unwinding synchronization can be realized, the winding and unwinding operation is reduced, the shutdown condition is reduced, and the winding and unwinding efficiency is improved.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic implementation flow chart of a winding and unwinding control method provided in an embodiment of the present application;
fig. 2 is a block diagram of a winding and unwinding control device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control device according to an embodiment of the present application.
Detailed Description
Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the technical terms "first," "second," etc. are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two) unless specifically defined otherwise.
In the beginning and ending stages of production in industrial application scenarios, related applications of winding and unwinding often occur. In general, objects to be wound and unwound are various sheets or threads of materials such as paper, metal, fiber, and plastic. When winding and unwinding, there is generally an unwinding motor and a winding motor. It is conceivable that as winding and unwinding continue, the winding materials on the winding roller corresponding to the unwinding motor continuously decrease, so that the winding diameter of the winding roller is also continuously reduced; similarly, the winding materials on the winding roller corresponding to the winding motor are continuously increased, so that the winding diameter of the winding roller is also continuously increased. Since the change of the winding diameter affects the linear speed of winding and unwinding, the linear speed of winding and unwinding of the material is difficult to maintain stable. Under the condition of unstable winding and unwinding speed, the synchronism of winding and unwinding is reduced, the beat of winding and unwinding is possibly unstable, and then the winding and unwinding machine is stopped, and the winding and unwinding machine can be operated again after manual intervention is needed, so that the winding and unwinding efficiency is affected.
Based on the above consideration, the embodiment of the application provides a winding and unwinding control method, after winding and unwinding starts, the real-time winding diameter of the winding and unwinding motor can be obtained first, and the target angular speed of the winding and unwinding motor is determined by combining with the preset expected linear speed, so that the operation of the winding and unwinding motor is controlled based on the target angular speed. In the process, the winding and unwinding motor is always stable (kept near the expected linear speed), the synchronism between winding and unwinding is greatly enhanced, the occurrence of unstable winding and unwinding beats is reduced, and further the shutdown condition of the winding and unwinding machine caused by the asynchronous winding and unwinding is reduced. In order to illustrate the technical solutions proposed in the embodiments of the present application, the following description is made by specific embodiments.
The following describes a winding and unwinding control method provided in the embodiment of the present application. The winding and unwinding control method can be applied to control equipment in a mechanical system. To facilitate understanding of the winding and unwinding control method, the following briefly describes the mechanical system:
the mechanical system comprises a winding and unwinding motor besides the control device. The winding and unwinding motor can be subdivided into: a motor for unreeling the material and a motor for reeling the material base paper. In some examples, the mechanical system includes motors for material pulling and cutting in addition to the unwind motors in application scenarios where coating and wrapping are based on material (e.g., battery pack blue film application scenarios).
Taking an application scenario of a battery pack blue film as an example, the working process of a mechanical system can be briefly described as follows: the motor of one end unreels the blue membrane sticky tape, and the motor of the other end rolls up the backing paper of blue membrane sticky tape, and the motor in the middle of these two motors draws the blue membrane on the blue membrane sticky tape and tears according to the demand, and the blue membrane that should tear can paste on the battery, realizes the effect of battery package blue membrane.
For convenience of description, the motor for unreeling the material is referred to as a first motor, the motor for pulling and cutting the material is referred to as a second motor, and the motor for reeling the base paper of the material is referred to as a third motor.
Control equipment in a machine system may be used to control the operation of various components in the machine system. The control device includes: and a central controller. The central controller has interactive functions (including an interactive input function and an interactive output function), and the interactive functions can be realized by touching the screen; alternatively, the interactive function may be implemented by a keyboard and/or a mouse, as well as a screen. In the embodiment of the present application, the manufacturer of the central controller and the model thereof are not limited.
Considering that the control object of the embodiments of the present application is mainly a motor, the control apparatus may further include: a frequency converter. Wherein, the motor and the frequency converter are in one-to-one correspondence; that is, each motor may be provided with a frequency converter. In some examples, the frequency converters with which the motors are equipped may be of the same model.
The central controller can establish communication connection with each frequency converter by adopting an RS-485 serial bus standard, so that the central controller can still perform data interaction with the frequency converter under the condition of reduced wiring, and information of each variable of the frequency converter can be obtained at any time; that is, the control of each component in the mechanical system can be realized on the premise of simplifying the system.
Of course, in addition to the individual components described above, the mechanical structure can also be provided with other components according to its requirements. For example, a tension adjusting mechanism or a glue press roller may be further provided, which will not be described here.
Based on the mechanical system described above, referring to fig. 1, the winding and unwinding control method in the embodiment of the application includes:
and 101, acquiring the real-time winding diameter of the winding and unwinding motor.
After the mechanical system starts to operate and the winding and unwinding motor starts to work, the control equipment can acquire the real-time winding diameter of the winding and unwinding motor. Wherein, the real-time rolling diameter of the winding and unwinding motor specifically refers to: the winding roller corresponding to the winding and unwinding motor and the whole real-time winding diameter of the winding material. In some embodiments, the real-time roll diameter may be measured in real-time by a high-precision sensor; alternatively, in other embodiments, the real-time volume diameter may be calculated in real time by recursive operation based on the initial volume diameter.
Step 102, determining the target angular speed of the winding and unwinding motor according to the real-time winding diameter and the preset expected linear speed.
The manager of the machine system can set the desired linear velocity, i.e. the desired linear velocity, at the time of winding and unwinding in advance according to the need. The control device can obtain the desired linear velocity based on the interactive function provided by the control device. From mathematical knowledge, the angular velocity and the linear velocity have the following relationship: v=ωr, where v is the linear velocity, ω is the angular velocity, and r is the radius of the circular motion. Therefore, in the embodiment of the present application, the real-time radius of the circular motion can be obtained according to the real-time winding diameter, and the real-time radius and the desired linear velocity are substituted into the formula v=ωr, so that the angular velocity corresponding to the real-time radius and the desired linear velocity, that is, the target angular velocity can be calculated.
And step 103, controlling the winding and unwinding motor to operate based on the target angular speed.
The control device may control the operation of the winding and unwinding motor based on the target angular velocity after obtaining the target angular velocity, i.e. the target angular velocity is used as a control parameter of the winding and unwinding motor. Specifically, for the first motor and the third motor, corresponding control of the first motor and the third motor can be realized through respective target angular speeds; that is, the first motor operation is controlled based on the target angular velocity of the first motor, and the third motor operation is controlled based on the third target angular velocity. It can be understood that in an ideal state, when the winding and unwinding motors operate based on respective target angular speeds, the outermost linear speed of the material wound on the winding roller corresponding to the winding and unwinding motor can be the expected linear speed; naturally, the outermost linear velocity of the material wound on the winding roller corresponding to the winding and unwinding motor may fluctuate, but still remain in the vicinity of the desired linear velocity, depending on external factors such as resistance in practical situations. Therefore, the winding and unwinding motor can keep relatively stable linear speed, and the synchronization of the winding and unwinding motor is realized.
As described above, the winding diameter of the first motor is continuously reduced in the unwinding process; in the process of winding the third motor, the winding diameter of the third motor is continuously increased. Based on this, the control device may obtain the real-time winding diameters of the first motor and the third motor, respectively, through the following calculation process:
for the first motor, the process of acquiring the real-time coil diameter is as follows:
a1, counting the number of unreeled coils of the current first motor.
The corresponding winding roller of the first motor is correspondingly unreeled for one circle when the first motor rotates for one circle. Based on the above, the control device can acquire the number of rotations of the first motor in real time after the first motor starts to run; the number of the unreeled coils of the current first motor can be counted through the number of the rotating coils.
A2, calculating the real-time coil diameter of the first motor according to the initial coil diameter of the first motor, the coil number after coil unwinding and the preset thickness of the single coil to be unreeled.
Considering that the mechanical system on the production line always winds and unwinds the same material in a period of time, the mechanical system can measure the corresponding single-layer thickness of the material when the material is unwound by a sensor or other measuring tools. For ease of distinction, this monolayer thickness may be referred to as the unwind monolayer thickness. In addition, after the material is wound, before the first motor starts to operate, the sensor or other measuring tools can firstly measure and obtain the initial winding diameter of the first motor, namely the initial winding diameter of the whole of the winding roller corresponding to the winding and unwinding motor and the material wound by the winding roller. It will be appreciated that the initial roll diameter and the unrolled monolayer thickness may be transmitted to the control device by a sensor or other measuring means; alternatively, the control device may be manually input by a manager of the machine system.
The winding diameter of the winding roller corresponding to the first motor is reduced by the thickness corresponding to the two layers of materials when the winding roller is unreeled for one circle. Based on this, after having obtained the number of turns that has unreeled of current first motor, the control device again combines its initial diameter of rolling up and the single-layer thickness of unreeled of presetting, can calculate the real-time diameter of rolling up of obtaining first motor, specifically is: d (D) t =D 0 -2n*d 1 . Wherein D is t For the real-time winding diameter of the first motor, D 0 The initial coil diameter of the first motor is n is the coil number which is unreeled, d 1 To unwind a monolayer thickness.
This process can be understood as that r can be based on each unreeling of the winding roller corresponding to the first motor t =r t-1 -d 1 This formula updates the real-time radius of the first motor, where r t-1 The whole of the winding roller corresponding to the first winding motor and the winding material thereofCurrent radius of body, r t The radius d of the whole winding roller corresponding to the first motor and the winding material before unreeling the whole winding roller for one circle 1 To unwind a monolayer thickness.
For the third motor, the actual coil diameter acquiring process is as follows:
b1, calculating the thickness of the winding single layer.
The base paper of the material is collected during rolling; that is, the thickness of the single layer in winding is not equal to the thickness of the single layer in unwinding, and is generally thinner in winding. Based on this, the control device can calculate the single layer thickness at the time of winding. For convenience of description, the monolayer thickness at the time of winding is referred to herein as the winding monolayer thickness.
In some embodiments, the control device may first obtain the winding diameter of the third motor when the third motor is wound for N turns, and then calculate the winding single-layer thickness according to the initial winding diameter of the third motor and the winding diameter of the third motor when the third motor is wound for N turns.
For the initial winding diameter of the third motor, the obtaining manner is the same as that of the initial winding diameter of the first motor, which is not described herein.
For the winding diameter of the third motor when the third motor is wound for N times, the control device can be obtained by triggering a sensor or other measuring tool to measure again when the third motor is wound for N times. In some examples, N may take a positive integer less than a predetermined threshold, which may be a small value such as 10, without limitation.
It will be appreciated that the material base paper is not wound on the roller corresponding to the third motor initially, so that the material base paper is wound on the roller only after the third motor is required to wind 1 turn (i.e. the roller starts to rotate); and because the material base paper is thinner, even if the real-time winding diameter of the third motor is taken as the initial winding diameter of the third motor, the material base paper does not bring great influence when the material base paper is initially wound on the winding roller. For the above reasons, the control device may consider the real-time winding diameter of the third motor approximately as its initial winding diameter before the third motor is wound N turns; when the third motor winds N circles, the control equipment can calculate the thickness of the winding single layer according to the value of N, the winding diameter and the initial winding diameter of the measured wound N circles, and thus, the real-time winding diameter of the third motor is calculated.
And B2, counting the number of the wound turns of the current third motor.
Similar to the first motor, the corresponding winding roller of the third motor winds one circle when the third motor rotates one circle. Based on the above, the control device can acquire the rotation number of the third motor in real time after the third motor starts to run; the number of the winding turns of the current third motor can be counted through the number of the rotating turns.
And B3, calculating the real-time winding diameter of the third motor according to the initial winding diameter of the third motor, the number of winding turns and the thickness of the winding single layer.
The winding diameter of the winding roller corresponding to the third motor is increased by the thickness corresponding to the two layers of materials every time the winding roller winds one circle. Based on this, after having obtained the number of turns that has already been rolled up of current third motor, control device combines its initial diameter of rolling and rolling individual layer thickness again, can calculate the real-time diameter of rolling up of obtaining the third motor, specifically: d'. t =D’ 0 +2m*d 2 . Wherein D' t For the real-time winding diameter of the third motor, D' 0 The initial winding diameter of the third motor is that m is the number of winding turns and d 2 For winding the thickness of a single layer.
This process can be understood as that r 'can be used for every winding of the winding roller corresponding to the third motor' t =r’ t-1 +d 2 This formula updates the real-time radius of the third motor, where r' t-1 The current radius r 'of the whole of the winding roller corresponding to the third motor and the winding material thereof' t The radius d of the whole winding roller corresponding to the third motor and the winding material before the winding is completed 2 For winding the thickness of a single layer.
In some embodiments, the control device also needs to take into account the tension of the material when controlling the operation of the motor. Taking a material as a blue film adhesive tape for example, too much tension can lead to rupture of the blue film, while too little tension can cause wrinkling of the blue film. Based on this, in order to enable the tension of the material to be kept stable during winding and unwinding, the winding and unwinding control method may further include:
and determining the target torque of the first motor according to the real-time winding diameter of the first motor, the preset expected tension and the transmission ratio of the mechanical structure between the first motor and the second motor.
The user can set his desired tension on the material, i.e. the desired tension, according to the properties of the material. The control device can obtain the desired tension based on the interactive function provided by the control device, similar to the desired linear velocity.
In addition to this, since the individual components in the mechanical system are usually stationary, the control device can also obtain in advance the property parameters of the individual components in the mechanical system, such as the transmission ratio of the mechanical structure between the first motor and the second motor. It will be appreciated that the gear ratio may be determined based on the particular choice of mechanical structure between the first motor and the second motor.
The control equipment can obtain the real-time radius of the first motor according to the real-time winding diameter of the first motor; and multiplying the real-time radius by a preset expected tension, and dividing the real-time radius by a transmission ratio to obtain the torque required to be output by the first motor, wherein the torque is the target torque. This calculation can be expressed by the following formula: t=r t * N/i. Wherein r is t For the real-time radius of the first motor, N is the desired tension, i is the gear ratio, and T is the target torque.
The control device can thus achieve the object of indirectly controlling the material tension in dependence on the target torque. The control mode is suitable for large tension control at a lower speed, and is a typical application scene for winding and unwinding the blue film adhesive tape. That is, in combination with the above requirement for the linear velocity stabilization, the control apparatus may ultimately control the operation of the first motor based on the target angular velocity and the target torque of the first motor.
In some embodiments, in order to avoid the situation that the material base paper is wrinkled, the linear speed of the third motor during winding can be slightly greater than the linear speed of the first motor during unreeling, so that the winding and unreeling beats are not disturbed, and the material base paper can be kept in a stretched state with force applied all the time. Based on this, the control device may slightly adjust the target angular velocity of the third motor after calculating the target angular velocity such that the adjusted target angular velocity is slightly larger than the target angular velocity before adjustment, and control the third motor to operate based on the adjusted target angular velocity.
In some embodiments, it has been described above that the outermost linear velocity of the material wound on the winding roller corresponding to the winding and unwinding motor may fluctuate around the desired linear velocity, subject to external factors such as resistance in practical application scenarios. In order to keep synchronization between the winding linear speed of the third motor and the unwinding linear speed of the first motor under the condition of fluctuation of the linear speed, the control device can also determine the real linear speed of unwinding of the material in real time in the process of winding and unwinding, namely the real linear speed of the first motor (the outermost linear speed of the material wound on the winding roller corresponding to the first motor). Based on the true linear velocity, the control device may calibrate the target angular velocity of the third motor. For example, when the true linear velocity is greater than the desired linear velocity, the target angular velocity of the third motor may be increased accordingly to achieve calibration; when the true linear velocity is less than the desired linear velocity, the target angular velocity of the third motor may be reduced accordingly to achieve calibration. Therefore, the first motor and the third motor can achieve line speed synchronization based on the real line speed of material unreeling.
After the primary test is performed on the winding and unwinding control method provided by the embodiment of the application, the following test conclusion is obtained: the winding and unwinding beats of the mechanical system can reach 40PPM, and the winding and unwinding beats can be continuously kept stable; in addition, the tension control of the mechanical system can be kept stable, the fluctuation of the mechanical system in a steady state can be less than 5%, and the fluctuation in a dynamic state such as a rapid acceleration and deceleration state can be less than 15%. On the basis, the efficiency of each component in the mechanical system can reach 90-95% by adopting a public bus mode, and the electricity saving rate can reach about 40%.
In the embodiment of the application, the real-time winding diameter of the winding and unwinding motor is obtained when winding and unwinding are performed. The winding speed of the winding and unwinding is unstable only due to the change of the winding diameter of the winding and unwinding, so that the target angular speed of the winding and unwinding motor can be determined through the real-time winding diameter and the preset expected linear speed. Therefore, when the winding and unwinding motor is controlled based on the target angular speed, the winding and unwinding speed can be kept near the expected linear speed, so that the winding and unwinding synchronization can be realized, the winding and unwinding operation is reduced, the shutdown condition is reduced, and the winding and unwinding efficiency is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Corresponding to the winding and unwinding control method provided above, the embodiment of the application also provides a winding and unwinding control device. The winding and unwinding control device is integrated in a control device of a mechanical system, and the mechanical system further comprises a winding and unwinding motor, which is specifically described above and will not be described here again; referring to fig. 2, the winding and unwinding control device 2 in the embodiment of the present application includes:
an acquisition module 201, configured to acquire a real-time winding diameter of the winding and unwinding motor;
a first determining module 202, configured to determine a target angular speed of the winding and unwinding motor according to the real-time winding diameter and a preset desired linear speed;
and the control module 203 is used for controlling the winding and unwinding motor to operate based on the target angular speed.
In some embodiments, the unwind and wind motor comprises: a first motor for unreeling the material; the acquisition module 201 includes:
the first statistics unit is used for counting the current unreeled turns of the first motor;
the first calculation unit is used for calculating the real-time coil diameter of the first motor according to the initial coil diameter of the first motor, the coil number after coil unwinding and the preset thickness of the single coil of the coil.
In some embodiments, the mechanical system further comprises: the second motor is used for pulling and cutting materials; the winding and unwinding control device 2 further includes:
the second determining module is used for determining the target torque of the first motor according to the real-time winding diameter of the first motor, preset expected tension and the transmission ratio of the mechanical structure between the first motor and the second motor;
accordingly, the control module 203 includes:
and a first control unit for controlling the operation of the first motor based on the target angular velocity and the target torque of the first motor.
In some embodiments, the unwind and wind motor comprises: the third motor is used for rolling the material base paper; the acquisition module 201 includes:
the second calculating unit is used for calculating the thickness of the rolled single layer;
the second counting unit is used for counting the number of the wound turns of the current third motor;
and the third calculation unit is used for calculating the real-time winding diameter of the third motor according to the initial winding diameter, the number of winding turns and the thickness of the winding single layer of the third motor.
In some embodiments, the second computing unit comprises:
the acquisition subunit is used for acquiring the winding diameter of the third motor when the third motor is wound for N times;
and the calculating subunit is used for calculating the thickness of the rolled single layer according to the initial rolling diameter of the third motor and the rolling diameter of the third motor when the third motor is rolled for N circles.
In some embodiments, the control module 203 includes:
the adjusting unit is used for adjusting the target angular velocity, and the adjusted target angular velocity is larger than the target angular velocity before adjustment;
and a second control unit for controlling the operation of the third motor based on the adjusted target angular velocity of the third motor.
In some embodiments, the winding and unwinding control device 2 further comprises:
the third determining module is used for determining the real linear speed of unreeling the material;
and the calibration module is used for calibrating the target angular speed of the third motor according to the real linear speed.
In the embodiment of the application, the real-time winding diameter of the winding and unwinding motor is obtained when winding and unwinding are performed. The winding speed of the winding and unwinding is unstable only due to the change of the winding diameter of the winding and unwinding, so that the target angular speed of the winding and unwinding motor can be determined through the real-time winding diameter and the preset expected linear speed. Therefore, when the winding and unwinding motor is controlled based on the target angular speed, the winding and unwinding speed can be kept near the expected linear speed, so that the winding and unwinding synchronization can be realized, the winding and unwinding operation is reduced, the shutdown condition is reduced, and the winding and unwinding efficiency is improved.
Corresponding to the winding and unwinding control method provided above, the embodiment of the application also provides a control device. Referring to fig. 3, the control apparatus 3 in the embodiment of the present application includes: a memory 301, one or more processors 302 (only one shown in fig. 3) and computer programs stored on the memory 301 and executable on the processors. Wherein: the memory 301 is used for storing software programs and modules, and the processor 302 executes various functional applications and data processing by running the software programs and units stored in the memory 301 to obtain resources corresponding to the preset events. Specifically, the processor 302 implements the following steps by running the above-described computer program stored in the memory 301:
acquiring a real-time winding diameter of a winding and unwinding motor;
determining a target angular speed of the winding and unwinding motor according to the real-time winding diameter and a preset expected linear speed;
and controlling the winding and unwinding motor to operate based on the target angular speed.
Assuming that the above is a first possible embodiment, in a second possible embodiment provided by way of the first possible embodiment as a basis, the winding and unwinding motor includes: a first motor for unreeling the material; the real-time winding diameter of the winding and unwinding motor is obtained, and the winding and unwinding motor comprises the following components:
counting the number of unreeled turns of the current first motor;
and calculating the real-time coil diameter of the first motor according to the initial coil diameter of the first motor, the coil number after coil unwinding and the preset thickness of the single coil to be unreeled.
In a third possible embodiment provided on the basis of the second possible embodiment described above, the mechanical system further includes: the second motor is used for pulling and cutting materials; the winding and unwinding control method further comprises the following steps:
determining a target torque of the first motor according to the real-time winding diameter of the first motor, preset expected tension and a transmission ratio of a mechanical structure between the first motor and the second motor;
accordingly, controlling the operation of the winding and unwinding motor based on the target angular velocity, comprising:
the first motor is controlled to operate based on a target angular velocity and a target torque of the first motor.
In a fourth possible embodiment provided on the basis of the first possible embodiment described above, the winding and unwinding motor includes: the third motor is used for rolling the material base paper; the real-time winding diameter of the winding and unwinding motor is obtained, and the winding and unwinding motor comprises the following components:
calculating the thickness of the winding single layer;
counting the number of winding turns of the current third motor;
and calculating the real-time winding diameter of the third motor according to the initial winding diameter of the third motor, the number of winding turns and the thickness of the winding single layer.
In a fifth possible embodiment provided by the fourth possible embodiment as a basis, calculating the rolled single layer thickness includes:
acquiring the winding diameter of the third motor when the third motor is wound for N times;
and calculating the thickness of the rolled single layer according to the initial rolling diameter of the third motor and the rolling diameter of the third motor when the third motor is rolled for N times.
In a sixth possible embodiment provided by the fourth possible embodiment as a basis, controlling the operation of the winding and unwinding motor based on the target angular velocity includes:
the target angular velocity is adjusted, and the adjusted target angular velocity is larger than the target angular velocity before adjustment;
and controlling the third motor to operate based on the adjusted target angular velocity of the third motor.
In a seventh possible implementation provided on the basis of the fourth possible implementation, or on the basis of the fifth possible implementation, or on the basis of the sixth possible implementation, after controlling the operation of the winding and unwinding motor based on the target angular velocity, the processor 302 implements the following steps by running the above-mentioned computer program stored in the memory 301:
determining the real linear speed of unreeling the material;
and calibrating the target angular speed of the third motor according to the real linear speed.
It should be appreciated that in embodiments of the present application, the processor 302 may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 301 may include read only memory and random access memory and provide instructions and data to processor 302. Some or all of memory 301 may also include non-volatile random access memory. For example, the memory 301 may also store information of a device type.
In the embodiment of the application, the real-time winding diameter of the winding and unwinding motor is obtained when winding and unwinding are performed. The winding speed of the winding and unwinding is unstable only due to the change of the winding diameter of the winding and unwinding, so that the target angular speed of the winding and unwinding motor can be determined through the real-time winding diameter and the preset expected linear speed. Therefore, when the winding and unwinding motor is controlled based on the target angular speed, the winding and unwinding speed can be kept near the expected linear speed, so that the winding and unwinding synchronization can be realized, the winding and unwinding operation is reduced, the shutdown condition is reduced, and the winding and unwinding efficiency is improved.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of external device software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the system embodiments described above are merely illustrative, e.g., the division of modules or units described above is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct associated hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. The computer program comprises computer program code, and the computer program code can be in a source code form, an object code form, an executable file or some intermediate form and the like. The above computer readable storage medium may include: any entity or device capable of carrying the computer program code described above, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer readable Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier wave signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable storage medium described above may be appropriately increased or decreased according to the requirements of the jurisdiction's legislation and the patent practice, for example, in some jurisdictions, the computer readable storage medium does not include electrical carrier signals and telecommunication signals according to the legislation and the patent practice.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (6)
1. The winding and unwinding control method is characterized in that the winding and unwinding control method is applied to control equipment in a mechanical system, the mechanical system further comprises a winding and unwinding motor and a second motor for pulling and cutting materials, and the winding and unwinding motor comprises: a first motor for unreeling the material and a third motor for reeling the material base paper; the winding and unwinding control method comprises the following steps:
after a mechanical system starts to operate and a winding and unwinding motor starts to work, acquiring the real-time winding diameter of the winding and unwinding motor;
determining a target angular speed of the winding and unwinding motor according to the real-time winding diameter and a preset expected linear speed;
controlling the winding and unwinding motor to run based on the target angular speed;
the obtaining the real-time winding diameter of the winding and unwinding motor comprises the following steps:
counting the current unreeled turns of the first motor;
calculating the real-time coil diameter of the first motor according to the initial coil diameter of the first motor, the coil number after coil unwinding and the preset thickness of a single coil to be unreeled;
calculating the thickness of the winding single layer;
counting the current number of the wound turns of the third motor;
calculating the real-time winding diameter of the third motor according to the initial winding diameter of the third motor, the number of the wound turns and the thickness of the wound single layer;
the winding and unwinding control method further comprises the following steps:
determining a target torque of the first motor according to the real-time winding diameter of the first motor, preset expected tension and a transmission ratio of a mechanical structure between the first motor and the second motor;
the controlling the winding and unwinding motor to operate based on the target angular speed comprises the following steps:
controlling the first motor to operate based on a target angular velocity of the first motor and the target torque;
adjusting the target angular velocity of the third motor, wherein the adjusted target angular velocity is larger than the target angular velocity before adjustment;
and controlling the third motor to operate based on the adjusted target angular speed of the third motor.
2. The winding and unwinding control method according to claim 1, characterized in that said calculating the winding single layer thickness comprises:
acquiring the winding diameter of the third motor when the third motor is wound for N times;
and calculating the thickness of the rolling single layer according to the initial rolling diameter of the third motor and the rolling diameter of the third motor when the third motor is rolled for N circles.
3. The winding and unwinding control method according to claim 1, characterized in that, after said controlling the operation of said winding and unwinding motor based on said target angular velocity, said control method further comprises:
determining the real linear speed of unreeling the material;
and calibrating the target angular speed of the third motor according to the real linear speed.
4. The utility model provides a receive and releases a roll controlling means, its characterized in that receive and releases controlling means and is applied to the controlgear in the mechanical system, mechanical system still includes receive and releases the roll motor and is used for the material to draw and cuts out the second motor, receive and release the roll motor and include: a first motor for unreeling the material and a third motor for reeling the material base paper; the winding and unwinding control device comprises:
the acquisition module is used for acquiring the real-time winding diameter of the winding and unwinding motor after the mechanical system starts to operate and the winding and unwinding motor starts to work;
the first determining module is used for determining the target angular speed of the winding and unwinding motor according to the real-time winding diameter and a preset expected linear speed;
the control module is used for controlling the winding and unwinding motor to run based on the target angular speed;
wherein, the acquisition module includes:
the first statistics unit is used for counting the current unreeled turns of the first motor;
the first calculation unit is used for calculating the real-time coil diameter of the first motor according to the initial coil diameter of the first motor, the coil number after coil unwinding and the preset thickness of the single coil after coil unwinding;
the second calculating unit is used for calculating the thickness of the rolled single layer;
the second counting unit is used for counting the number of the wound turns of the current third motor;
the third calculation unit is used for calculating the real-time winding diameter of the third motor according to the initial winding diameter, the number of winding turns and the thickness of the winding single layer of the third motor;
wherein, receive and release the roll controlling means still includes:
the second determining module is used for determining the target torque of the first motor according to the real-time winding diameter of the first motor, preset expected tension and the transmission ratio of the mechanical structure between the first motor and the second motor;
the control module comprises:
a first control unit for controlling the operation of the first motor based on a target angular velocity and a target torque of the first motor;
the adjusting unit is used for adjusting the target angular velocity, and the adjusted target angular velocity is larger than the target angular velocity before adjustment;
and a second control unit for controlling the operation of the third motor based on the adjusted target angular velocity of the third motor.
5. A control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 3 when executing the computer program.
6. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method according to any one of claims 1 to 3.
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