CN113377136B - Method and device for controlling joint length in automatic material receiving process and readable medium - Google Patents
Method and device for controlling joint length in automatic material receiving process and readable medium Download PDFInfo
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- CN113377136B CN113377136B CN202110727134.3A CN202110727134A CN113377136B CN 113377136 B CN113377136 B CN 113377136B CN 202110727134 A CN202110727134 A CN 202110727134A CN 113377136 B CN113377136 B CN 113377136B
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- 238000005520 cutting process Methods 0.000 claims description 17
- 238000002789 length control Methods 0.000 claims description 12
- 238000002788 crimping Methods 0.000 claims description 10
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- 238000003825 pressing Methods 0.000 description 32
- 239000002390 adhesive tape Substances 0.000 description 10
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- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention provides a method, a device and a readable medium for controlling the length of a joint in an automatic material receiving process, wherein the method comprises the following steps: acquiring a first position of a joint mark when a compression roller is used for carrying out compression joint on two material rolls in the automatic material receiving process; acquiring a second position where the action part is installed; wherein, the action part comprises a press roller and a cutter; determining a compression roller lag parameter and a cutter lag parameter; calculating a third position of the joint mark when the press roller acts according to the first position and the press roller lag parameter; calculating a fourth position of the joint mark when the cutter acts according to the second position and the cutter lag parameter; and controlling the joint length in the automatic material receiving process according to the third position and the fourth position. This scheme can realize the accurate control to joint length.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a method and a device for controlling joint length in an automatic material receiving process and a readable medium.
Background
With the rapid development of mechanical automation technology, the automatic material receiving technology is widely applied to industrial production with the advantages of intelligence, time saving, capability of replacing new materials without suspending equipment and the like.
However, the length of the joint in the automatic material receiving process is critical, for example, too long a joint may cause material waste, and too short a joint may directly cause material receiving failure. Therefore, the method has important significance in controlling the length of the joint in the automatic material receiving process.
Disclosure of Invention
The invention provides a method and a device for controlling the length of a joint in an automatic material receiving process and a readable medium, which can realize accurate control on the length of the joint.
In a first aspect, an embodiment of the present invention provides a method for controlling a joint length in an automatic material receiving process, where the method includes:
acquiring a first position of a joint mark when a compression roller is used for carrying out compression joint on two material rolls in the automatic material receiving process;
acquiring a second position where the action part is installed; wherein the action part comprises the compression roller and a cutter;
determining a compression roller lag parameter and a cutter lag parameter;
calculating a third position of the joint mark when the press roller acts according to the first position and the press roller lag parameter;
calculating a fourth position of the joint mark when the cutter acts according to the second position and the cutter lag parameter;
and controlling the joint length in the automatic material receiving process according to the third position and the fourth position.
In one possible implementation, the step of determining the roll hysteresis parameter comprises:
acquiring the action time of the compression roller required when the compression roller performs action on the material roll in a first period;
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the first period;
and determining the press roller lag parameter according to the current rotating speed and the press roller action time.
In one possible implementation, the step of determining the cutter hysteresis parameter comprises:
acquiring the cutter action time required by the cutter to act on the material roll in the second period;
obtaining the current rotating speed of the replaced new material roll in the two material rolls in the second period;
and determining the cutter lag parameter according to the current rotating speed and the cutter action time.
In a possible implementation manner, the controlling the joint length in the automatic material receiving process according to the third position and the fourth position includes:
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the current third period;
performing integral operation on the current rotating speed to obtain the rotating speed of the new material roll in the third period;
obtaining the real-time position of the joint mark according to the rotation number;
when the real-time position is the third position, controlling the compression roller to perform bonding operation on the two material rolls; and the number of the first and second groups,
and when the real-time position is the fourth position, controlling the cutter to perform cutting operation on the replaced old material roll in the two material rolls.
In one possible implementation, the step of obtaining the current rotation speed includes:
acquiring the linear speed and the initial diameter of the new material roll;
calculating the current rotating speed of the new material roll in the current period according to the following calculation formula I:
wherein n is i For characterizing the speed of rotation of the new roll in the i-th cycle, v for characterizing the line speed, d i-1 For characterizing the diameter of the new roll in the i-th cycle, i =1, d 0 For characterizing the initial diameter.
In one possible implementation manner, the calculating a third position of the joint flag during the roll motion according to the first position and the roll lag parameter includes:
and calculating the difference value between the first position and the press roll lag parameter to obtain a third position of the joint mark when the press roll acts.
In a possible implementation manner, the calculating a fourth position of the joint mark in the cutter action according to the second position and the cutter lag parameter includes:
acquiring the target joint length in the crimping process of the two material rolls;
calculating the difference between the target joint length and the cutter lag parameter to obtain a lag correction value;
and calculating the sum of the second position and the hysteresis correction value to obtain a fourth position of the joint mark when the cutter is actuated.
In a second aspect, an embodiment of the present invention provides a device for controlling a joint length in an automatic material receiving process, where the device includes:
the position acquisition module is used for acquiring a first position of a joint mark when the compression roller is used for carrying out compression joint on two material rolls in the automatic material receiving process; acquiring a second position where the action part is installed; wherein the action part comprises the press roller and a cutter;
a parameter determining module for determining a roller lag parameter and a cutter lag parameter;
the position calculation module is used for calculating a third position of the joint mark during the action of the compression roller according to the first position acquired by the position acquisition module and the compression roller lag parameter determined by the parameter determination module; calculating a fourth position of the joint mark when the cutter acts according to the second position acquired by the position acquisition module and the cutter lag parameter determined by the parameter determination module;
and the joint length control module is used for controlling the joint length in the automatic material receiving process according to the third position and the fourth position obtained by the position calculation module.
In one possible implementation, the parameter determination module, when determining the roll lag parameter, is configured to perform the following operations:
acquiring the action time of the compression roller required when the compression roller performs action on the material roll in a first period;
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the first period;
and determining the press roller lag parameter according to the current rotating speed and the press roller action time.
In one possible implementation, the parameter determining module, when determining the cutter hysteresis parameter, is configured to perform the following operations:
acquiring the cutter action time required by the cutter to act on the material roll in the second period;
obtaining the current rotation speed of the replaced new material roll in the two material rolls in the second period;
and determining the cutter lag parameter according to the current rotating speed and the cutter action time.
In a possible implementation manner, when the joint length control module controls the joint length in the automatic material receiving process according to the third position and the fourth position, the joint length control module is configured to perform the following operations:
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the current third period;
performing integral operation on the current rotating speed to obtain the rotating speed of the new material roll in the third period;
obtaining the real-time position of the joint mark according to the rotation number;
when the real-time position is the third position, controlling the compression roller to perform bonding operation on the two material rolls; and the number of the first and second groups,
and when the real-time position is the fourth position, controlling the cutter to perform cutting operation on the replaced old material roll in the two material rolls.
In one possible implementation, the parameter determination module and/or the joint length control module, when obtaining the current rotation speed, is configured to perform the following operations:
acquiring the linear speed and the initial diameter of the new material roll;
calculating the current rotating speed of the new material roll in the current period according to the following calculation formula I:
wherein n is i For characterizing the rotation speed of the new roll in the i-th cycle, v for characterizing the linear speed, d i-1 For characterizing the diameter of the new roll in the ith cycle, i =1, d 0 For characterizing the initial diameter.
In one possible implementation, the position calculation module, when calculating the third position of the joint flag in the roll motion according to the first position and the roll lag parameter, is configured to:
and calculating the difference value between the first position and the press roller lag parameter to obtain a third position of the joint mark when the press roller acts.
In one possible implementation, the position calculation module, when calculating the fourth position of the joint indicator in the cutter action according to the second position and the cutter lag parameter, is configured to perform the following operations:
acquiring the target joint length in the process of crimping the two material rolls;
calculating the difference between the target joint length and the cutter lag parameter to obtain a lag correction value;
and calculating the sum of the second position and the hysteresis correction value to obtain a fourth position of the joint mark when the cutter is actuated.
In a third aspect, an embodiment of the present invention further provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of any of the first aspects.
In a fourth aspect, the present invention also provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method according to any one of the first aspect.
According to the technical scheme, when the joint length in the automatic material receiving process is controlled, the first position of the joint mark when the compression roller is used for pressing and connecting the two material rolls is required to be obtained, and the second position where the action components such as the compression roller and the cutter are installed is required to be obtained. Further, a press roller lag parameter generated during press roller lag action and a cutter lag parameter generated during cutter lag action are determined, so that a third position where a joint mark is located during press roller action can be calculated according to the first position and the press roller lag parameter, a fourth position where the joint mark is located during cutter action can be calculated according to the second position and the cutter lag parameter, and then accurate control over the joint length can be achieved according to the third position and the fourth position. Therefore, according to the scheme, the position of the press roller during action and the position of the cutting action are accurately calculated by fully considering the hysteresis parameter of the action part, so that the joint length in the material receiving process can be accurately controlled.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling the length of a joint in an automatic material receiving process according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of determining a nip roll hysteresis parameter provided by one embodiment of the present invention;
FIG. 3 is a flow chart of a method of determining a cutter hysteresis parameter provided by one embodiment of the present invention;
FIG. 4 is a flow chart of a method for calculating the position of a joint indicator during cutter actuation according to one embodiment of the present invention;
FIG. 5 is a flow chart of a method of controlling a length of a joint according to one embodiment of the present invention;
fig. 6 is a schematic view of a device for controlling the length of a joint in an automatic material receiving process according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a computing device provided by an embodiment of the invention.
List of reference numerals
101: acquiring a first position of a joint mark when a compression roller is used for crimping two material rolls in the automatic material receiving process
102: obtaining the second position at which the actuating member is mounted
103: determining a roller lag parameter and a cutter lag parameter
104: calculating the third position of the joint mark during the pressing roller action according to the first position and the pressing roller lag parameter
105: calculating the fourth position of the joint mark when the cutter moves according to the second position and the cutter lag parameter
106: according to the third position and the fourth position, the joint length in the automatic material receiving process is controlled
201: acquiring the action time of the press roller required when the press roller performs action on the material roll in the first period
202: obtaining the current rotating speed of the replaced new material roll in the first period
203: : determining a platen lag parameter based on the current speed and the platen motion time
301: obtaining the cutter action time required by the cutter to act on the material roll in the second period
302: obtaining the current rotation speed of the replaced new material roll in the two material rolls in the second period
303: determining a cutter lag parameter according to the current rotation speed and the cutter action time
401: obtaining target splice length during crimping of two rolls of material
402: calculating the difference between the target joint length and the cutter lag parameter to obtain a lag correction value
403: calculating the sum of the second position and the hysteresis correction value to obtain the fourth position of the joint mark when the cutter is actuated
501: obtaining the current rotating speed of the new material roll which is replaced in the two material rolls in the current third period
502: the current rotation speed is integrated to obtain the rotation number of the new material roll in the third period
503: obtaining the real-time position of the joint mark according to the number of revolutions
504: when the real-time position is the third position, the press roller is controlled to perform bonding operation on the two material rolls
505: when the real-time position is the fourth position, the cutter is controlled to perform cutting operation on the replaced old material roll in the two material rolls
601: the location acquisition module 602: the parameter determination module 603: position calculation module
604: joint length control module 701: the memory 702: the processor 700: computing device
100: the method 600 for controlling the length of the joint in the automatic material receiving process comprises the following steps: control device for joint length in automatic material receiving process
Detailed Description
The automatic material receiving device mainly comprises a rotary frame, a reel changing compression roller, a reel changing cut-off knife and the like, the rotary frame rotates to a detection position after the automatic material receiving function is started, the reel changing compression roller is pressed out after a new reel is driven, a tape joint of the new reel is adhered to a material, and then the cut-off knife acts to cut off the tail length of the joint to realize automatic material receiving. However, as mentioned above, the control of the joint length during automatic material receiving is crucial in the automatic material receiving process, the joint length directly affects whether material receiving is successful or not, the material is wasted due to too long length, and automatic material receiving is likely to fail due to too short length, so the calculation accuracy of the joint length during roll changing is especially important.
At present, when the length of a joint in the automatic material receiving process is controlled, the joint is usually realized by calculating the position of an encoder arranged at the same shaft end of a motor. The method specifically comprises the following steps: after the new roll is installed, triggering a signal, recording the current position of the encoder, determining the joint position of the new roll of adhesive tape, calculating the position of the encoder when the material receiving press roller acts and the position of the encoder when the cut-off knife cuts off according to the set parameters such as the joint length, the current linear speed, the roll diameter of the new roll, the speed ratio of the reduction gearbox and the like, and accordingly realizing the control of the joint length after material receiving. However, the winding motor in the method must be provided with an encoder for detecting the position of the motor shaft, most of the winding motors in the industry at present are three-phase asynchronous motors, and the encoders are mostly installed autonomously, so that the position detection is extremely easy to cause inaccuracy, and the accuracy of controlling the joint length in the automatic material receiving process is low. Furthermore, since the mechanical operation is delayed, there is a problem that the accuracy of the joint length control is not high without taking the hysteresis into consideration.
Based on this, the scheme considers the hysteresis parameters generated when the pressing roller moves and the cutter moves to be fully taken into account, and further achieves the purpose of improving the control precision of the joint length. And when the joint position is determined, the real-time position of the joint mark can be determined by taking the mode of integrating the current rotating speed into consideration, so that the problem of inaccurate position detection caused by the fact that an encoder is arranged on a winding motor is avoided, and the control precision of the joint length is further improved.
The following describes in detail a method, an apparatus, and a readable medium for controlling the length of a joint in an automatic material receiving process according to an embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a method 100 for controlling a joint length in an automatic material receiving process, where the method may include the following steps:
step 101: acquiring a first position of a joint mark when a compression roller is used for carrying out compression joint on two material rolls in the automatic material receiving process;
step 102: acquiring a second position where the action part is installed; wherein, the action part comprises a press roller and a cutter;
step 103: determining a compression roller lag parameter and a cutter lag parameter;
step 104: calculating a third position of the joint mark during the action of the press roller according to the first position and the press roller lag parameter;
step 105: calculating the fourth position of the joint mark when the cutter acts according to the second position and the cutter lag parameter;
step 106: and controlling the length of the joint in the automatic material receiving process according to the third position and the fourth position.
In the automatic material receiving process, the method generally adopted is to stick an adhesive tape on a new material roll, and pre-drive the new material roll stuck with the adhesive tape to enable the new material roll to reach a certain rotating speed which is generally consistent with the rotating speed of an old material roll. Therefore, after the action time of the pressing roller is determined, the two new and old material rolls are pressed and connected to be bonded from the adhesive tape, and then the length of the joint is controlled by accurately controlling the time for cutting the old material rolls.
Because the traditional method is realized by calculating the position of the encoder arranged at the same shaft end of the motor, the encoder must be arranged on the coaxial motor to detect the position of the motor shaft, which is very easy to cause the inaccuracy of position detection, and further causes the low accuracy of the control of the joint length in the automatic material receiving process. Further, since there is hysteresis in the mechanical operation, this method does not sufficiently take the hysteresis into consideration, and further causes a problem that the accuracy in controlling the joint length is not high. When the scheme is used for controlling the joint length in the automatic material receiving process, the first position where the joint mark is located when the compression roller is used for crimping the two material rolls is obtained, and the second position where the compression roller, the cutter and other action parts are installed is obtained. Further, a press roller lag parameter generated during press roller lag action and a cutter lag parameter generated during cutter lag action are determined, so that a third position where a joint mark is located during press roller action can be calculated according to the first position and the press roller lag parameter, a fourth position where the joint mark is located during cutter action can be calculated according to the second position and the cutter lag parameter, and accurate control over the joint length is achieved according to the third position and the fourth position. According to the scheme, the position of the press roller during action and the position of the cutting action are accurately calculated by fully considering the hysteresis parameters of the action part, so that the joint length in the material receiving process can be accurately controlled.
In the control process to automatic connect material in-process to connect length, it mainly includes two aspects: firstly, determining the position of a joint mark when a compression roller executes work; secondly, determining the position of the joint mark when the cutter executes the action. These two aspects are explained below separately.
In a first aspect: and determining the position of the joint mark when the pressing roller performs the action.
For example, after the new material roll is pre-driven for three turns, the preset position of the joint mark when the pressing roller is operated is 270 °, namely 3.75 revolutions (rpm), and the pressing roller is installed at the position of 110 °, namely 4.30 revolutions. In this way, the action hysteresis factor is sufficiently taken into account, namely the pressing roller action is executed when the splice mark is positioned at 3.75 turns, so that the pressing roller action can be ensured not to press the new and old material rolls when the adhesive tape is rotated to the position of 4.30 turns due to the hysteresis action factor.
Since there is reaction and execution time of the pressing roller motion, if the pressing roller is controlled to perform the pressing roller motion while the joint flag is located at the first position, it is inevitable that the actual pressing roller position is not located at the first position. Therefore, it is necessary to sufficiently consider the parameters of the pressing roller so that it can be achieved that the position where the pressing roller action performs the pressing is just at the first position. In one possible implementation, as shown in fig. 2, when determining the roll hysteresis parameter in step 103, the following steps can be implemented:
step 201: acquiring the action time of the compression roller required when the compression roller performs action on the material roll in a first period;
step 202: acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in a first period;
step 203: and determining a press roller lag parameter according to the current rotating speed and the press roller action time.
In the embodiment of the invention, the pressing roller action time required by the pressing roller to perform the action on the material roll is firstly acquired, then the current rotating speed of the new material roll in the current pressing roller action execution period is acquired, and the rotating speed required by the pressing roller to perform the pressing roller action can be accurately determined according to the current rotating speed and the pressing roller action time.
For example, the press roller action time is 5s, and the press roller action time is generally the inherent time of the mechanical equipment. The current speed of the new roll being replaced in this current first cycle is 0.1rpm/s. The hysteresis parameter of the press roll can be determined by calculating the hysteresis revolution number of the press roll during the action of the press roll to be 0.1rpm/s × 5s =0.5rpm by using the action time of the press roll and the current revolution speed.
After the roll lag parameter of the press roll is determined, the position of the joint mark when the press roll performs the action needs to be determined according to the roll lag parameter. In one possible implementation, in the step 104, when calculating the third position of the joint flag during the roll activation according to the first position and the roll lag parameter, the third position of the joint flag during the roll activation can be obtained by calculating a difference between the first position and the roll lag parameter. By calculating the difference between the first position and the roll lag parameter, the roll is started to perform the roll motion at a position before the splice mark is located at the first position, and thus, by accurately controlling how far before the splice mark is located at the first position, the roll motion can be started to ensure that the splice mark is just pressed against the splice mark at the first position. For example, if the first position is 3.75rpm, and the roll lag parameter is 0.5rpm as above, then the roll motion should be started when the joint flag is at 3.75-0.5=3.25rpm, so that it is guaranteed that the material of the two rolls is pressed on just when the joint flag reaches 3.75 rpm.
In a second aspect, the position of the splice mark when the cutter is performing an action is determined.
The action member is considered to be installed at the same position, that is, the pressing roller and the cutting blade are considered to be installed at the same position, for example, the pressing roller and the cutting blade are installed at a position of 4.30 turns. When determining the position of the joint mark during the action of the cutter, the hysteresis parameter of the cutter needs to be considered. In one possible implementation, as shown in fig. 3, the step 103 in determining the cutter lag parameter can be implemented by the following steps:
step 301: acquiring the cutter action time required by the cutter to act on the material roll in the second period;
step 302: acquiring the current rotating speed of a new material roll in the two material rolls in the second period;
step 303: and determining a cutter lag parameter according to the current rotating speed and the cutter action time.
In the embodiment of the invention, the action time of the cutter required by the cutter when the cutter executes the action on the material roll is firstly acquired, and then the current rotating speed of the new material roll in the period in which the cutter executes the action of the cutter is acquired, so that the cutter lag parameter corresponding to the cutter can be accurately determined according to the current rotating speed and the action time of the cutter.
For example, the cutter action time is 1s, and the cutter action time is generally the inherent time of the mechanical equipment where the cutter is located. The current speed of the new material roll being replaced in the current second period is 0.1rpm/s. The lagging rotation speed of the cutter can be calculated to be 0.1rpm/s × 1s =0.1rpm by using the action time of the cutter and the current rotation speed, so that the lagging parameter of the cutter can be determined.
After determining the lag parameter of the cutter, the position of the joint mark when the cutter executes the action of the cutter needs to be determined according to the lag parameter of the cutter. In a possible implementation manner, as shown in fig. 4, when calculating the fourth position of the joint mark in the cutter action according to the second position and the cutter lag parameter, the step 105 may be implemented by the following steps:
step 401: acquiring the length of a target joint in the process of crimping two material rolls;
step 402: calculating the difference between the target joint length and the cutter lag parameter to obtain a lag correction value;
step 403: and calculating the sum of the second position and the hysteresis correction value to obtain a fourth position of the joint mark when the cutter is actuated.
Therefore, the corrected lag correction value is obtained by calculating the target joint length in the process of crimping the two material rolls, namely the preset joint length requirement, and then making a difference between the target joint length and the lag parameter of the cutter, and the fourth position of the joint mark in the action of the cutter can be accurately determined according to the corrected lag correction value and the second position where the cutter is installed.
Therefore, in order to ensure that the cutter can execute the cutter action at the accurate position, the cutter action must be executed in advance before the target cutting position reaches the cutter position due to the existence of the cutter lag parameter, and the accuracy of the cutting position can be ensured. In the embodiment of the invention, the difference value between the target joint length and the cutter lag parameter is calculated, so that the position where the cutter needs to execute the cutter action in advance can be calculated, and accurate cutting can be achieved. For example, the second position is 4.30rpm, the target joint length is 1m, and the circumference of the current material roller is 5m, the obtained hysteresis correction value is 1m/5m-0.1rpm =0.1rpm, that is, the cutting operation should be performed when the joint mark is located at 4.25rpm +0.1rpm, so that the cut joint length is ensured to be just 1m, and the control requirement on the joint length is accurately met.
After obtaining the third position when the pressing roller is executed and the fourth position when the cutter is executed, the length of the joint in the automatic material receiving process needs to be controlled according to the third position and the fourth position. In a possible implementation manner, as shown in fig. 5, when the length of the joint in the automatic material receiving process is controlled according to the third position and the fourth position, step 106 may be implemented by the following steps:
step 501: acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the current third period;
step 502: performing integral operation on the current rotating speed to obtain the rotating speed of the new material roll in the third period;
step 503: obtaining the real-time position of the joint mark according to the revolution;
step 504: when the real-time position is a third position, the pressure roller is controlled to perform bonding operation on the two material rolls; and the number of the first and second groups,
step 505: and when the real-time position is the fourth position, the cutter is controlled to perform cutting operation on the replaced old material roll in the two material rolls.
In the embodiment of the invention, when the joint length is controlled according to the third position and the fourth position, the current rotating speed of the new material roll in the current period needs to be acquired first, then the current rotating speed is integrated, so that the number of rotations of the new material roll in the period can be obtained, and thus the real-time position of the joint mark can be obtained. And when the position of the joint mark is at the fourth position, the cutter is executed, namely, the cutter is controlled to execute cutting operation on the replaced old material roll in the two material rolls, so that the accurate control on the length of the joint can be realized.
In the embodiment of the invention, when the position of the adhesive tape joint is determined, the rotating speed in the current period is obtained by integrating in real time, and an encoder is not required to be arranged at the coaxial end of the motor to acquire the position information of the adhesive tape in real time. And because the encoder is mostly independently installed in the trade in the mode that the coaxial end installation encoder of motor carries out position determination, cause the inaccurate condition of position detection extremely easily to lead to the accuracy that connects length in the automatic material receiving process often can't guarantee. The scheme integrates the rotating speed to obtain the position of the adhesive tape in real time, so that the defects in the prior art are overcome, and the control precision of the joint length can be improved.
It is easy to understand that the displacement information can be obtained by integrating the speed, and in the embodiment of the present invention, the real-time position of the joint mark can be obtained by integrating the rotation speed. For example, when the joint mark is located at the 0 ° position of the first circle, the rotation speed integration is started, pre-driving can be performed, and when the pre-driving is finished and the pressing roller action and the cutter action are performed, the integrator can be emptied in the period where the pressing roller action is performed, so that in the period where the pressing roller action and the cutter action are performed, the rotation speed integration is started when the joint length is located at the initial position, and thus the real-time position of the joint mark can be obtained. For example, if the rotation speed is 0.1rpm/s, then at 2.5s, the joint should be located at 0.25 rpm; at 5s, the linker should be at 0.5 rpm. By monitoring the real-time position of the joint mark, the corresponding pressing roller action and the cutter action can be executed at the preset position.
In one possible implementation, the rotation speed of the material roll is related to the diameter of the material roll, and the diameter of the material roll changes during operation, for example, the diameter of the next circle is smaller than the diameter of the previous circle by one layer of material thickness. Thus, the rotational speed of the roll of material during each cycle is also changing. In a possible implementation manner, when obtaining the above-mentioned respective current rotation speeds, the following manners are adopted:
acquiring the linear speed and the initial diameter of a new material roll;
calculating the current rotating speed of the new material roll in the current period according to the following calculation formula I:
wherein n is i For characterizing the speed of rotation of the new roll in the i-th cycle, v for characterizing the line speed, d i-1 For characterizing the diameter of the new roll in the ith cycle, i =1, d 0 For characterizing the initial diameter.
In the embodiment of the invention, the initial diameter of the new material roll which is just installed can be obtained by measurement, and the linear speed of the new material roll is a set constant value. Then the current rotation speed in each period can be calculated in real time according to the above formula.
It will be readily appreciated that in one possible implementation, the rotation speed of the next cycle can be calculated from the diameter of the previous cycle, and by reverse-deriving the diameter of the coil at that time. For example, the initial diameter is d 0 Then use the initial diameter d 0 The speed n of the first cycle can be calculated 1 The rotation speed n of the first period is adjusted 1 As the initial speed n of the second cycle 2 And the diameter d of the material roll of the second period can be obtained 1 The diameter d of the material roll of the second period 1 As the diameter d of the coil at the beginning of the third cycle 2 And the rotation speed n in the third period can be calculated 3 By analogy, the rotating speed in each period can be obtained.
As shown in fig. 6, an embodiment of the present invention further provides a device 600 for controlling the length of a joint in an automatic material receiving process, the device including:
a position obtaining module 601, configured to obtain a first position where a joint mark is located when a compression roller performs compression joint on two material rolls in an automatic material receiving process; acquiring a second position where the action part is installed; wherein, the action part comprises a compression roller and a cutter;
a parameter determination module 602 for determining a roll lag parameter and a cutter lag parameter;
a position calculating module 603, configured to calculate a third position where the joint mark is located during the pressing motion according to the first position obtained by the position obtaining module 601 and the pressing roller lag parameter determined by the parameter determining module 602; calculating a fourth position of the joint mark during the action of the cutter according to the second position acquired by the position acquisition module 601 and the cutter lag parameter determined by the parameter determination module 602;
and the joint length control module 604 is used for controlling the joint length in the automatic material receiving process according to the third position and the fourth position obtained by the position calculation module 603.
In one possible implementation, the parameter determination module 602, in determining the platen lag parameter, is configured to perform the following operations:
acquiring the action time of the compression roller required when the compression roller performs action on the material roll in a first period;
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in a first period;
and determining a press roller lag parameter according to the current rotating speed and the press roller action time.
In one possible implementation, the parameter determination module 602, in determining the cutter lag parameter, is configured to perform the following operations:
acquiring the cutter action time required by the cutter to act on the material roll in the second period;
acquiring the current rotating speed of a new material roll in the two material rolls in the second period;
and determining a cutter lag parameter according to the current rotating speed and the cutter action time.
In one possible implementation manner, when controlling the joint length in the automatic material receiving process according to the third position and the fourth position, the joint length control module 604 is configured to perform the following operations:
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the current third period;
performing integral operation on the current rotating speed to obtain the rotating speed of the new material roll in a third period;
obtaining the real-time position of the joint mark according to the revolution;
when the real-time position is the third position, the press roller is controlled to perform bonding operation on the two material rolls; and the number of the first and second groups,
and when the real-time position is the fourth position, the cutter is controlled to perform cutting operation on the replaced old material roll in the two material rolls.
In one possible implementation, the parameter determination module 602 and/or the joint length control module 604, when obtaining the current rotation speed, are configured to:
acquiring the linear speed and the initial diameter of a new material roll;
calculating the current rotating speed of the new material roll in the current period according to the following calculation formula I:
wherein n is i For characterizing the speed of rotation of the new roll in the i-th cycle, v for characterizing the linear speed, d i-1 For characterizing the diameter of the new roll in the i-th cycle, i =1, d 0 For characterizing the initial diameter.
In one possible implementation, the position calculation module 603, when calculating the third position of the joint flag in the roll action according to the first position and the roll lag parameter, is configured to perform the following operations:
and calculating the difference value between the first position and the press roll lag parameter to obtain a third position of the joint mark when the press roll acts.
In one possible implementation, the position calculating module 603, when calculating the fourth position of the joint indicator in the cutter action according to the second position and the cutter lag parameter, is configured to perform the following operations:
acquiring the length of a target joint in the process of crimping two material rolls;
calculating the difference between the target joint length and the cutter lag parameter to obtain a lag correction value;
and calculating the sum of the second position and the hysteresis correction value to obtain a fourth position of the joint mark when the cutter is actuated.
As shown in FIG. 7, an embodiment of the invention also provides a computing device 700, comprising: at least one memory 701 and at least one processor 702;
at least one memory 701 for storing a machine-readable program;
at least one processor 702, coupled to the at least one memory 701, is configured to invoke a machine-readable program to execute the method 100 for controlling the length of the joint in the automatic material receiving process according to any of the embodiments described above.
The invention further provides a computer readable medium, wherein computer instructions are stored on the computer readable medium, and when the computer instructions are executed by a processor, the processor executes the method 100 for controlling the length of the joint in the automatic material receiving process provided by any one of the embodiments. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the embodiments described above.
It should be noted that not all steps and modules in the above flow and device structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structures described in the above embodiments may be physical structures or logical structures, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities separately, or some components may be implemented together in a plurality of independent devices. The device for controlling the length of the joint in the automatic material receiving process and the method for controlling the length of the joint in the automatic material receiving process are based on the same inventive concept.
In the above embodiments, the hardware module may be implemented mechanically or electrically. For example, a hardware module may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. A hardware module may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been particularly shown and described with reference to the preferred embodiments and drawings, it is not intended to be limited to the specific embodiments disclosed, and it will be understood by those skilled in the art that various other combinations of code approval means and various embodiments described above may be made, and such other embodiments are within the scope of the present invention.
Claims (12)
1. The method for controlling the length of the joint in the automatic material receiving process is characterized by comprising the following steps of:
acquiring a first position, wherein the first position is a position of a joint mark when a compression roller is used for carrying out compression joint on two material rolls in the automatic material receiving process;
acquiring a second position where the action part is installed; wherein the action part comprises the press roller and a cutter;
acquiring the action time of the compression roller required when the compression roller performs action on the material roll in a first period;
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the first period;
determining the press roller lag parameter according to the current rotating speed and the press roller action time;
acquiring the cutter action time required by the cutter to act on the material roll in the second period;
obtaining the current rotating speed of the replaced new material roll in the two material rolls in the second period;
determining the cutter lag parameter according to the current rotating speed and the cutter action time;
calculating a third position of the joint mark when the press roller acts according to the first position and the press roller lag parameter;
calculating a fourth position of the joint mark when the cutter acts according to the second position and the cutter lag parameter;
and controlling the joint length in the automatic material receiving process according to the third position and the fourth position.
2. The method according to claim 1, wherein the controlling of the joint length in the automatic material receiving process according to the third position and the fourth position comprises:
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the current third period;
performing integral operation on the current rotating speed to obtain the rotating speed of the new material roll in the third period;
obtaining the real-time position of the joint mark according to the revolution;
when the real-time position is the third position, controlling the compression roller to perform bonding operation on the two material rolls; and the number of the first and second groups,
and when the real-time position is the fourth position, controlling the cutter to perform cutting operation on the replaced old material roll in the two material rolls.
3. The method according to claim 1 or 2, wherein the step of obtaining the current rotation speed comprises:
acquiring the linear speed and the initial diameter of the new material roll;
calculating the current rotating speed of the new material roll in the current period according to the following calculation formula I:
wherein n is i For characterizing the speed of rotation of the new roll in the i-th cycle, v for characterizing the line speed, d i-1 For characterizing the diameter of the new roll in the ith cycle, i =1, d 0 For characterizing the initial diameter.
4. The method of claim 1, wherein said calculating a third position of said joint indicator during said roll action based on said first position and said roll hysteresis parameter comprises:
and calculating the difference value between the first position and the press roll lag parameter to obtain a third position of the joint mark when the press roll acts.
5. The method of claim 1, wherein said calculating a fourth position of said joint indicator at the time of said cutter actuation based on said second position and said cutter hysteresis parameter comprises:
acquiring the target joint length in the process of crimping the two material rolls;
calculating the difference between the target joint length and the cutter lag parameter to obtain a lag correction value;
and calculating the sum of the second position and the hysteresis correction value to obtain a fourth position of the joint mark when the cutter is actuated.
6. Automatic connect controlling means who connects length of material in-process, its characterized in that includes:
the position acquisition module is used for acquiring a first position, wherein the first position is a position of a joint mark when the compression roller is used for carrying out compression joint on two material rolls in the automatic material receiving process; acquiring a second position where the action part is installed; wherein the action part comprises the press roller and a cutter;
a parameter determination module, when determining the platen lag parameter, configured to:
acquiring the action time of the compression roller required when the compression roller performs action on the material roll in a first period;
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the first period;
determining a press roller lag parameter according to the current rotating speed and the press roller action time; and the number of the first and second electrodes,
the parameter determination module, in determining the cutter lag parameter, is configured to:
acquiring the cutter action time required by the cutter to act on the material roll in the second period;
obtaining the current rotation speed of the replaced new material roll in the two material rolls in the second period;
determining the cutter lag parameter according to the current rotating speed and the cutter action time;
the position calculation module is used for calculating a third position of the joint mark during the action of the compression roller according to the first position acquired by the position acquisition module and the compression roller lag parameter determined by the parameter determination module; calculating a fourth position of the joint mark when the cutter acts according to the second position acquired by the position acquisition module and the cutter lag parameter determined by the parameter determination module;
and the joint length control module is used for controlling the joint length in the automatic material receiving process according to the third position and the fourth position obtained by the position calculation module.
7. The apparatus according to claim 6, wherein the joint length control module, when controlling the joint length in the automatic material receiving process according to the third position and the fourth position, is configured to perform the following operations:
acquiring the current rotating speed of a new material roll which is replaced in the two material rolls in the current third period;
performing integral operation on the current rotating speed to obtain the rotating speed of the new material roll in the third period;
obtaining the real-time position of the joint mark according to the rotation number;
when the real-time position is the third position, controlling the compression roller to perform bonding operation on the two material rolls; and the number of the first and second groups,
and when the real-time position is the fourth position, controlling the cutter to perform cutting operation on the replaced old material roll in the two material rolls.
8. The apparatus according to claim 6 or 7, wherein the parameter determination module and/or the joint length control module, when obtaining the current rotational speed, is configured to:
acquiring the linear speed and the initial diameter of the new material roll;
calculating the current rotating speed of the new material roll in the current period according to the following calculation formula I:
wherein n is i For characterizing the speed of rotation of the new roll in the i-th cycle, v for characterizing the line speed, d i-1 For characterizing the diameter of the new roll in the i-th cycle, i =1, d 0 For characterizing the initial diameter.
9. The apparatus of claim 8, wherein the position calculation module, when calculating the third position of the joint marker at the time of the roll action based on the first position and the roll lag parameter, is configured to:
and calculating the difference value between the first position and the press roller lag parameter to obtain a third position of the joint mark when the press roller acts.
10. The apparatus of claim 8, wherein the position calculation module, when calculating the fourth position of the joint indicator at the time of the cutter action based on the second position and the cutter hysteresis parameter, is configured to:
acquiring the target joint length in the process of crimping the two material rolls;
calculating the difference between the target joint length and the cutter lag parameter to obtain a lag correction value;
and calculating the sum of the second position and the hysteresis correction value to obtain a fourth position of the joint mark when the cutter acts.
11. A computing device, comprising: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1 to 5.
12. Computer readable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 5.
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