CN112960477B - A winding forming control method for real-time detection and dynamic tension adjustment - Google Patents

Abstract

The invention discloses a winding forming control method for real-time detection and dynamic tension adjustment. The steps are as follows: 1. The winding start stage. The overfeed wheel starts to rotate, and the yarn core starts to rotate after a delay. The overfeeding wheel does a uniform acceleration motion. Calculate the target rotation speed of the yarn core according to the rotation speed of the overfeeding wheel; the rotation speed of the driving yarn core dynamically chases the target rotation speed. Second, the stable operation stage. Dynamically adjust the target tension of the spool with the winding of the spool; under the condition that the linear speed of the spool remains constant, the target speed of the overfeeding wheel is dynamically calculated and updated according to the change of the target tension F, and the speed of the overfeeding wheel is dynamically driven. Chasing the target speed. 3. Machine stop stage. The yarn core makes a uniform deceleration movement, and the overfeeding wheel starts to decelerate after the delay. Calculate and update the target rotational speed of the overfeeding wheel according to the change of the rotational speed of the yarn core; the rotational speed of the driving overfeeding wheel dynamically chases the target rotational speed. Through the precise adjustment of the yarn tension, the invention makes the package yarn evenly wound, without yarn breakage and with less yarn defects.

Description

A winding forming control method for real-time detection and dynamic tension adjustment

technical field

The invention belongs to the technical field of textiles, and in particular relates to a winding forming control method for real-time detection and dynamic tension adjustment.

Background technique

In the textile industry, improving the winding and forming quality of yarn is an important measure to improve the quality of textiles, and tension is the key to affecting the winding and forming of yarn. Yarn tension not only affects the winding density and forming of the cheese, but also affects the evenness of the yarn, which directly affects the production and fabric quality of the downstream process. If the yarn tension is too small, it will lead to insufficient yarn traction, causing problems such as doffing and sagging; It can be seen that tension is one of the key factors in the yarn winding process.

In order to better control the yarn tension in the winding stage, the dynamic analysis is now carried out to determine the factors affecting the yarn tension control:

The dynamic balance torque equation of the bobbin is as follows:

Among them, F is the yarn tension; D is the current diameter of the bobbin; _Me is the winding motor torque; M _f is the friction torque on the winding shaft; J is the shaft equivalent moment of inertia; ω is the winding angular velocity; D ₀ is the diameter of the empty cylinder; D _max is the diameter of the full cylinder;

J should be composed of two parts, one is the moment of inertia J ₀ of the yarn core, which is a constant; the other is the moment of inertia J ₁ of the yarn on the bobbin, which is a dynamic moment of inertia that changes with the diameter D of the bobbin; : J=J ₀ +J ₁ .

Suppose the density of the yarn core is ρ ₀ , the density of the yarn is ρ , the height of the yarn core is h ₀ , and the height of the yarn wound on the yarn core is h, then J ₀ and J ₁ are expressed as:

可得：Substitute the above expressions for J ₀ and J ₁ into

Available:

可知，ω是时变量。故

为：Suppose the winding line speed is V, V remains constant during the winding process, and D increases gradually, from

It can be seen that ω is a time variable. Therefore

for:

和

的表达式代入

可得：put the above

and

Substitute the expression for

Available:

为一常量，设为K：in the formula

is a constant, set to K:

It can be known from the above formula that the yarn tension F is related to the diameter of the bobbin D, the winding speed V, the winding motor torque _{Me, and the friction torque M f on} the winding shaft. During the yarn winding process, from the start to the stop of the machine, the winding line speed V will experience a huge change from zero to the working speed and then back to zero, and the change of the yarn spool diameter D from the empty spool to the full spool will also reach several times. Even dozens of times. Therefore, in summary, in order to ensure that the yarn tension tends to the optimal value during the yarn winding process, it is necessary to design a winding forming control method that detects and dynamically adjusts the yarn tension in real time.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a winding forming control method for real-time detection and dynamic adjustment of yarn tension, which can control the difference in rotational speed between the overfeed wheel and the yarn bobbin according to the detected yarn tension, so as to dynamically adjust the yarn tension. Line tension, keep it close to the optimum value.

The concrete steps of the present invention are as follows:

Step 1, the winding start-up stage. The overfeeding wheel starts to rotate, and the bobbin starts to rotate after a delay of 0.1-0.5s. The overfeeding wheel does a uniform acceleration motion. Calculate and update the target rotational speed of the bobbin rotation according to the speed change of the overfeeding wheel; the rotational speed of the driving bobbin dynamically chases the target rotational speed.

The second step is the stable operation stage. The target tension F of the yarn is dynamically adjusted as the bobbin is wound as follows:

Among them, F _max is the initial value of the set tension, F _min is the tension setting value when the tube is full; D _b is the taper compensation amount; D is the current diameter of the yarn tube; D ₀ is the diameter of the empty tube; k is the taper coefficient; D ₁ is the starting diameter of tension adjustment; D _n is the ending diameter of tension adjustment; D _max is the diameter of the full cylinder;

Under the condition that the linear speed of the bobbin remains constant, the target speed of the overfeeding wheel is dynamically calculated and updated according to the change of the target tension F, and the speed of the overfeeding wheel is driven to dynamically chase the target speed.

Step 3, the machine stop stage. The yarn bobbin makes a uniform deceleration movement, and the overfeeding wheel starts to decelerate after a delay of 0.1 to 0.5s. Calculate and update the target rotational speed of the overfeeding wheel according to the change of the rotational speed of the bobbin; the rotational speed of the driving overfeeding wheel dynamically chases the target rotational speed.

Preferably, in step 1, the acceleration time of the overfeeding wheel is 10-15s; in step 3, the deceleration time of the bobbin is 5-10s; in step 1, the winding motor that drives the bobbin to rotate takes its own target speed and current speed as the input , which is dynamically controlled by ADRC algorithm. In steps 2 and 3, the overfeeding motor that drives the overfeeding wheel to rotate takes its own target speed and current speed as inputs, and performs dynamic control through the ADRC algorithm.

Preferably, the ADRC algorithm dynamically controls the motor as follows: input the target speed V ₀ (k) into the tracking differentiator; input the actual speed V ₂ (k) of the motor into the expansion state observer; input the tracking speed output by the tracking differentiator The error between V ₁ (k) and the observed velocity V ₃ (k) output by the extended state observer, and the tracking acceleration A ₁ (k) output by the tracking differentiator and the observed acceleration A ₂ (k) output by the extended state observer ) is input into the nonlinear control algorithm to obtain the voltage U ₀ ; under the adjustment of the observed disturbance Z ₁ (k) output by the extended state observer and the system parameter B, the voltage U of the input motor is obtained.

Preferably, the expressions for calculating the tracking velocity V ₁ (k) and the tracking acceleration A ₁ (k) in the tracking differentiator are as follows

Among them, V ₁ (k-1) and A ₁ (k-1) are the tracking speed and tracking acceleration of the previous iteration respectively; k is the current iteration number; h is the sampling period, δ is the parameter for adjusting the tracking speed, fst The (·) function is the fastest control integrated function.

Preferably, the expressions for calculating the observed velocity V ₃ (k), the observed acceleration A ₂ (k) and the observed disturbance Z ₁ (k) in the extended state observer are as follows:

α是指数；调参β₀₁、β₀₂、β₀₃是扩张状态观测器的三个反馈增益；B为系统参数。Among them, e is the systematic error; fe, fe ₁ are the conversion intermediate quantities; h is the sampling period; γ is the limit to distinguish the size of the error e; the function

α is the index; parameters β ₀₁ , β ₀₂ , β ₀₃ are the three feedback gains of the extended state observer; B is the system parameter.

Preferably, the expression of the voltage U ₀ output by the nonlinear control algorithm is as follows:

U ₀ =λ ₁ fal(E ₁ ,α ₁ ,γ)+λ ₂ fal(E ₂ ,α ₂ ,γ)

Among them, E ₁ is the velocity error, and the expression is E ₁ =V ₁ (k)-V ₃ (k); E ₂ is the acceleration error, and the expression is E ₂ =A ₁ (k)-A ₂ (k); λ ₁ is the gain of the tracking input signal; λ ₂ is the gain of the tracking differential signal _; γ is the limit for distinguishing the size _of the error _{e ;} function

B为系统参数。output to the motor

B is the system parameter.

Preferably, D ₁ and D _n respectively take the first and last n+1 equally divided nodes between D ₀ and D _max . n is the number of curve segment nodes.

The winding forming control method for real-time detection and dynamic adjustment of yarn tension adopts a yarn winding forming device including a fixed yarn guiding mechanism, an overfeeding mechanism, a tension sensor, a winding rod, a winding mechanism, a dynamic yarn guiding mechanism and frame. The winding mechanism is installed on the top of the frame, and includes a winding motor and a winding shaft. The vertical winding shaft is driven by the winding motor. A yarn core is sleeved and fixed on the winding reel.

The dynamic yarn guide mechanism includes a yarn guide rod, a yarn guide ring and a lift drive assembly. The vertically arranged yarn guide rod is installed on the frame, and is moved up and down under the drive of the lift drive assembly; the yarn guide rod is fixed with a yarn guide ring.

The fixed yarn guiding mechanism, the overfeeding mechanism and the tension sensor are installed on the side of the frame. The overfeed mechanism includes an overfeed wheel, a winding rod and an overfeed motor. The overfeeding wheel and the winding rod, whose axis is horizontal and arranged side by side, are supported on the outside of the frame. The overfeed wheel is driven by an overfeed motor mounted in the frame.

Preferably, during the working process, the yarn enters the overfeeding mechanism after passing through the fixed yarn guide mechanism, and is wound on the overfeeding wheel and the winding rod. After that, the yarn passes through the tension sensor again; the yarn passing through the tension sensor is wound onto the yarn core on the winding mechanism through the dynamic yarn guide mechanism.

Preferably, the yarn winding and forming device further includes a diameter measuring mechanism; the diameter measuring mechanism includes an angular displacement sensor, a fixed piece, a turning piece and a roller. The fixed piece is fixed on the top of the frame; the flip piece and the side of the fixed piece form a rotating pair with a vertical common axis. Vertically arranged rollers are supported on the flip sheet. The rollers correspond to the positions of the winding reels. A torsion spring is arranged between the flip sheet and the fixed sheet. The torsion spring provides the elastic force for the turning piece to turn over to the winding shaft, so that the roller is against the bobbin. The angle displacement sensor is installed on the fixed piece, and the input shaft is fixed with the flip piece.

Preferably, the lift drive assembly includes a synchronous wheel, a synchronous belt and a yarn guide motor. The two synchronous wheels arranged up and down are supported on the frame and connected by synchronous belts. The bottom end of the yarn guide rod is fixed with the timing belt. The yarn guide motor is fixed on the frame, and the output shaft is fixed with one of the synchronizing wheels.

Preferably, the angular displacement sensor adopts an absolute encoder.

The beneficial effects that the present invention has are:

1. In the present invention, through precise adjustment of yarn tension, the yarn bobbin is wound evenly, with no yarn breakage and fewer yarn defects.

2. The present invention optimizes the control methods of the start-up stage and the stop-stage. When starting, the overfeeding wheel accelerates uniformly, and rewinds the reel for chasing acceleration; when it stops, it decelerates uniformly around the reel, and the overfeeding wheel performs chasing and deceleration; the above two stages are the stages with the largest tension fluctuation. By optimizing the control methods of these two stages, It can effectively reduce the fluctuation of yarn tension, improve the stability of yarn winding work and the quality of package yarn.

3. The present invention compensates the traditional PID algorithm through the ADRC algorithm, which can not only effectively avoid the overshoot problem that is easy to occur when the traditional PID algorithm controls the tension, but also effectively suppress the influence of the external environment interference and motor heating on the motor speed.

4. The winding, yarn guiding, tension control and other links of the present invention are controlled by independent motors, so that each link of the winding process can be controlled in real time, and finally the purpose of high-speed and high-quality yarn winding is achieved.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the yarn winding forming device according to the present invention;

Fig. 2 is the flow chart of the winding start-up stage of the control method of the present invention;

Fig. 3 is the flow chart of the stable operation stage of the control method of the present invention;

Fig. 4 is the stop stage flow chart of the control method of the present invention;

Fig. 5 is the change curve diagram of the target yarn tension F of the control method of the present invention with the real-time diameter D of the yarn bobbin in the stable operation stage;

FIG. 6 is a control block diagram of the ADRC algorithm of the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in Fig. 1, a method for controlling yarn winding forming by real-time detection and dynamic adjustment of yarn tension adopts a yarn winding forming device, which includes a circuit control board (not shown), a fixed yarn guiding mechanism 1. Overfeeding mechanism 2, tension sensor 3, winding rod 4, winding mechanism 5, dynamic yarn guiding mechanism 6, diameter measuring mechanism 7, yarn core 8 and frame 13.

The rack 13 is a box body, and its side and top are provided with through holes and threaded holes for installing other mechanisms. The winding mechanism 5 is installed on the top of the frame 13 and includes a winding motor 11 and a winding reel. The winding motor 11 is fixed in the frame 13, and the output shaft is arranged upward, and is fixed with the vertical winding shaft. A yarn core 8 is sleeved and fixed on the winding reel.

The caliper mechanism 7 includes an angular displacement sensor 9, a fixed piece, a turning piece and a roller. The fixed piece is fixed on the top of the frame 13; the flip piece and the side of the fixed piece form a rotating pair with a vertical common axis. Vertically arranged rollers are supported on the flip sheet. The rollers correspond to the positions of the winding reels. A torsion spring is arranged between the flip sheet and the fixed sheet. The torsion spring provides an elastic force for the turning piece to turn over to the winding shaft, so that the roller is pressed against the yarn core 8 . The angle displacement sensor 9 is installed on the fixed plate, and the input shaft is fixed with the flip plate; the angle displacement sensor 9 adopts an absolute encoder. When the yarn core 8 is wound with yarn and the diameter increases, the turning plate will be pushed to rotate; according to the rotation angle of the turning plate detected by the angle displacement sensor 9, the diameter of the yarn bobbin can be converted.

The dynamic yarn guide mechanism 6 includes a yarn guide rod, a yarn guide ring and a lift drive assembly. The vertically arranged yarn guide rod is installed on the frame 13, and is moved up and down under the drive of the lift drive assembly; the yarn guide rod is fixed with a yarn guide ring. In the process of yarn winding, the yarn guide rod reciprocates in the longitudinal direction, so as to guide the yarn to be evenly wound on the yarn drum. The lift drive assembly includes a synchronous pulley, a synchronous belt and a yarn guide motor 12 . The two synchronous wheels arranged up and down are supported on the frame 13 and connected by synchronous belts. The yarn guide motor 12 is fixed on the frame 13, and the output shaft is fixed with one of the synchronizing wheels.

The fixed yarn guide mechanism 1 , the overfeed mechanism 2 and the tension sensor 3 are installed on the side of the frame 13 . The overfeeding mechanism 2 includes an overfeeding wheel, a winding rod 4 and an overfeeding motor 10 . The overfeeding wheel and the winding rod 4 , whose axes are horizontal and arranged side by side, are supported on the outside of the frame 13 . The overfeed wheel is driven by an overfeed motor 10 mounted in the frame 13 .

During the working process, the yarn enters the overfeeding mechanism 2 after passing through the fixed yarn guide mechanism 1, and is wound on the overfeeding wheel and the winding rod 4. After that, the yarn passes through the tension sensor 3 again; the yarn passing through the tension sensor 3 is wound onto the yarn core 8 on the winding mechanism 5 through the dynamic yarn guiding mechanism 6 . The fixed yarn guide mechanism 1 is used to stabilize the yarn and reduce the shaking amplitude of the yarn. The overfeed mechanism 2 is used to feed the yarn and adjust the yarn tension. The tension sensor 3 is used to detect the yarn tension in real time, and transmit the read tension signal to the MCU controller.

As shown in Figures 2, 3 and 4, the specific steps of the winding forming control method for real-time detection and dynamic tension adjustment are as follows:

Step 1, the winding startup stage, as shown in Figure 2;

1-1. After the MCU controller receives the start signal, it outputs corresponding commands to the drive circuit board, and the drive circuit board starts the yarn guide motor 12 , the overfeeding motor 10 and the winding motor 11 in sequence.

1-2. After the yarn guide motor 12 is started, the forward and reverse rotations are alternately rotated, and the yarn guide rod is driven to reciprocate longitudinally at a uniform speed;

1-3. The overfeeding motor 10 rotates with uniform acceleration until the rotation speed of the winding motor 11 reaches the working speed. In order to prevent the yarn tension from fluctuating too much, the value of the acceleration at the edge of the overfeeding wheel ranges from 2 to 8 m /s ² ; the acceleration time of the overfeeding motor is 10 to 15s.

1-4. The winding motor 11 starts slightly later than the overfeeding motor 10, and the delay time is generally 0.1-0.5s. During the acceleration of the overfeeding wheel, the linear speed of the bobbin wound on the yarn core 8 keeps a state of dynamically chasing the linear speed of the overfeeding wheel, so as to keep the tension of the yarn stable near the set value.

During the rotation of the winding motor 11 and the overfeeding motor 10, the target rotation speed V ₀ of the winding motor 11 is calculated according to the linear speed of the overfeeding wheel, and according to the target rotation speed V ₀ and the current rotation speed V ₂ of the winding motor 11 , The ADRC algorithm is used to dynamically adjust the input signal of the winding motor 11 .

In this case, the rotation speed of the winding motor 11 can quickly approach the target rotation speed (determined by the rotation speed of the overfeeding motor 10 ) and maintain a consistent increasing trend until the rotation speed of the winding motor 11 reaches the set working rotation speed. Therefore, the tension of the yarn during the start-up process of the system is kept stable and the occurrence of yarn breakage is reduced.

Step 2, stable operation stage, as shown in Figures 3 and 5;

In the stable operation stage of the machine, the method of tapered tension is used to control the yarn winding, that is, the target tension F of the yarn control changes with the change of the real-time diameter D of the yarn bobbin. The relationship between F and D is as follows:

In the formula, F _max is the initial value of the set tension, F _min is the tension setting value when the cylinder is full; D _b is the taper compensation amount, D ₀ is the diameter of the empty cylinder, and k is the taper coefficient. The change curve of the target yarn tension F with the real-time diameter D of the bobbin is shown in Figure 5. D ₁ , D ₂ , . . . , D _n are n n+1 equally divided nodes between D ₀ and D _max . n is the number of curve segment nodes.

The specific control steps in the stable operation stage are as follows:

2-1. There is a drum on the described caliper mechanism 7, the drum is close to the surface of the spool, and there is also a hinge structure on the described caliper mechanism 7, and the included angle of the hinge structure changes with the change of the diameter of the spool. Variety. The angle displacement sensor 9 is used to detect the included angle of the hinge structure in real time, and the real-time diameter D of the bobbin can be obtained from the included angle of the hinge structure, and then the real-time target tension F of the yarn can be obtained from D according to the above formula.

2-2. The tension sensor 3 detects the yarn tension in real time, and performs analog-to-digital conversion on the voltage signal of the detected tension to obtain a numerical value, which is taken as the actual tension value F _m .

2-3. Change the (angular) rotational speed of the winding motor 11 according to the real-time diameter D of the yarn bobbin to keep the linear speed of the yarn winding constant. The yarn tension may correspond to the rotational speed of the overfeed motor 10 under the condition that the yarn winding line speed is constant. Since the yarn tension value needs to be gradually reduced according to the formula with the winding process, it is necessary to dynamically adjust the rotation speed of the overfeeding motor 10 .

Specifically, the current target rotational speed V ₀ of the overfeeding motor 10 is obtained from the target tension F, and the current actual rotational speed V ₂ of the overfeeding motor 10 is obtained from the actual tension value _Fm . According to the corresponding target speed V ₀ and the corresponding actual speed V ₂ , the ADRC algorithm is used to dynamically adjust the input signal of the overfeeding motor 10 .

Step 3, the machine stop stage, as shown in Figure 4;

3-1. After the MCU controller receives the stop signal, it outputs corresponding commands to the drive circuit board, and the drive circuit board controls the winding motor 11, the overfeeding motor 10 and the yarn guide motor 12 to decelerate and stop in turn;

3-2. The winding motor 11 performs a uniform deceleration motion until the rotation speed of the winding motor 11 returns to zero; the deceleration time of the winding motor 11 is 5-10 s.

3-3. The overfeeding motor 10 starts to decelerate slightly after the winding motor 11, and the delay time is generally 0.1-0.5s. During the deceleration process of the winding motor 11, the linear speed of the overfeeding wheel maintains a state of dynamically chasing the linear speed of the bobbin, so as to keep the tension of the yarn stable near the set value.

During the deceleration process of the winding motor 11 and the overfeeding motor ₁₀ , the target rotational speed V ₀ of the _overfeeding motor is calculated according to the bobbin line speed. The algorithm dynamically adjusts the input signal to the overfeed motor 10 .

In this case, the rotation speed of the overfeeding motor 10 can quickly approach the target rotation speed (determined by the rotation speed of the winding motor 11 ) and maintain a consistent deceleration trend until the rotation speed of the winding motor 11 returns to zero. Therefore, the tension of the yarn during the stopping process of the system is kept stable and the occurrence of yarn breakage is reduced.

3-4. The yarn guide motor 12 is braked and stopped.

According to the changing characteristics of the tension in different stages of the yarn winding process, the invention proposes three control methods, which can effectively ensure that the tension tends to the optimum value during the yarn winding process, and can effectively improve the yarn quality and production efficiency.

As shown in Fig. 6, the process of dynamic adjustment of ADRC algorithm is as follows: input the target speed V ₀ (k) into the tracking differentiator; input the actual speed V ₂ (k) of the motor into the expansion state observer; track the output of the tracking differentiator The error between the velocity V ₁ (k) and the observed velocity V ₃ (k) output by the expansion state observer, and the tracking acceleration A ₁ (k) output by the tracking differentiator and the observed acceleration A ₂ ( The error between k) is input into the nonlinear control algorithm to obtain the voltage U ₀ ; under the adjustment of the observed disturbance Z ₁ (k) output by the extended state observer and the system parameter B, the voltage U of the input motor is obtained.

Tracking differentiator (TD): Input the target rotational speed V ₀ (k) at the kh-th time to the tracking differentiator. After calculation, the tracking differentiator outputs the tracking velocity V ₁ (k) and the tracking acceleration A ₁ (k) at the kh-th moment, and the calculation formula is as follows:

k is the current iteration number, which is an integer, and k∈[1,+∞], V ₁ (0)=0, A ₁ (0)=0

In the formula, h is the sampling period, δ is the parameter for adjusting the tracking speed, and the fst(·) function is the fastest control comprehensive function, which is described as follows:

In the formula, sgn( ) is the sign function; x ₁ and x ₂ are the two independent variable parameters of the fastest control comprehensive function respectively; a and y are the two intermediate variables of the fastest control comprehensive function respectively; d=δh, d ₀ =hd, y=x ₁ +hx ₂ ,

The tracking differentiator involves two parameters h and δ; h is the sampling period; δ determines the tracking speed; the larger the δ, the closer the filtered output is to the input.

Expanded state observer (ESO): Input the actual speed V ₂ (k) of BU and motor at time kh to the expanded state observer, where B is the system parameter (the relationship parameter between motor speed and voltage, that is, V=B *U), U is the voltage output to the motor. After calculation, the extended state observer outputs the observed velocity V ₃ (k), the observed acceleration A ₂ (k) and the observed disturbance Z ₁ (k). The observed disturbance Z ₁ (k) is the total disturbance inside and outside the system. After dividing it by B, the voltage U ₀ output by the nonlinear control algorithm is subtracted, that is, the voltage U to the motor is obtained. The formula for the extended state observer is as follows:

Among them, e is the systematic error, α is the exponent, γ is the limit to distinguish the size of the error e, and the parameters β ₀₁ , β ₀₂ , and β ₀₃ are the feedback gains of the extended state observer, which are determined by the sampling time and order of the controlled object .

Nonlinear control algorithm (NLSEF): Different from the traditional PID control method, a nonlinear combination in the form of PD is used for control here. The input is velocity error E ₁ and acceleration error E ₂ , and the output is U ₀ . The formula of the nonlinear control algorithm is as follows:

E ₁ =V ₁ (k)-V ₃ (k), E ₂ =A ₁ (k)-A ₂ (k)

U ₀ =λ ₁ fal(E ₁ ,α ₁ ,γ)+λ ₂ fal(E ₂ ,α ₂ ,γ)

In the formula, the parameters are adjusted with exponents α ₁ and α ₂ (0<α ₁ <1<α ₂ ), tracking input signal gain λ ₁ , tracking differential signal gain λ ₂ , γ.

Claims (10)

1. a winding forming control method for real-time detection and dynamic adjustment of tension, is characterized in that: step 1, winding start stage; overfeeding wheel starts to rotate, and the yarn core starts to rotate after delay; overfeeding wheel does uniform acceleration motion; Calculate and update the target speed of the yarn core rotation according to the speed change of the overfeeding wheel; the speed of the driving yarn core dynamically chases the target speed; the winding motor driving the yarn core rotation takes its own target speed and current speed as input, and uses the ADRC algorithm to dynamically control; Step 2, the stage of stable operation; the target tension F of the bobbin is dynamically adjusted with the winding of the bobbin as follows:

Among them, F _max is the initial value of the set tension, F _min is the tension setting value when the roll is full; D _b is the taper compensation amount; D is the current diameter of the bobbin; D ₀ is the diameter of the empty drum; k is the taper coefficient; D ₁ is the starting diameter of tension adjustment; D _n is the ending diameter of tension adjustment; D _max is the diameter of the full cylinder; Under the condition that the linear speed of the bobbin remains constant, the target speed of the overfeeding wheel is dynamically calculated and updated according to the change of the target tension F, and the speed of the overfeeding wheel is driven to dynamically chase the target speed; Step 3. Machine stop stage; the yarn bobbin performs a uniform deceleration motion, and the overfeeding wheel starts to decelerate after a delay; the target rotation speed of the overfeeding wheel is calculated and updated according to the speed change of the yarn bobbin; the speed of the overfeeding wheel is driven to dynamically chase the target rotation speed. 2. a kind of winding forming control method of real-time detection and dynamic tension adjustment according to claim 1, is characterized in that: in step 1, the acceleration duration of the overfeeding wheel is 10～15s; in step 3, the deceleration duration of the yarn core is 5 to 10s; in steps 2 and 3, the overfeeding motor driving the rotation of the overfeeding wheel takes its own target speed and current speed as inputs, and performs dynamic control through the ADRC algorithm. 3. the winding forming control method of a kind of real-time detection and dynamic adjustment tension according to claim 2, is characterized in that: the process of ADRC algorithm dynamic control motor is specifically as follows: target speed V ₀ (k) is input to tracking differentiator ; Input the actual speed V ₂ (k) of the motor into the expansion state observer; track the error between the tracking speed V ₁ (k) output by the differentiator and the observation speed V ₃ (k) output by the expansion state observer, and the tracking The error between the tracking acceleration A ₁ (k) output by the differentiator and the observed acceleration A ₂ (k) output by the expansion state observer is input into the nonlinear control algorithm to obtain the voltage U ₀ ; Under the adjustment of disturbance Z ₁ (k) and system parameter B, the voltage U of the input motor is obtained. 4. the winding forming control method of a kind of real-time detection and dynamic adjustment tension according to claim 3, is characterized in that: in the tracking differentiator, calculate the expression of tracking speed V ₁ (k) and tracking acceleration A ₁ (k) The formula is as follows

Among them, V ₁ (k-1) and A ₁ (k-1) are the tracking speed and tracking acceleration of the previous iteration respectively; k is the current iteration number; h is the sampling period, δ is the parameter for adjusting the tracking speed, fst (·) The function is the fastest control comprehensive function; The expressions for calculating the observed velocity V ₃ (k), the observed acceleration A ₂ (k) and the observed disturbance Z ₁ (k) in the extended state observer are as follows:

Among them, e is the systematic error; fe, fe ₁ are the conversion intermediate quantities; h is the sampling period; γ is the limit to distinguish the size of the error e; the function

α is the index; parameters β ₀₁ , β ₀₂ , β ₀₃ are the three feedback gains of the extended state observer; B is the system parameter. 5. the winding forming control method of a kind of real-time detection and dynamic adjustment tension according to claim 3, is characterized in that _: the expression of the voltage U of nonlinear control algorithm output is as follows: U ₀ =λ ₁ fal(E ₁ ,α ₁ ,γ)+λ ₂ fal(E ₂ ,α ₂ ,γ) Among them, E ₁ is the velocity error, and the expression is E ₁ =V ₁ (k)-V ₃ (k); E ₂ is the acceleration error, and the expression is E ₂ =A ₁ (k)-A ₂ (k); λ ₁ is the gain _of the tracking input signal; λ ₂ is the gain _of the tracking differential signal; γ is the limit to distinguish the size of the error _{e ;} function

output to the motor

B is the system parameter. 6. a kind of winding forming control method of real-time detection and dynamic tension adjustment according to claim 1, is characterized in that: D ₁ , D _n take the first and last n between D ₀ to D _max respectively +1 equally divided nodes; n is the number of curve segment nodes. 7. A kind of winding forming control method for real-time detection and dynamic tension adjustment according to claim 1, characterized in that: the adopted yarn winding forming device comprises a fixed yarn guiding mechanism (1), an overfeeding mechanism (2) ), a tension sensor (3), a winding rod (4), a winding mechanism (5), a dynamic yarn guide mechanism (6) and a frame (13); the winding mechanism (5) is installed on the frame ( 13) top, including a winding motor (11) and a winding shaft; the vertical winding shaft is driven by the winding motor (11); the winding shaft is sleeved and fixed with a yarn core (8); The dynamic yarn guide mechanism (6) comprises a yarn guide rod, a yarn guide ring and a lifting and lowering drive assembly; the vertically arranged yarn guide rod is installed on the frame (13), and is moved up and down under the driving of the lifting and lowering driving assembly; The yarn guide rod is fixed with a yarn guide ring; The fixed yarn guiding mechanism (1), the overfeeding mechanism (2) and the tension sensor (3) are installed on the side of the frame (13); the overfeeding mechanism (2) includes an overfeeding wheel, a winding rod (4) and the overfeeding motor (10); the overfeeding wheel and the winding rod (4) whose axis is horizontal and arranged side by side are supported on the outside of the frame (13); the overfeeding wheel is installed in the frame (13) by the overfeeding The motor (10) is driven. 8. A kind of winding forming control method of real-time detection and dynamic adjustment of tension according to claim 7, is characterized in that: in the working process, the yarn enters the overfeeding mechanism (2) after passing through the fixed yarn guide mechanism (1). ), wound on the overfeeding wheel and the winding rod (4); after that, the yarn passes through the tension sensor (3); the yarn passing through the tension sensor (3) is wound through the dynamic yarn guide mechanism (6) onto the yarn core (8) on the winding mechanism (5). 9 . The winding forming control method for real-time detection and dynamic tension adjustment according to claim 7 , characterized in that: the yarn winding forming device further comprises a diameter measuring mechanism (7); The diameter mechanism (7) includes an angular displacement sensor (9), a fixed piece, a turning piece and a roller; the fixed piece is fixed on the top of the frame (13); the side of the turning piece and the fixed piece form a rotating pair with a vertical common axis; A vertically arranged roller is supported on the turning sheet; the roller corresponds to the position of the winding shaft; a torsion spring is arranged between the turning sheet and the fixed sheet; ); the angle displacement sensor (9) is installed on the fixed piece, and the input shaft is fixed with the flip piece. 10. A winding forming control method for real-time detection and dynamic tension adjustment according to claim 7, characterized in that: the lift drive assembly comprises a synchronous wheel, a synchronous belt and a yarn guide motor (12); The two synchronizing wheels of the cloth are both supported on the frame (13) and connected by a synchronous belt; the bottom end of the yarn guide rod is fixed with the synchronous belt; the yarn guide motor (12) is fixed on the frame (13), and the output shaft is connected to the synchronous belt. One of the synchronizing wheels is fixed.

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