阅读说明：本技术 一种用于圆织机的驱动器及其控制方法 (Driver for circular weaving machine and control method thereof ) 是由 潘知康 于 2021-10-22 设计创作，主要内容包括：本发明公开了一种用于圆织机的驱动器及其控制方法,该方法包括：获取与圆织机运行状态相关的信息和数据；根据获取的所述与圆织机运行状态相关的信息和数据,确定圆织机的电机转矩调节量,所述圆织机的电机转矩调节量用于根据圆织机的运行状态去调节电机的转矩；将圆织机的电机转矩调节量输出至电机控制器,进而调节电机转矩,使圆织机收卷时的张力保持恒定。本发明通过监测圆织机收卷相关的运行状态参数,在收卷织物过程中,随着圆织机收卷状态的不断变化,仍然可以保持收卷织物时张力的恒定,使织物在收卷时能够均匀卷绕在卷筒上,避免出现张力过大断裂、张力过小松散,收卷后出现褶皱,收卷受力不均匀等现象。(The invention discloses a driver for a circular weaving machine and a control method thereof, wherein the method comprises the following steps: acquiring information and data related to the running state of the circular weaving machine; determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, wherein the motor torque regulating quantity of the circular weaving machine is used for regulating the torque of a motor according to the running state of the circular weaving machine; and outputting the motor torque regulating quantity of the circular weaving machine to a motor controller, and further regulating the motor torque to keep the tension of the circular weaving machine constant during winding. According to the invention, by monitoring the running state parameters related to the rolling of the circular weaving machine, in the process of rolling the fabric, along with the continuous change of the rolling state of the circular weaving machine, the tension of the fabric during rolling can be kept constant, so that the fabric can be uniformly wound on the winding drum during rolling, and the phenomena of overlarge tension, breakage, undersize tension, looseness, wrinkling after rolling, uneven rolling stress and the like are avoided.)

1. A control method for a drive of a circular knitting machine, characterized in that the method comprises:

acquiring information and data related to the running state of the circular weaving machine;

determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, wherein the motor torque regulating quantity of the circular weaving machine is used for regulating the torque of a motor according to the running state of the circular weaving machine;

and outputting the motor torque regulating quantity of the circular weaving machine to a motor controller, and further regulating the motor torque to keep the tension of the circular weaving machine constant during winding.

2. The method for controlling a driver of a circular knitting machine according to claim 1, wherein said obtaining information and data related to the operation state of the circular knitting machine comprises:

acquiring running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to winding of the circular weaving machine, and acquiring a set value of winding tension;

the first motor is used for driving the first winding roller, the second motor is used for driving the second winding roller, the first winding roller is used for lifting fabrics woven by the circular weaving machine, the second winding roller winds the fabrics woven by the circular weaving machine into a drum, and meanwhile, tension during winding is balanced, so that the fabrics can be uniformly wound on the drum of the second winding roller during winding.

3. The method for controlling a driver of a circular knitting machine according to claim 2, wherein determining the motor torque adjustment amount of the circular knitting machine based on the acquired information and data related to the operation state of the circular knitting machine comprises:

determining a load torque regulating quantity, an inertia torque regulating quantity and a friction torque regulating quantity of a motor according to the acquired running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to the winding of the circular weaving machine and the set value of winding tension;

and performing weighted calculation according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount to obtain the motor torque adjustment amount of the circular weaving machine.

4. The method for controlling a driver of a circular knitting machine according to claim 3, wherein the adjusting amount of the motor torque of the circular knitting machine is outputted to the motor controller, and the motor torque is adjusted to keep the tension of the circular knitting machine at the winding constant, comprising:

and outputting the motor torque regulating quantity of the circular weaving machine to a controller of a second motor, and regulating the torque of the second motor in real time according to the running state to keep the winding tension of the second winding roller within the error range of a set value.

5. The method of claim 3, wherein the step of performing a weighted calculation to obtain the motor torque adjustment amount of the circular knitting machine according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount comprises

According to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount, carrying out weighting calculation by using a first relational expression to obtain a motor torque adjustment amount of the circular weaving machine;

wherein the first relation comprises: t is_t＝k₁T_α+k₂T_β+k₃T_γ

Wherein, T_tAdjusting the motor torque of the circular weaving machine;

k₁adjusting the coefficient for the load torque;

T_αadjusting the load torque;

k₂inertia torque adjustment coefficients;

T_βan inertia torque adjustment amount;

k₃adjusting coefficient for friction torque;

T_γthe amount of friction torque adjustment.

6. The method as claimed in claim 5, wherein the load torque adjustment amount T in the first relation_αCalculating by using a second relational expression;

wherein the second relation comprises:

wherein, T_αAdjusting the load torque;

ω₁is the angular velocity of the first motor;

D₁the diameter of the first winding roller;

i₂the reduction ratio between the second winding roller and the second motor is set;

f is a set value of the winding tension;

i₁the reduction ratio between the first winding roller and the first motor is set;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

alpha is the threshold value of the load torque adjustment added to the adjustment.

7. The method of claim 5, wherein the inertia torque adjustment amount T in the first relation_βCalculating by using a third relational expression;

wherein the third relation comprises:

wherein, T_βAn inertia torque adjustment amount;

D₂the diameter of the second winding roller after the fabric is wound is shown;

m₀the weight of the fabric which is not wound by the second winding roller is the weight of the fabric which is not wound by the second winding roller;

ρ₂is the fabric density;

b is the width of fabric winding;

D₀the diameter of the fabric is the diameter of the fabric when the fabric is not wound by the second winding roller;

ω₂the real-time angular velocity of the second wind-up roll;

the real-time angular acceleration of the second wind-up roll;

beta is the threshold value of adding the inertia torque adjustment amount into the adjustment;

wherein the diameter D of the second winding roller after the fabric is wound₂The following relationship is obtained:

8. the method as claimed in claim 5, wherein the friction torque adjustment amount T in the first relation_γCalculating by using a fourth relational expression;

wherein the fourth relation comprises:

wherein, T_γAdjusting the amount of friction torque;

f_rthe coefficient of dynamic friction of the second winding roller during winding is the coefficient of dynamic friction of the second winding roller during winding;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

γ₁adding an adjusted first threshold value to the friction torque adjustment;

γ₂a second threshold value of the adjustment is added to the friction torque adjustment.

9. A drive for a circular knitting machine, characterized in that the drive comprises:

the operation parameter acquisition module is used for acquiring information and data related to the operation state of the circular weaving machine;

the control quantity determining module is used for determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, and the motor torque regulating quantity of the circular weaving machine is used for regulating the torque of a motor according to the running state of the circular weaving machine;

and the control quantity output module is used for outputting the motor torque regulating quantity of the circular weaving machine to the motor controller so as to regulate the motor torque and keep the tension of the circular weaving machine constant during winding.

10. A computer device comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, implements the control method for a drive for a circular knitting machine according to any one of claims 1 to 8.

Technical Field

The invention belongs to the technical field of intelligent control, and particularly relates to a driver for a circular weaving machine and a control method thereof.

Background

The textile industry is the industry of processing natural or synthetic fibers into yarns, threads, ropes, fabrics and finished goods thereof. The textile industry includes the textile industry, the clothing industry, the chemical fiber manufacturing industry and the textile special equipment manufacturing industry. The textile industry comprises cotton textile, wool textile, hemp textile, silk textile and knitting industry; the clothing industry comprises the clothing industry, the cap industry and the shoe industry; the chemical fiber industry comprises the manufacturing industry of synthetic fibers and artificial fibers. Textile products are divided into the following according to the application fields: three major types of textiles for clothing, decoration and industry. The circular weaving machine is a novel weaving device widely applied in the textile industry at present, the main processing object is polypropylene or high-density polyethylene, the circular weaving machine is a cylindrical weaving machine and is used for weaving tubular fabric, the circular weaving machine can be divided into three types, namely a four-shuttle circular weaving machine, a six-shuttle circular weaving machine and an eight-shuttle circular weaving machine, and the circular weaving machine is mainly applied to the fields of food packaging, chemical products, building construction and the like. The circular weaving machine is used for a plurality of existing textile products, the quality of the produced and processed products is guaranteed, a good processing mode can be achieved for raw materials under specific working conditions, and production benefits are greatly improved.

The circular weaving machine mainly comprises four parts, namely a let-off part, a main machine part, a lifting part and a winding part. The let-off part is mainly a plurality of conveying devices, which are composed of a motor, a speed reducer and a transmission chain, the main machine and the motor drive the transmission chain to convey textiles in a planned way, and the speed is controlled by the speed reducer. The main machine part is mainly responsible for controlling the whole conveying and beating-up work, regulates and controls each production link of textiles by means of the circular motion of the conveying belt, and mainly realizes the rotation of the main rotating disc by the belt motor of the frequency converter. The lifting part is used for lifting woven cloth mainly through the servo of the speed reducer, the lifting speed is controlled by the speed of the motor, and finally the winding part is used for further winding to complete the processing of textiles. And the winding part needs to ensure that the stress in the winding process is stable and uniform in order to ensure that the fabric is uniformly wound. At present, a mechanical tension adjusting mode is adopted for a rolling part, and the rolling tension has poor stability and poor tension control precision, so that the rolling tension has a large variation range, and is easy to break due to overlarge tension and loose due to undersize tension, wrinkle occurs after rolling, and the rolling stress is not uniform.

Disclosure of Invention

In view of the above problems, the present application provides a driver for a circular knitting machine, a control method thereof, and a corresponding computer device to solve the above technical problems.

Specifically, the invention provides the following technical scheme:

in a first aspect, the present invention provides a method for controlling a drive for a circular knitting machine, the method comprising:

acquiring information and data related to the running state of the circular weaving machine;

determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, wherein the motor torque regulating quantity of the circular weaving machine is used for regulating the torque of a motor according to the running state of the circular weaving machine;

and outputting the motor torque regulating quantity of the circular weaving machine to a motor controller, and further regulating the motor torque to keep the tension of the circular weaving machine constant during winding.

Further, the acquiring information and data related to the operation state of the circular weaving machine comprises:

acquiring running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to winding of the circular weaving machine, and acquiring a set value of winding tension;

here, it should be noted that the acquiring of the operating state parameters of the first motor, the second motor, the first wind-up roller and the second wind-up roller related to the wind-up of the circular weaving machine includes: acquiring the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and a first motor, the reduction ratio between the second winding roller and a second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width and the dynamic friction coefficient of the second winding roller when the fabric is wound; acquiring the angular speed of a first motor and the angular speed of a second motor of the circular weaving machine in real time;

the first motor is used for driving the first winding roller, the second motor is used for driving the second winding roller, the first winding roller is used for lifting fabrics woven by the circular weaving machine, the second winding roller winds the fabrics woven by the circular weaving machine onto the winding drum, meanwhile, tension during winding is balanced, the fabrics can be uniformly wound on the winding drum of the second winding roller during winding, and the tension can still be kept constant during winding along with the continuous change of the diameter of the second winding roller during fabric winding. The phenomena of overlarge tension, breakage, undersize tension, looseness, folds after rolling, uneven rolling stress and the like are avoided.

Further, determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, comprising the following steps:

determining a load torque regulating quantity, an inertia torque regulating quantity and a friction torque regulating quantity of a motor according to the acquired running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to the winding of the circular weaving machine and the set value of winding tension;

and performing weighted calculation according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount to obtain the motor torque adjustment amount of the circular weaving machine.

Further, the output of the motor torque regulating variable of the circular weaving machine to the motor controller, and then the motor torque is regulated, so that the tension of the circular weaving machine during winding is kept constant, and the method comprises the following steps:

and outputting the motor torque regulating quantity of the circular weaving machine to a controller of a second motor, and regulating the torque of the second motor in real time according to the running state to keep the winding tension of the second winding roller within the error range of a set value.

The method comprises the steps of acquiring dynamic parameters of the angular velocity of a first motor and the angular velocity of a second motor of the circular weaving machine in real time, and acquiring static parameters related to a fabric winding part, such as the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and the first motor, the reduction ratio between the second winding roller and the second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width, the dynamic friction coefficient of the second winding roller when the fabric is wound and the like; the dynamic parameters and the static parameters of the fabric winding part are combined, and various influence factors are integrated to determine the torque regulating quantity, so that when the circular weaving machine is used for winding the fabric, the output of the motor torque can be timely and accurately regulated according to the change of the states of all parts in the winding process, the stability of winding tension is ensured, and the control of the winding tension is more accurate and the dynamic response is faster.

Further, according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount, carrying out weighting calculation to obtain the motor torque adjustment amount of the circular weaving machine, which comprises

According to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount, carrying out weighting calculation by using a first relational expression to obtain a motor torque adjustment amount of the circular weaving machine;

wherein the first relation comprises: t is_t＝k₁T_α+k₂T_β+k₃T_γ

Wherein, T_tAdjusting the motor torque of the circular weaving machine;

k₁adjusting the coefficient for the load torque;

T_αadjusting the load torque;

k₂inertia torque adjustment coefficients;

T_βan inertia torque adjustment amount;

k₃adjusting coefficient for friction torque;

T_γadjusting the amount of friction torque;

here, it is to be noted that T_tFor the purpose of making superimposed adjustments on the basis of the last adjustment, i.e. by periodically sampling and calculating, when adjustments are required, the T at the current sampling_tSuperimposed on the torque of the second electric machine as a new torque output. Therefore, the torque of the winding motor can be continuously adjusted according to the specific running state, so that the tension of the circular weaving machine during winding is kept constant.

The invention will affect three factors of the motor torque change: the load torque change, the inertia torque change and the friction torque change are all used as components for determining the motor torque regulating variable related to the rolling of the circular weaving machine, the motor torque regulating variable determined in the way is used for driving and controlling the motor torque, so that the regulation of the motor torque is more suitable for the change of the actual state of the circular weaving machine during rolling, the motor torque can also follow the continuous change of the rolling state of the circular weaving machine in time, the dynamic regulation is realized, the tension is ensured to be constant all the time, and the precision and the dynamic response speed of the constant tension control during the rolling of the circular weaving machine fabric are improved.

Further, in the first relation, the load torque adjustment amount T_αCalculating by using a second relational expression;

wherein the second relation comprises:

wherein, T_αAdjusting the load torque;

ω₁is the angular velocity of the first motor;

D₁the diameter of the first winding roller;

i₂the reduction ratio between the second winding roller and the second motor is set;

f is a set value of the winding tension;

i₁the reduction ratio between the first winding roller and the first motor is set;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

alpha is the threshold value of the load torque adjustment added to the adjustment.

It should be noted here that when the angular velocity variation of the second wind-up roll reaches the threshold value from the last adjustment to the current sampling, the load torque adjustment needs to be added to the motor torque adjustment of the circular weaving machine for adjustment; when the current sampling is obtained from the last adjustment, the angular speed variation of the second winding roller does not reach the threshold value, and the load torque adjustment quantity does not need to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment;

the acquisition of the first motor angular velocity and the first motor angular velocity can be realized by adopting a mature prior art, for example, an encoder can be installed on the motor to be used as an acquisition data source of the angular velocity, or the motor provided with the encoder is selected.

Further, in the first relational expression, the inertia torque adjustment amount T β is calculated by using a third relational expression;

wherein the third relation comprises:

wherein, T_βAn inertia torque adjustment amount;

D₂the diameter of the second winding roller after the fabric is wound is shown;

m₀the weight of the fabric which is not wound by the second winding roller is the weight of the fabric which is not wound by the second winding roller;

ρ₂is the fabric density;

b is the width of fabric winding;

D₀the diameter of the fabric is the diameter of the fabric when the fabric is not wound by the second winding roller;

ω₂the real-time angular velocity of the second wind-up roll;

the real-time angular acceleration of the second wind-up roll;

beta is the threshold value of adding the inertia torque adjustment amount into the adjustment;

wherein the diameter D of the second winding roller after the fabric is wound₂The following relationship is obtained:

it should be noted here that when the angular acceleration variation of the second wind-up roll reaches the threshold, the inertia torque adjustment amount needs to be added to the motor torque adjustment amount of the circular weaving machine for adjustment; when the angular acceleration variation of the second winding roller does not reach the threshold value, the inertia torque regulating quantity does not need to be added into the motor torque regulating quantity of the circular weaving machine for regulation;

further, in the first relational expression, the friction torque adjustment amount T is_γCalculating by using a fourth relational expression;

wherein the fourth relation comprises:

wherein, T_γAdjusting the amount of friction torque;

f_rthe coefficient of dynamic friction of the second winding roller during winding is the coefficient of dynamic friction of the second winding roller during winding;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

γ₁adding an adjusted first threshold value to the friction torque adjustment;

γ₂a second threshold value of the adjustment is added to the friction torque adjustment.

It should be noted here that when the angular acceleration variation of the second wind-up roll reaches the threshold, or when the angular acceleration variation of the second wind-up roll does not reach the threshold, but the angular velocity variation of the second wind-up roll reaches the threshold from the last adjustment to the current sampling, the friction torque adjustment needs to be added to the motor torque adjustment of the circular weaving machine for adjustment; when the angular acceleration variation of the second winding roller does not reach the threshold value and the angular velocity variation of the second winding roller does not reach the threshold value from the last adjustment to the current sampling, the friction torque adjustment amount does not need to be added into the motor torque adjustment amount of the circular weaving machine for adjustment.

Because the circular weaving machine is used for producing woven fabrics according to the preset speed after starting up, the angular speed of the first motor is usually kept near a constant value, the winding diameter is continuously changed (usually increased) along with the continuous winding of the fabrics on the winding drum of the second winding roller, and when the change reaches a certain degree, the torque of the second motor is required to be adjusted to ensure the constant tension of the fabrics during winding.

The load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity of the invention take the change of the motor angular velocity and/or the change of the motor angular acceleration as the judgment condition for regulating whether the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are added into the motor torque regulating quantity of the circular weaving machine, meanwhile, static and dynamic parameters related to the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are combined, the regulating quantity at the current sampling moment is obtained after accurate operation, so that the motor torque can be freely adjusted as required, when the winding tension is accurately controlled, the calculation amount and the load of the driver are kept at a reasonable level, the system response is ensured to be rapid, and the influence on the control precision caused by the frequent change of the motor torque due to over-regulation is avoided.

In a second aspect, the present invention provides a drive for a circular knitting machine, the drive comprising:

the operation parameter acquisition module is used for acquiring information and data related to the operation state of the circular weaving machine;

the control quantity determining module is used for determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, and the motor torque regulating quantity of the circular weaving machine is used for regulating the torque of a motor according to the running state of the circular weaving machine;

and the control quantity output module is used for outputting the motor torque regulating quantity of the circular weaving machine to the motor controller so as to regulate the motor torque and keep the tension of the circular weaving machine constant during winding.

In a third aspect, the invention provides a computer apparatus comprising a memory and a processor; the memory for storing a computer program; the processor is configured to implement the control method for the driver of the circular knitting machine according to the first aspect when executing the computer program.

In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method for a drive of a circular knitting machine according to the first aspect.

Compared with the prior art, the invention has the following beneficial effects:

(1) according to the invention, by monitoring the running state parameters related to the rolling of the circular weaving machine, in the process of rolling the fabric, along with the continuous change of the rolling state of the circular weaving machine, the tension of the fabric during rolling can be kept constant, so that the fabric can be uniformly wound on the winding drum during rolling, and the phenomena of overlarge tension, breakage, undersize tension, looseness, wrinkling after rolling, uneven rolling stress and the like are avoided.

(2) The method comprises the steps of acquiring dynamic parameters of the angular velocity of a first motor and the angular velocity of a second motor of the circular weaving machine in real time, and acquiring static parameters related to a fabric winding part, such as the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and the first motor, the reduction ratio between the second winding roller and the second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width, the dynamic friction coefficient of the second winding roller when the fabric is wound and the like; the dynamic parameters and the static parameters of the fabric winding part are combined, and various influence factors are integrated to determine the torque regulating quantity, so that when the circular weaving machine is used for winding the fabric, the output of the motor torque can be timely and accurately regulated according to the change of the states of all parts in the winding process, the stability of winding tension is ensured, and the control of the winding tension is more accurate and the dynamic response is faster.

(3) The invention will affect three factors of the motor torque change: the load torque change, the inertia torque change and the friction torque change are all used as components for determining the motor torque regulating variable related to the rolling of the circular weaving machine, the motor torque regulating variable determined in the way is used for driving and controlling the motor torque, so that the regulation of the motor torque is more suitable for the change of the actual state of the circular weaving machine during rolling, the motor torque can also follow the continuous change of the rolling state of the circular weaving machine in time, the dynamic regulation is realized, the tension is ensured to be constant all the time, and the precision and the dynamic response speed of the constant tension control during the rolling of the circular weaving machine fabric are improved.

(4) The load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity of the invention take the change of the motor angular velocity and/or the change of the motor angular acceleration as the judgment condition for regulating whether the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are added into the motor torque regulating quantity of the circular weaving machine, meanwhile, static and dynamic parameters related to the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are combined, the regulating quantity at the current sampling moment is obtained after accurate operation, so that the motor torque can be freely adjusted as required, when the winding tension is accurately controlled, the calculation amount and the load of the driver are kept at a reasonable level, the system response is ensured to be rapid, and the influence on the control precision caused by the frequent change of the motor torque due to over-regulation is avoided.

Drawings

For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic flow diagram of the process of the present invention;

FIG. 2 is a schematic flow chart of another method of the present invention;

FIG. 3 is a schematic view of the structure of the driver of the present invention;

FIG. 4 is a schematic diagram of a computer device according to the present invention;

fig. 5 is a schematic diagram of a computer-readable storage medium according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the specification, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

Example 1

As shown in fig. 1-2, the present invention provides a method for controlling a driver for a circular knitting machine, the method comprising:

acquiring information and data related to the running state of the circular weaving machine;

determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, wherein the motor torque regulating quantity of the circular weaving machine is used for regulating the torque of a motor according to the running state of the circular weaving machine;

and outputting the motor torque regulating quantity of the circular weaving machine to a motor controller, and further regulating the motor torque to keep the tension of the circular weaving machine constant during winding.

Further, the acquiring information and data related to the operation state of the circular weaving machine comprises:

acquiring running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to winding of the circular weaving machine, and acquiring a set value of winding tension;

description of the drawings: the method for acquiring the running state parameters of the first motor, the second motor, the first winding roller and the second winding roller related to the winding of the circular weaving machine comprises the following steps: acquiring the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and a first motor, the reduction ratio between the second winding roller and a second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width and the dynamic friction coefficient of the second winding roller when the fabric is wound; acquiring the angular speed of a first motor and the angular speed of a second motor of the circular weaving machine in real time;

the first motor is used for driving the first winding roller, the second motor is used for driving the second winding roller, the first winding roller is used for lifting a fabric woven by the circular weaving machine, the second winding roller winds the fabric woven by the circular weaving machine into a cylindrical shape and winds the fabric onto a winding drum, meanwhile, tension during winding is balanced, the fabric can be uniformly wound on the winding drum of the second winding roller during winding, and the tension during winding can still be kept constant along with the continuous change of the diameter of the second winding roller during the process of winding the fabric. The phenomena of overlarge tension, breakage, undersize tension, looseness, folds after rolling, uneven rolling stress and the like are avoided.

Further, determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, comprising the following steps:

determining a load torque regulating quantity, an inertia torque regulating quantity and a friction torque regulating quantity of a motor according to the acquired running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to the winding of the circular weaving machine and the set value of winding tension;

and performing weighted calculation according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount to obtain the motor torque adjustment amount of the circular weaving machine.

Further, the output of the motor torque regulating variable of the circular weaving machine to the motor controller, and then the motor torque is regulated, so that the tension of the circular weaving machine during winding is kept constant, and the method comprises the following steps:

and outputting the motor torque regulating quantity of the circular weaving machine to a controller of a second motor, and regulating the torque of the second motor in real time according to the running state to keep the winding tension of the second winding roller within the error range of a set value.

The method comprises the steps of acquiring dynamic parameters of the angular velocity of a first motor and the angular velocity of a second motor of the circular weaving machine in real time, and acquiring static parameters related to a fabric winding part, such as the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and the first motor, the reduction ratio between the second winding roller and the second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width, the dynamic friction coefficient of the second winding roller when the fabric is wound and the like; the dynamic parameters and the static parameters of the fabric winding part are combined, and various influence factors are integrated to determine the torque regulating quantity, so that when the circular weaving machine is used for winding the fabric, the output of the motor torque can be timely and accurately regulated according to the change of the states of all parts in the winding process, the stability of winding tension is ensured, and the control of the winding tension is more accurate and the dynamic response is faster.

Further, according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount, carrying out weighting calculation to obtain the motor torque adjustment amount of the circular weaving machine, which comprises

According to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount, carrying out weighting calculation by using a first relational expression to obtain a motor torque adjustment amount of the circular weaving machine;

wherein the first relation comprises: t is_t＝k₁T_α+k₂T_β+k₃T_γ

Wherein, T_tAdjusting the motor torque of the circular weaving machine;

k₁adjusting the coefficient for the load torque;

T_αadjusting the load torque;

k₂inertia torque adjustment coefficients;

T_βan inertia torque adjustment amount;

k₃adjusting coefficient for friction torque;

T_γadjusting the amount of friction torque;

description of the drawings: t is_tFor the purpose of making superimposed adjustments on the basis of the last adjustment, i.e. by periodically sampling and calculating, when adjustments are required, the T at the current sampling_tSuperimposed on the torque of the second electric machine as a new torque output. Therefore, the torque of the winding motor can be continuously adjusted according to the specific running state, so that the tension of the circular weaving machine during winding is kept constant.

The invention will affect three factors of the motor torque change: the load torque change, the inertia torque change and the friction torque change are all used as components for determining the motor torque regulating variable related to the rolling of the circular weaving machine, the motor torque regulating variable determined in the way is used for driving and controlling the motor torque, so that the regulation of the motor torque is more suitable for the change of the actual state of the circular weaving machine during rolling, the motor torque can also follow the continuous change of the rolling state of the circular weaving machine in time, the dynamic regulation is realized, the tension is ensured to be constant all the time, and the precision and the dynamic response speed of the constant tension control during the rolling of the circular weaving machine fabric are improved.

Further, in the first relation, the load torque adjustment amount T_αBy using a secondCalculating a relational expression;

wherein the second relation comprises:

wherein, T_αAdjusting the load torque;

ω₁is the angular velocity of the first motor;

D₁the diameter of the first winding roller;

i₂the reduction ratio between the second winding roller and the second motor is set;

f is a set value of the winding tension;

i₁the reduction ratio between the first winding roller and the first motor is set;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

alpha is the threshold value of the load torque adjustment added to the adjustment.

Description of the drawings: when the current sampling is obtained from the last adjustment, the angular speed variation of the second winding roller reaches a threshold value, and then a load torque adjustment quantity needs to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment; when the current sampling is obtained from the last adjustment, the angular speed variation of the second winding roller does not reach the threshold value, and the load torque adjustment quantity does not need to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment;

the acquisition of the first motor angular velocity and the first motor angular velocity can be realized by adopting a mature prior art, for example, an encoder can be installed on the motor to be used as an acquisition data source of the angular velocity, or the motor provided with the encoder is selected.

Further, in the first relation, the inertia torque adjustment amount T_βCalculating by using a third relational expression;

wherein the third relation comprises:

wherein, T_βAn inertia torque adjustment amount;

D₂the diameter of the second winding roller after the fabric is wound is shown;

m₀the weight of the fabric which is not wound by the second winding roller is the weight of the fabric which is not wound by the second winding roller;

ρ₂is the fabric density;

b is the width of fabric winding;

D₀the diameter of the fabric is the diameter of the fabric when the fabric is not wound by the second winding roller;

ω₂the real-time angular velocity of the second wind-up roll;

the real-time angular acceleration of the second wind-up roll;

beta is the threshold value of adding the inertia torque adjustment amount into the adjustment;

wherein the diameter D of the second winding roller after the fabric is wound₂The following relationship is obtained:

description of the drawings: when the angular acceleration variation of the second winding roller reaches a threshold value, inertia torque adjustment quantity needs to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment; when the angular acceleration variation of the second winding roller does not reach the threshold value, the inertia torque regulating quantity does not need to be added into the motor torque regulating quantity of the circular weaving machine for regulation;

further, in the first relational expression, the friction torque adjustment amount T is_γCalculating by using a fourth relational expression;

wherein the fourth relation comprises:

wherein, T_γAdjusting the amount of friction torque;

f_rthe coefficient of dynamic friction of the second winding roller during winding is the coefficient of dynamic friction of the second winding roller during winding;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

γ₁adding an adjusted first threshold value to the friction torque adjustment;

γ₂a second threshold value of the adjustment is added to the friction torque adjustment.

Description of the drawings: when the angular acceleration variation of the second winding roller reaches a threshold value, or when the angular acceleration variation of the second winding roller does not reach the threshold value but is adjusted from the last time to the current sampling, and the angular velocity variation of the second winding roller reaches the threshold value, a friction torque adjustment quantity is required to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment; when the angular acceleration variation of the second winding roller does not reach the threshold value and the angular velocity variation of the second winding roller does not reach the threshold value from the last adjustment to the current sampling, the friction torque adjustment amount does not need to be added into the motor torque adjustment amount of the circular weaving machine for adjustment.

The load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity of the invention take the change of the motor angular velocity and/or the change of the motor angular acceleration as the judgment condition for regulating whether the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are added into the motor torque regulating quantity of the circular weaving machine, meanwhile, static and dynamic parameters related to the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are combined, the regulating quantity at the current sampling moment is obtained after accurate operation, so that the motor torque can be freely adjusted as required, when the winding tension is accurately controlled, the calculation amount and the load of the driver are kept at a reasonable level, the system response is ensured to be rapid, and the influence on the control precision caused by the frequent change of the motor torque due to over-regulation is avoided.

Example 2

As shown in fig. 3, the present invention provides a driver for a circular knitting machine, the driver comprising:

the operation parameter acquisition module is used for acquiring information and data related to the operation state of the circular weaving machine;

the control quantity determining module is used for determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, and the motor torque regulating quantity of the circular weaving machine is used for regulating the torque of a motor according to the running state of the circular weaving machine;

and the control quantity output module is used for outputting the motor torque regulating quantity of the circular weaving machine to the motor controller so as to regulate the motor torque and keep the tension of the circular weaving machine constant during winding.

Further, the acquiring information and data related to the operation state of the circular weaving machine comprises:

acquiring running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to winding of the circular weaving machine, and acquiring a set value of winding tension;

description of the drawings: the method for acquiring the running state parameters of the first motor, the second motor, the first winding roller and the second winding roller related to the winding of the circular weaving machine comprises the following steps: acquiring the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and a first motor, the reduction ratio between the second winding roller and a second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width and the dynamic friction coefficient of the second winding roller when the fabric is wound; acquiring the angular speed of a first motor and the angular speed of a second motor of the circular weaving machine in real time;

the first motor is used for driving the first winding roller, the second motor is used for driving the second winding roller, the first winding roller is used for lifting a fabric woven by the circular weaving machine, the second winding roller winds the fabric woven by the circular weaving machine into a cylindrical shape and winds the fabric onto a winding drum, meanwhile, tension during winding is balanced, the fabric can be uniformly wound on the winding drum of the second winding roller during winding, and the tension during winding can still be kept constant along with the continuous change of the diameter of the second winding roller during the process of winding the fabric. The phenomena of overlarge tension, breakage, undersize tension, looseness, folds after rolling, uneven rolling stress and the like are avoided.

Further, determining the motor torque regulating quantity of the circular weaving machine according to the acquired information and data related to the running state of the circular weaving machine, comprising the following steps:

determining a load torque regulating quantity, an inertia torque regulating quantity and a friction torque regulating quantity of a motor according to the acquired running state parameters of a first motor, a second motor, a first winding roller and a second winding roller related to the winding of the circular weaving machine and the set value of winding tension;

and performing weighted calculation according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount to obtain the motor torque adjustment amount of the circular weaving machine.

Further, the output of the motor torque regulating variable of the circular weaving machine to the motor controller, and then the motor torque is regulated, so that the tension of the circular weaving machine during winding is kept constant, and the method comprises the following steps:

and outputting the motor torque regulating quantity of the circular weaving machine to a controller of a second motor, and regulating the torque of the second motor in real time according to the running state to keep the winding tension of the second winding roller within the error range of a set value.

The method comprises the steps of acquiring dynamic parameters of the angular velocity of a first motor and the angular velocity of a second motor of the circular weaving machine in real time, and acquiring static parameters related to a fabric winding part, such as the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and the first motor, the reduction ratio between the second winding roller and the second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width, the dynamic friction coefficient of the second winding roller when the fabric is wound and the like; the dynamic parameters and the static parameters of the fabric winding part are combined, and various influence factors are integrated to determine the torque regulating quantity, so that when the circular weaving machine is used for winding the fabric, the output of the motor torque can be timely and accurately regulated according to the change of the states of all parts in the winding process, the stability of winding tension is ensured, and the control of the winding tension is more accurate and the dynamic response is faster.

Further, according to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount, carrying out weighting calculation to obtain the motor torque adjustment amount of the circular weaving machine, which comprises

According to the load torque adjustment amount, the inertia torque adjustment amount and the friction torque adjustment amount, carrying out weighting calculation by using a first relational expression to obtain a motor torque adjustment amount of the circular weaving machine;

wherein the first relation comprises: t is_t＝k₁T_α+k₂T_β+k₃T_γ

Wherein, T_tAdjusting the motor torque of the circular weaving machine;

k₁adjusting the coefficient for the load torque;

T_αadjusting the load torque;

k₂inertia torque adjustment coefficients;

T_βan inertia torque adjustment amount;

k₃adjusting coefficient for friction torque;

T_γadjusting the amount of friction torque;

description of the drawings: t is_tFor the purpose of making superimposed adjustments on the basis of the last adjustment, i.e. by periodically sampling and calculating, when adjustments are required, the T at the current sampling_tSuperimposed on the torque of the second electric machine as a new torque output. Therefore, the torque of the winding motor can be continuously adjusted according to the specific running state, so that the tension of the circular weaving machine during winding is kept constant.

The invention will affect three factors of the motor torque change: the load torque change, the inertia torque change and the friction torque change are all used as components for determining the motor torque regulating variable related to the rolling of the circular weaving machine, the motor torque regulating variable determined in the way is used for driving and controlling the motor torque, so that the regulation of the motor torque is more suitable for the change of the actual state of the circular weaving machine during rolling, the motor torque can also follow the continuous change of the rolling state of the circular weaving machine in time, the dynamic regulation is realized, the tension is ensured to be constant all the time, and the precision and the dynamic response speed of the constant tension control during the rolling of the circular weaving machine fabric are improved.

Further, in the first relation, the load torque adjustment amount T_αCalculating by using a second relational expression;

wherein the second relation comprises:

wherein, T_αAdjusting the load torque;

ω₁is the angular velocity of the first motor;

D₁the diameter of the first winding roller;

i₂the reduction ratio between the second winding roller and the second motor is set;

f is a set value of the winding tension;

i₁the reduction ratio between the first winding roller and the first motor is set;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

alpha is the threshold value of the load torque adjustment added to the adjustment.

Description of the drawings: when the current sampling is obtained from the last adjustment, the angular speed variation of the second winding roller reaches a threshold value, and then a load torque adjustment quantity needs to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment; when the current sampling is obtained from the last adjustment, the angular speed variation of the second winding roller does not reach the threshold value, and the load torque adjustment quantity does not need to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment;

the acquisition of the first motor angular velocity and the first motor angular velocity can be realized by adopting a mature prior art, for example, an encoder can be installed on the motor to be used as an acquisition data source of the angular velocity, or the motor provided with the encoder is selected.

Further, in the first relation, the inertia torque adjustment amount T_βCalculating by using a third relational expression;

wherein the third relation comprises:

wherein, T_βAn inertia torque adjustment amount;

D₂the diameter of the second winding roller after the fabric is wound is shown;

m₀the weight of the fabric which is not wound by the second winding roller is the weight of the fabric which is not wound by the second winding roller;

ρ₂is the fabric density;

b is the width of fabric winding;

D₀the diameter of the fabric is the diameter of the fabric when the fabric is not wound by the second winding roller;

ω₂the real-time angular velocity of the second wind-up roll;

the real-time angular acceleration of the second wind-up roll;

beta is the threshold value of adding the inertia torque adjustment amount into the adjustment;

wherein the diameter D of the second winding roller after the fabric is wound₂The following relationship is obtained:

description of the drawings: when the angular acceleration variation of the second winding roller reaches a threshold value, inertia torque adjustment quantity needs to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment; when the angular acceleration variation of the second winding roller does not reach the threshold value, the inertia torque regulating quantity does not need to be added into the motor torque regulating quantity of the circular weaving machine for regulation;

further, in the first relational expression, the friction torque adjustment amount T is_γCalculating by using a fourth relational expression;

wherein the fourth relation comprises:

wherein, T_γAdjusting the amount of friction torque;

f_rthe coefficient of dynamic friction of the second winding roller during winding is the coefficient of dynamic friction of the second winding roller during winding;

ω₂₁the angular velocity of the second motor at the time of the last adjustment;

ω₂₂the angular speed of the second motor at the current sampling time;

γ₁adding an adjusted first threshold value to the friction torque adjustment;

γ₂a second threshold value of the adjustment is added to the friction torque adjustment.

Description of the drawings: when the angular acceleration variation of the second winding roller reaches a threshold value, or when the angular acceleration variation of the second winding roller does not reach the threshold value but is adjusted from the last time to the current sampling, and the angular velocity variation of the second winding roller reaches the threshold value, a friction torque adjustment quantity is required to be added into the motor torque adjustment quantity of the circular weaving machine for adjustment; when the angular acceleration variation of the second winding roller does not reach the threshold value and the angular velocity variation of the second winding roller does not reach the threshold value from the last adjustment to the current sampling, the friction torque adjustment amount does not need to be added into the motor torque adjustment amount of the circular weaving machine for adjustment.

The load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity of the invention take the change of the motor angular velocity and/or the change of the motor angular acceleration as the judgment condition for regulating whether the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are added into the motor torque regulating quantity of the circular weaving machine, meanwhile, static and dynamic parameters related to the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are combined, the regulating quantity at the current sampling moment is obtained after accurate operation, so that the motor torque can be freely adjusted as required, when the winding tension is accurately controlled, the calculation amount and the load of the driver are kept at a reasonable level, the system response is ensured to be rapid, and the influence on the control precision caused by the frequent change of the motor torque due to over-regulation is avoided.

In conclusion, by monitoring the running state parameters related to the rolling of the circular weaving machine, the tension of the rolled fabric can be kept constant along with the continuous change of the rolling state of the circular weaving machine in the fabric rolling process, so that the fabric can be uniformly wound on a winding drum in the rolling process, and the phenomena of overlarge tension, breakage, undersize tension, looseness, wrinkles after rolling, uneven rolling stress and the like are avoided.

Example 3

As shown in fig. 4, the present invention provides a computer device, which is characterized by comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to implement the method according to embodiment 1. Alternatively, in this embodiment, the computer device may also be used in combination with the circular knitting machine described in embodiment 2 to form a textile control system, so as to execute the control method described in embodiment 1, and implement the precise winding operation of the fabric.

Example 4

As shown in fig. 5, the present invention provides a computer-readable storage medium on which a computer program is stored, wherein the program is implemented to implement the method according to the above embodiment 1 when executed by a processor.

Compared with the prior art, the invention has the following beneficial effects:

(1) according to the invention, by monitoring the running state parameters related to the rolling of the circular weaving machine, in the process of rolling the fabric, along with the continuous change of the rolling state of the circular weaving machine, the tension of the fabric during rolling can be kept constant, so that the fabric can be uniformly wound on the winding drum during rolling, and the phenomena of overlarge tension, breakage, undersize tension, looseness, wrinkling after rolling, uneven rolling stress and the like are avoided.

(2) The method comprises the steps of acquiring dynamic parameters of the angular velocity of a first motor and the angular velocity of a second motor of the circular weaving machine in real time, and acquiring static parameters related to a fabric winding part, such as the diameter of a first winding roller, the diameter of a second winding roller when the fabric is not wound, the reduction ratio between the first winding roller and the first motor, the reduction ratio between the second winding roller and the second motor, the weight of the second winding roller when the fabric is not wound, the fabric density, the fabric winding width, the dynamic friction coefficient of the second winding roller when the fabric is wound and the like; the dynamic parameters and the static parameters of the fabric winding part are combined, and various influence factors are integrated to determine the torque regulating quantity, so that when the circular weaving machine is used for winding the fabric, the output of the motor torque can be timely and accurately regulated according to the change of the states of all parts in the winding process, the stability of winding tension is ensured, and the control of the winding tension is more accurate and the dynamic response is faster.

(3) The invention will affect three factors of the motor torque change: the load torque change, the inertia torque change and the friction torque change are all used as components for determining the motor torque regulating variable related to the rolling of the circular weaving machine, the motor torque regulating variable determined in the way is used for driving and controlling the motor torque, so that the regulation of the motor torque is more suitable for the change of the actual state of the circular weaving machine during rolling, the motor torque can also follow the continuous change of the rolling state of the circular weaving machine in time, the dynamic regulation is realized, the tension is ensured to be constant all the time, and the precision and the dynamic response speed of the constant tension control during the rolling of the circular weaving machine fabric are improved.

(4) The load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity of the invention take the change of the motor angular velocity and/or the change of the motor angular acceleration as the judgment condition for regulating whether the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are added into the motor torque regulating quantity of the circular weaving machine, meanwhile, static and dynamic parameters related to the load torque regulating quantity, the inertia torque regulating quantity and the friction torque regulating quantity are combined, the regulating quantity at the current sampling moment is obtained after accurate operation, so that the motor torque can be freely adjusted as required, when the winding tension is accurately controlled, the calculation amount and the load of the driver are kept at a reasonable level, the system response is ensured to be rapid, and the influence on the control precision caused by the frequent change of the motor torque due to over-regulation is avoided.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, media, devices, modules and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of modules or units may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The modules or units described as separate parts may or may not be physically separate, and parts displayed as modules or units may or may not be physical modules or units, may be located in one place, or may be distributed on a plurality of network modules or units. Some or all of the modules or units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional module or unit in the embodiments of the present application may be integrated into one processing module or unit, or each module or unit may exist alone physically, or two or more modules or units are integrated into one module or unit. The integrated module or unit may be implemented in the form of hardware, or may be implemented in the form of a software functional unit.

The integrated systems, modules, units, etc. if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.