CN-122025296-A - Paying-off tension control system and paying-off tension control method for stranding machine

CN122025296ACN 122025296 ACN122025296 ACN 122025296ACN-122025296-A

Abstract

The invention relates to the technical field of wire and cable manufacturing, in particular to a paying-off tension control system and a paying-off tension control method of a stranding machine, wherein the method comprises the steps of calculating steady-state rotation resistance maintenance values and dynamic comprehensive inertial loads of all shafts; the method comprises the steps of establishing a set based on steady-state rotation resistance maintaining values of all shafts, determining a group median reference value, generating differential compensation torque according to the group median reference value, calculating the maximum load duty ratio shaft occupancy rate by utilizing the steady-state rotation resistance maintaining values and dynamic comprehensive inertial loads, correcting an original acceleration instruction to obtain limited acceleration when the maximum load duty ratio shaft occupancy rate exceeds the limit value, and finally fusing the differential compensation torque and the inertial feedforward torque based on the limited acceleration to generate an execution instruction. According to the invention, the difference of each shaft is dynamically compensated through the group reference, and the acceleration is limited in real time by utilizing the load feedback, so that the tension fluctuation and overload risk in multi-shaft synchronization are effectively solved, the high-precision constant tension control and stable acceleration and deceleration are realized, and the cable quality and equipment safety are improved.

Inventors

ZHUANG JUNHONG
LV WENHAN

Assignees

张家港三丰机电开发有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The paying-off tension control method of the stranding machine is characterized by comprising the following steps of: according to the working condition characteristics of the current control period, determining a steady-state rotation resistance maintaining value and a dynamic comprehensive inertial load of each pay-off shaft in the current control period; Acquiring a resistance characteristic set formed by the steady-state rotation resistance maintenance values of all pay-off shafts, and determining a group median reference value of a standard resistance level under the current environmental working condition according to the resistance characteristic set; determining differential compensation torque of each pay-off shaft in a current control period according to the difference condition between the steady-state rotation resistance maintaining value of each pay-off shaft and a median reference value in the group; Determining the occupancy rate of a maximum load duty ratio shaft according to the steady-state rotation resistance maintaining value of each pay-off shaft in the current control period and the dynamic comprehensive inertial load; Correcting an acceleration instruction of a system virtual main shaft in a current period through a comparison result of the maximum load duty ratio shaft occupancy rate and a preset safety load threshold value to obtain limited acceleration in the current control period; And determining the final execution torque command of each pay-off shaft in the current control period according to the differential compensation torque of each pay-off shaft in the current control period and the inertia feedforward torque determined based on the limited acceleration.
2. The method for controlling pay-off tension of stranding machine according to claim 1, wherein the determining the steady-state rotation resistance holding value and the dynamic integrated inertial load of each pay-off spool in the current control period according to the working condition characteristics of the current control period comprises: Acquiring an acceleration instruction and a real-time rotating speed of a main traction motor in the stranding machine under the current control period; judging the operation condition of the stranding machine in the current control period according to the acceleration instruction and the real-time rotating speed in the current control period, wherein the operation condition is a steady-state sampling interval or a transient-state sampling interval; When judging that the steady-state sampling interval is generated, determining a steady-state rotation resistance holding value of each wire releasing shaft in a current control period according to the difference condition of the set tension braking torque of the current period and the actual output torque of the motor for each wire releasing shaft of the wire stranding machine; And when the transient sampling interval is determined, for each pay-off shaft of the wire stranding machine, determining the dynamic comprehensive inertial load of each pay-off shaft in the current control period according to the set tension braking torque, the actual output torque of the motor and the steady-state rotation resistance maintaining value of the current period, wherein the steady-state rotation resistance maintaining value of each pay-off shaft in the current control period is equal to the steady-state rotation resistance maintaining value of the last control period.
3. The method for controlling pay-off tension of a stranding machine according to claim 2, wherein the determining the operation condition of the stranding machine in the current control period according to the acceleration command and the real-time rotation speed in the current control period comprises: setting an acceleration threshold value and a rotation speed threshold value; When the absolute value of the acceleration command is smaller than or equal to the acceleration threshold value and the absolute value of the real-time rotating speed is larger than the rotating speed threshold value, judging that the operation working condition of the stranding machine in the current control period is a steady-state sampling interval; And when the absolute value of the acceleration command is larger than the acceleration threshold value or the absolute value of the real-time rotating speed is smaller than or equal to the rotating speed threshold value, judging that the operation working condition of the stranding machine in the current control period is a transient sampling interval.
4. The wire-laying tension control method of a wire stranding machine according to claim 2, wherein the determining the dynamic integrated inertial load of each wire-laying shaft in the current control period according to the set tension braking torque, the actual output torque of the motor and the steady-state rotation resistance holding value in the current control period comprises: calculating the difference between the absolute value of the set tension braking torque of the same pay-off shaft and the steady-state rotation resistance maintaining value to serve as a motor basic torque; and determining the absolute value of the difference between the absolute value of the actual output torque of the motor and the basic torque of the motor as the dynamic comprehensive inertial load of the corresponding pay-off shaft in the current control period.
5. The stranding machine pay-off tension control method of claim 1, wherein the determining a group median reference value of a standard resistance level under a current environmental condition according to the resistance feature set comprises: determining a unit damping coefficient of each pay-off shaft according to a steady-state rotation resistance maintaining value and an angular speed of the same pay-off shaft in a current control period; sequencing all steady-state rotation resistance maintenance values in the resistance feature set according to a preset sequence by using a unit damping coefficient of each pay-off shaft to obtain a resistance ordered sequence; determining the median of the resistance ordered sequences and taking the median as the population median benchmark value.
6. The stranding machine pay-off tension control method of claim 1 wherein the determining the differential compensation torque for each pay-off spool over the current control period based on the difference between the steady state rotational resistance maintenance value for each pay-off spool and a median reference value in the population comprises: Determining individual wear resistance deviation values of each pay-off spool in a current control period according to the difference value between the steady-state rotation resistance maintenance value of the same pay-off spool and the group median reference value; Setting a resistance deviation threshold, and when the absolute value of the individual wear resistance deviation value of a certain pay-off shaft is smaller than the resistance deviation threshold, assigning the differential compensation torque of the corresponding pay-off shaft in the current control period to be zero; And when the absolute value of the individual wear resistance deviation value of a certain pay-off shaft is larger than or equal to the resistance deviation threshold value, determining a differential compensation torque according to the individual wear resistance deviation value of the corresponding pay-off shaft and a preset compensation gain coefficient.
7. The wire-stranding machine pay-off tension control method of claim 1, wherein the determining the maximum load-to-duty-axis occupancy based on the steady-state rotational resistance maintenance value and the dynamic integrated inertial load for each wire-paying-off axis at a current control period comprises: Calculating a fusion value of the steady-state rotation resistance holding value of the pay-off spool, the dynamic comprehensive inertial load and the set tension braking torque for each pay-off spool respectively, and recording the fusion value as total electromagnetic torque; determining the rated capacity occupancy rate of the motor of the pay-off spool according to the total electromagnetic torque and the torque parameter of the rated peak output of the lead-in servo motor; And selecting a maximum value from the rated capacity occupancy rate of the motors of all the pay-off shafts, and determining the maximum value as the maximum load duty ratio shaft occupancy rate.
8. The paying-off tension control method of a wire stranding machine according to claim 1, wherein the step of correcting the acceleration command of the virtual main shaft of the system in the current period to obtain the limited acceleration in the current control period according to the comparison result of the maximum load duty ratio shaft occupancy rate and the preset safety load threshold value comprises the following steps: If the maximum load duty ratio axle occupancy rate is larger than the preset safety load threshold value, weighting the acceleration instruction of the system virtual main axle in the current period by utilizing a correction coefficient determined by the preset safety load threshold value and the maximum load duty ratio axle occupancy rate to obtain the limited acceleration in the current control period; If the maximum load duty ratio axle occupancy rate is smaller than or equal to a preset safety load threshold value, limiting the acceleration instruction of the system virtual main axle in the current control period based on a preset acceleration recovery rate limiting strategy to obtain the acceleration instruction after limiting; The acceleration recovery rate limiting strategy is configured to limit the change amplitude of the post-limit acceleration command of the current period relative to the post-limit acceleration command of the previous period to be not more than a preset recovery threshold value, and the amplitude of the post-limit acceleration command is not more than the amplitude of the acceleration command of the virtual main shaft of the system.
9. The method according to claim 1, wherein determining the final execution torque command of each pay-off spool in the current control period according to the differential compensation torque of each pay-off spool in the current control period in combination with the inertial feedforward torque determined based on the limited acceleration, comprises: acquiring a set tension braking torque of each pay-off shaft in a current control period; Carrying out data fusion processing on the differential compensation torque, the set tension braking torque and the inertia feedforward torque of the same pay-off shaft to obtain a fusion value, and determining the fusion value as a final execution torque instruction of the corresponding pay-off shaft in the current control period; the inertia feedforward torque is equal to the product of real-time rotational inertia of the same pay-off shaft in the current control period and the limited acceleration.
10. A strander paying-off tension control system comprising a processor and a memory, the processor being configured to process instructions stored in the memory to implement a strander paying-off tension control method as claimed in any one of claims 1-9.

Description

Paying-off tension control system and paying-off tension control method for stranding machine Technical Field The invention relates to the technical field of wire and cable manufacturing, in particular to a paying-off tension control system and a paying-off tension control method for a stranding machine. Background The rigid cage type stranding machine drives a plurality of pay-off reels to synchronously rotate through cage rotation in wire and cable manufacturing, and stranded single wires are stranded into a cable, and the key of cable quality is the dynamic consistency of the tension of each pay-off reel. The current method mainly adopts two control schemes, namely open-loop control of a unified command, namely sending the same moment command to all motors, wherein the actual tension is uneven due to individual resistance difference of each pay-off spool in the aspects of assembly tightness and abrasion degree, and closed-loop control based on a sensor, wherein the accurate adjustment can be realized through real-time feedback, but a large number of tension sensors are required to be configured, so that the cost is high and the maintenance is complex. In actual working conditions, tension control also faces two kinds of mixed interference, namely, on one hand, the viscosity of lubricating grease of all bearings is changed consistently due to the change of the ambient temperature, so that the whole friction resistance drifts, and on the other hand, the inherent mechanical difference of each shaft brings about individual resistance fluctuation. In the prior art, on the premise of not increasing the cost of a sensor, the two kinds of interference are difficult to effectively separate from the torque of a motor, so that a fixed compensation value cannot adapt to integral drift, the problem that excessive compensation or insufficient compensation is easily caused when a cold machine is started or a heat engine runs easily occurs, and meanwhile, a shaft with the heaviest load is always broken due to the saturated torque in the acceleration and deceleration process. Therefore, how to adaptively separate environmental impact from individual differences and restrict a system short plate without depending on additional sensors so as to improve the running stability under all working conditions becomes a technical problem to be solved. Disclosure of Invention In order to solve the technical problem of low dynamic control precision of a stranding machine under all working conditions caused by the composite influence of environmental interference and individual difference on paying-off tension, the invention aims to provide a paying-off tension control system and a paying-off tension control method of the stranding machine, and the adopted technical scheme is as follows: The embodiment of the invention provides a paying-off tension control method of a stranding machine, which comprises the following steps of: according to the working condition characteristics of the current control period, determining a steady-state rotation resistance maintaining value and a dynamic comprehensive inertial load of each pay-off shaft in the current control period; Acquiring a resistance characteristic set formed by the steady-state rotation resistance maintenance values of all pay-off shafts, and determining a group median reference value of a standard resistance level under the current environmental working condition according to the resistance characteristic set; determining differential compensation torque of each pay-off shaft in a current control period according to the difference condition between the steady-state rotation resistance maintaining value of each pay-off shaft and a median reference value in the group; Determining the occupancy rate of a maximum load duty ratio shaft according to the steady-state rotation resistance maintaining value of each pay-off shaft in the current control period and the dynamic comprehensive inertial load; Correcting an acceleration instruction of a system virtual main shaft in a current period through a comparison result of the maximum load duty ratio shaft occupancy rate and a preset safety load threshold value to obtain limited acceleration in the current control period; And determining the final execution torque command of each pay-off shaft in the current control period according to the differential compensation torque of each pay-off shaft in the current control period and the inertia feedforward torque determined based on the limited acceleration. Further, the determining the steady-state rotation resistance maintaining value and the dynamic comprehensive inertial load of each pay-off shaft in the current control period according to the working condition characteristics of the current control period includes: Acquiring an acceleration instruction and a real-time rotating speed of a main traction motor in the stranding machine under the current control period; judging the operation condi