CN117228435A - Semi-closed loop constant tension control method and system for yarn releasing end of winding machine - Google Patents
Semi-closed loop constant tension control method and system for yarn releasing end of winding machine Download PDFInfo
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Abstract
The invention relates to the technical field of electromechanical control, in particular to a semi-closed loop constant tension control method and system for a yarn releasing end of a winding machine. The method comprises the following steps: obtaining a target tension value of the coiled material through input equipment; correcting the target tension value to obtain an actual input tension value; adjusting the thrust value of a first swing rod of the swing rod cylinder through the actual input tension value; adjusting the initial potential of the potentiometer to obtain a first angle feedback value; and acquiring a real-time angle feedback value, and adjusting the torque of the servo motor according to the first angle feedback value and the real-time angle feedback value until the first angle feedback value is equal to the real-time angle feedback value. The invention realizes the active unreeling control of the unreeling end of the winding machine under the complex conditions of no stable continuous known linear speed and the like, and corresponds to yarn tension fluctuation in real time, and the tension of the yarn is constant in the process of controlling the unreeling of the winding machine, so that the overall applicability and practical application capability are obviously improved.
Description
Technical Field
The invention relates to the technical field of electromechanical control, in particular to a semi-closed loop constant tension control method and system for a yarn releasing end of a winding machine.
Background
Electromechanical control technology has become more and more important in modern society, and gradually becomes one of the core technologies of modern manufacturing industry and processing industry, and along with the progress of technology, requirements on the electromechanical control technology are higher and higher, and application scenes needing adaptation are also more and more complex. For example, in the yarn winding process of the yarn releasing end of the winding machine, yarn tension and tension fluctuation are important factors for determining the quality of a product, the tension is unstable and negligence is caused, the inner and outer layering of the forming is inconsistent easily, the unwinding and the loop releasing are increased, the follow-up processing is not facilitated, and therefore the constant tension control is particularly important. At present, two common methods for controlling tension are adopted, one method is to control the brake force by controlling the output current, and the brake force is similar to a brake principle, so that the control is simple, the cost is low, the active unreeling is not realized, the passive unreeling is only realized, the control precision is low, and the brake force is only suitable for simple occasions with lower requirements; secondly, a tension control loop is formed by controlling the rotation speed difference of the unreeling motor and the traction motor, closed-loop constant tension control is realized by utilizing a tension controller feedback signal, the control precision is higher, the application is wider, but the control mode needs a site condition, namely, a stable and known linear speed exists in the whole tension control system, so that the tension control method of the yarn releasing end of the traditional winding machine has various defects and disadvantages.
Disclosure of Invention
Aiming at the defects of the existing method and the requirements of practical application, the problem that the yarn releasing end of the existing winding machine cannot actively unwind and adjust the tension of the yarn in real time in the discharging process under the complex conditions of no stable and known linear speed and the like is solved in order to improve the overall applicability and practical application capability of the yarn releasing end of the winding machine. On the one hand, the invention provides a semi-closed loop constant tension control method for a yarn releasing end of a winding machine, which comprises the following steps: obtaining a target tension value of the coiled material through input equipment; correcting the target tension value to obtain an actual input tension value; adjusting the thrust value of the first swing rod through the actual input tension value; adjusting the initial potential of the potentiometer to obtain a first angle feedback value; and acquiring a real-time angle feedback value, and adjusting the torque of the servo motor according to the first angle feedback value and the real-time angle feedback value until the first angle feedback value is equal to the real-time angle feedback value, so as to complete the semi-closed loop constant tension control of the yarn releasing end of the winding machine. The invention realizes the active unreeling control of the yarn unreeling end of the winding machine, so that the fluctuation of the yarn tension in the yarn unreeling process of the winding machine is dealt with in real time under the complex conditions of no stable and known linear speed and the like, the yarn tension is controlled to be constant, the quality and the efficiency are ensured, and the purpose of improving the overall applicability and the practical application capability of the yarn unreeling end of the winding machine is achieved.
Optionally, the semi-closed loop constant tension control method for the yarn releasing end of the winding machine further comprises the following steps: constructing a target tension value correction model; and correcting the target tension value by using the target tension value correction model to obtain an actual input tension value.
Optionally, the target tension value correction model satisfies the following formula:wherein F represents the actual input tension value, < >>Representing the target tension value,/->Representing the error scale factor, +.>Representing analog computation accuracy, +.>Representing the maximum thrust of the first pendulum rod, < > and->Representing the distance from the connection point of the first swing rod and the second swing rod to the rotation axis of the second swing rod, and +.>The distance from the swing rod roller to the second swing rod rotating shaft is represented. According to the invention, the target tension value correction model is constructed, and the tension control accuracy can be improved by using a formula calculation mode.
Optionally, the adjusting the thrust value of the first swing rod by the actual input tension value includes the following steps: the potential of the air pressure proportional valve is regulated according to the actual input tension value; according to the potential of the air pressure proportional valve, adjusting the pressure intensity in the swing rod cylinder; and obtaining a thrust value of the first swing rod according to the pressure in the swing rod cylinder.
Preferably, the thrust value of the first swing rod is equal to the target tension value. According to the invention, the thrust value of the first swing rod is equal to the target tension value, the tension value is controlled stably, the uniformity and compactness of the internal tension of the yarn are further realized, and the overall applicability and stability of the yarn releasing end of the winding machine are improved.
Optionally, the obtaining the first angle feedback value includes the following steps: according to the range of the potentiometer, the initial potential of the potentiometer is adjusted, and a signal of the initial potential of the potentiometer is obtained; and transmitting the signal of the initial potential to a calculation module, and obtaining the first angle feedback value through the calculation module.
Optionally, the acquiring the real-time angle feedback value includes the following steps: acquiring a real-time potential signal of the potentiometer in the operation process, and transmitting the real-time potential signal to a calculation module; and obtaining a real-time angle feedback value corresponding to the real-time potential through the calculation module.
Optionally, the adjusting the torque of the servo motor according to the first angle feedback value and the real-time angle feedback value includes the following steps: when the real-time angle feedback value is larger than the first angle feedback value, reducing the torque of the servo motor; and when the real-time angle feedback value is smaller than the first angle feedback value, increasing the torque of the servo motor.
Preferably, the torque of the servo motor satisfies the following formula:wherein T represents the torque of the servo motor, F represents the actual input tension value, +.>Representing the error scale factor, +.>Representing the real-time angle feedback value, +.>Representing the scaling factor.
According to the invention, the torque of the servo motor is changed by comparing the first angle feedback value with the real-time angle feedback value, yarn tension fluctuation is dealt with in real time, the purpose of controlling yarn tension to be constant is achieved, and the overall applicability and practical application capacity of the yarn discharging end of the winding machine are improved.
In a second aspect, in order to efficiently execute the semi-closed loop constant tension control method of the yarn releasing end of the winding machine provided by the invention, the invention further provides a semi-closed loop constant tension control system of the yarn releasing end of the winding machine, which comprises a processor, an input device, an output device and a memory, wherein the processor, the input device, the output device and the memory are mutually connected, the memory is used for storing a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the semi-closed loop constant tension control method of the yarn releasing end of the winding machine according to the first aspect of the invention. The semi-closed loop constant tension control system of the yarn releasing end of the winding machine has compact structure and stable performance, and can stably execute the semi-closed loop constant tension control method of the yarn releasing end of the winding machine, thereby further improving the overall applicability and practical application capability of the winding machine.
Drawings
FIG. 1 is a schematic flow chart of a semi-closed loop constant tension control method for a yarn releasing end of a winding machine;
FIG. 2 is a control schematic diagram of a semi-closed loop constant tension control method for a yarn releasing end of a winding machine provided by the invention;
fig. 3 is a system frame diagram of a semi-closed loop constant tension control system for a yarn releasing end of a winding machine.
Detailed Description
Specific embodiments of the invention will be described in detail below, it being noted that the embodiments described herein are for illustration only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known circuits, software, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale.
In one embodiment, referring to fig. 1 and fig. 2, fig. 1 is a schematic flow chart of a semi-closed loop constant tension control method for a yarn releasing end of a winding machine according to the present invention; FIG. 2 is a control schematic diagram of a semi-closed loop constant tension control method for a yarn releasing end of a winding machine provided by the invention; and the control principle is based on the existing yarn releasing device of the winding machine, the yarn releasing device of the winding machine is shown in fig. 2, and the yarn releasing device of the winding machine comprises the following components: 1. yarn, 2, servo motor, 3, auxiliary roller, 4, swing roller, 5, pendulum rod cylinder, 6, first pendulum rod, 7, second pendulum rod, 8, second pendulum rod rotation axis, 9, discharge direction. As shown in fig. 1, the semi-closed loop constant tension control method for the yarn releasing end of the winding machine comprises the following steps:
s1, obtaining a target tension value of the coiled material through input equipment.
In this embodiment, the target tension value of the yarn 1 is determined according to parameters such as the variety, specification and model of the yarn 1, where the target tension value is a value that enables the yarn 1 to achieve an expected effect in the discharging process, and specifically can be adjusted according to practical requirements to ensure accuracy and applicability of actual production results; for example, the target tension value of the yarn 1 may be input by touching the display, and it is obvious that the touch screen input mode is only one mode, and other input modes such as keyboard input may be adopted in other embodiments. In a further embodiment, the data in the database may also be selected to be recalled when the target tension value for yarn 1 is obtained.
S2, correcting the target tension value to obtain an actual input tension value.
In yet another embodiment, said modifying said target tension value to obtain an actual input tension value comprises the steps of: constructing a target tension value correction model, correcting the target tension value to obtain the actual input tension value, wherein the target tension value correction model meets the following formula:wherein F represents the actual input tension value, < >>Representing the target tension value,/->Representing the error scale factor, +.>Representing analog computation accuracy, +.>Indicating the maximum thrust of the first pendulum 6, +.>Represents the distance from the connection point of the first swing link 6 and the second swing link 7 to the second swing link rotation axis 8, < > or->Representing the distance of the rocker roller 4 from the second rocker axis 8, the model constructed in the examples is only a preferred condition of the invention, in whichHe or she may in one or some embodiments be modified according to practical needs. In this embodiment, the actual input tension value is obtained to compensate the input tension loss and provide the target tension value, so that convenience and accuracy are effectively improved.
S3, adjusting the thrust value of the first swing rod 6 through the actual input tension value.
In an alternative embodiment, the air pressure proportional threshold voltage value of the swing rod cylinder 5 is obtained according to the actual input tension value, and then the pressure in the swing rod cylinder 5 is adjusted so that the thrust value of the first swing rod 6 is equal to the target tension value.
S4, adjusting the initial potential of the potentiometer to obtain a first angle feedback value.
In yet another alternative embodiment, the initial potential of the potentiometer is adjusted, for example, a potentiometer with a resistance ranging from 0K to 5K omega can be selected, and the two ends pass through a 10V direct current switching power supply, when the second swing rod 7 is in a vertical state, the potential of the potentiometer is adjusted so that the potential value of the potentiometer is an intermediate value, namely 5V, and then the potentiometer is fixed on the second swing rod rotating shaft 8, and the potential of the potentiometer at the moment is determined to be the initial potential; the method comprises the steps of obtaining a first angle feedback value, transmitting a rotation angle signal or a current signal or a voltage signal of a potentiometer to a PLC analog calculation module, and obtaining the potentiometer angle feedback value through a proportion algorithm in PID operation; setting the potentiometer angle feedback value corresponding to the intermediate value of the potentiometer voltage value, namely 5V, as the first angle feedback value.
S5, acquiring a real-time angle feedback value, and adjusting the torque of the servo motor according to the first angle feedback value and the real-time angle feedback value until the first angle feedback value is equal to the real-time angle feedback value, so as to complete the semi-closed loop constant tension control of the yarn releasing end of the winding machine.
In the embodiment, the servo motor 2 provides power for unreeling the yarn 1, the torque refers to the moment for enabling the yarn 1 to rotate, the yarn 1 acts on the swinging roller 4, tension fluctuation of the yarn 1 triggers the swinging roller 4 to swing, the second swinging rod 7 is connected with the swinging roller 4, the potentiometer on the second swinging rod rotating shaft 8 rotates along with the swinging roller, and the generated rotation angle signal of the potentiometer or corresponding change of the current signal or the voltage signal obtains the real-time angle feedback value. When the real-time angle feedback value is larger than the first angle feedback value, reducing the torque of the servo motor 2; and when the real-time angle feedback value is smaller than the first angle feedback value, increasing the torque of the servo motor 2.
In the present embodiment, the torque magnitude of the servo motor 2 satisfies the following formula:wherein T represents the torque of the servo motor 2, F represents said actual input tension value,/->Representing the error scale factor, +.>Representing the real-time angle feedback value, +.>Representing the scaling factor. The formula of the torque magnitude of the servo motor 2 in the embodiments can be modified according to practical requirements in other one or some embodiments.
For example, assuming that the target tension is 1N, the first angle feedback value is 0, and the acquired real-time angle feedback value is-5, at this time, the first angle feedback value and the real-time angle feedback value are unequal, increasing the torque of the servo motor 2 by 5 (n·m) according to the real-time angle feedback value, and further re-acquiring the real-time angle feedback value to be 0, at this time, the new real-time angle feedback value and the first angle feedback value are equal, and ending the torque adjustment. By comparing the first angle feedback value with the real-time angle feedback value, the torque of the servo motor 2 is changed, tension fluctuation of the yarn 1 is dealt with in real time, the purpose of controlling the tension of the yarn 1 to be constant is achieved, and the overall applicability and practical application capacity of the yarn discharging end of the winding machine are effectively improved.
Referring to fig. 3, in an embodiment, in order to efficiently execute the method for controlling the semi-closed loop constant tension of the yarn releasing end of the winding machine provided by the present invention, the present invention further provides a system for controlling the semi-closed loop constant tension of the yarn releasing end of the winding machine, where the system for controlling the semi-closed loop constant tension of the yarn releasing end of the winding machine includes: the device comprises an input device, an output device, a processor and a memory, wherein the input device, the output device, the processor and the memory are mutually connected, and the memory contains program instructions which are used for the steps of the semi-closed loop constant tension control method of the yarn releasing end of the winding machine. The semi-closed loop constant tension control system of the yarn releasing end of the winding machine has compact structure and stable performance, and can stably execute the semi-closed loop constant tension control method of the yarn releasing end of the winding machine, thereby further improving the overall applicability and practical application capability of the invention.
In summary, the invention realizes the active unreeling control of the unreeling end of the winding machine under the complex conditions that no traction end gives stable and continuously known linear speed and the like, and the tension of the yarn is constant in the process of controlling the unreeling of the winding machine by real-time coping with yarn tension fluctuation, so that the overall applicability and practical application capability are obviously improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (10)
1. The semi-closed loop constant tension control method for the yarn releasing end of the winding machine is characterized by comprising the following steps of:
obtaining a target tension value of the coiled material through input equipment;
correcting the target tension value to obtain an actual input tension value;
adjusting the thrust value of the first swing rod through the actual input tension value;
adjusting the initial potential of the potentiometer to obtain a first angle feedback value;
and acquiring a real-time angle feedback value, and adjusting the torque of the servo motor according to the first angle feedback value and the real-time angle feedback value until the first angle feedback value is equal to the real-time angle feedback value, so as to complete the semi-closed loop constant tension control of the yarn releasing end of the winding machine.
2. The method for controlling the semi-closed loop constant tension at the yarn releasing end of a winding machine according to claim 1, wherein said correcting said target tension value to obtain an actual input tension value comprises the steps of:
constructing a target tension value correction model;
and correcting the target tension value by using the target tension value correction model to obtain an actual input tension value.
3. The method for controlling the semi-closed loop constant tension at the yarn releasing end of a winding machine according to claim 2, wherein the target tension value correction model satisfies the following formula:
，
wherein F represents the actual input tension value,representing the target tension value,/->Representing the error scale factor, +.>Representing analog computation accuracy, +.>Representing the first pendulumMaximum thrust of lever, < >>Representing the distance from the connection point of the first swing rod and the second swing rod to the rotation axis of the second swing rod, and +.>The distance from the swing rod roller to the second swing rod rotating shaft is represented.
4. The semi-closed loop constant tension control method of the yarn releasing end of the winding machine according to claim 1, wherein the step of adjusting the thrust value of the first swing rod by the actual input tension value comprises the following steps:
the potential of the air pressure proportional valve is regulated according to the actual input tension value;
according to the potential of the air pressure proportional valve, adjusting the pressure intensity in the swing rod cylinder;
and obtaining the thrust value of the first swing rod according to the pressure in the swing rod cylinder.
5. The method for controlling the semi-closed loop constant tension of the yarn releasing end of the winding machine according to claim 1, wherein the thrust value of the first swing rod is equal to the target tension value.
6. The method for semi-closed loop constant tension control of a yarn feeding end of a winding machine according to claim 1, wherein the step of obtaining the first angle feedback value comprises the steps of:
according to the range of the potentiometer, the initial potential of the potentiometer is adjusted, and a signal of the initial potential of the potentiometer is obtained;
and transmitting the signal of the initial potential to a calculation module, and obtaining the first angle feedback value through the calculation module.
7. The method for semi-closed loop constant tension control of a yarn releasing end of a winding machine according to claim 1, wherein the step of obtaining a real-time angle feedback value comprises the following steps:
acquiring a real-time potential signal of the potentiometer in the operation process, and transmitting the real-time potential signal to a calculation module;
and obtaining a real-time angle feedback value corresponding to the real-time potential through the calculation module.
8. The method for controlling the semi-closed loop constant tension of the yarn releasing end of the winding machine according to claim 1, wherein the adjusting the torque of the servo motor according to the first angle feedback value and the real-time angle feedback value comprises the following steps:
when the real-time angle feedback value is larger than the first angle feedback value, reducing the torque of the servo motor;
and when the real-time angle feedback value is smaller than the first angle feedback value, increasing the torque of the servo motor.
9. The method for controlling the semi-closed loop constant tension of the yarn releasing end of the winding machine according to claim 8, wherein the torque of the servo motor satisfies the following formula:
，
wherein T represents the torque of the servo motor, F represents the actual input tension value,representing the error scale factor, +.>Representing the real-time angle feedback value, +.>Representing the scaling factor.
10. The utility model provides a semi-closed loop constant tension control system of winding machine yarn end, its characterized in that, winding machine yarn end semi-closed loop constant tension control's system includes: the device comprises an input device, an output device, a processor and a memory, wherein the input device, the output device, the processor and the memory are mutually connected, and the memory contains program instructions for executing the steps of the semi-closed loop constant tension control method of the yarn releasing end of the winding machine according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311524384.2A CN117228435A (en) | 2023-11-16 | 2023-11-16 | Semi-closed loop constant tension control method and system for yarn releasing end of winding machine |
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| CN202311524384.2A CN117228435A (en) | 2023-11-16 | 2023-11-16 | Semi-closed loop constant tension control method and system for yarn releasing end of winding machine |
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Application publication date: 20231215 |