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href="/html/list-21-1.html">新聞資訊</a></div> <div class="xeyifqp" id="bodycontent"> <div style="width:950px;height:30px;" class="news_content_title"> <h3 style="color:#333;margin:0pt 0pt 0pt 0pt;"> <strong>全自動(dòng)變壓器繞線(xiàn)機自動(dòng)排線(xiàn)控制技術(shù)研究</strong> </h3><hr width="95%" size="1" noshade> </div> <div style="width:950px; text-align:left; line-height:180%;" class="news_content_body"> <p class="MsoNormal"> 現代變壓器是由鐵芯、線(xiàn)圈和絕緣材料共同組成的<span lang="EN-US">,</span>該線(xiàn)圈通常分為高壓線(xiàn)圈和低壓線(xiàn)圈<span lang="EN-US">,</span>其中高壓線(xiàn)圈使用絕緣導線(xiàn)進(jìn)行繞制。線(xiàn)圈繞制是變壓器制造的核心<span lang="EN-US">,</span>對于變壓器工作性能影響較大<span lang="EN-US">,</span>不僅直接影響變壓器外形尺寸<span lang="EN-US">,</span>還影響著(zhù)變壓器絕緣性能和機械性能�，F有繞線(xiàn)機一般為半自動(dòng)繞線(xiàn)機<span lang="EN-US">,</span>工作過(guò)程是<span lang="EN-US">:</span>電機帶動(dòng)工件一起旋轉繞線(xiàn)<span lang="EN-US">,</span>通過(guò)計數裝置將纏繞圈數顯示在儀表上<span lang="EN-US">,</span>工人手工排線(xiàn)<span lang="EN-US">,</span>根據儀表顯示纏繞圈數控制電機啟停。但它存在以下缺點(diǎn)<span lang="EN-US">:</span>由于人工排線(xiàn)方式<span lang="EN-US">,</span>使工件加工質(zhì)量過(guò)于依賴(lài)工人技術(shù)水平<span lang="EN-US">,</span>且當電機轉速過(guò)快時(shí)<span lang="EN-US">,</span>人的操作無(wú)法跟上電機速度<span lang="EN-US">,</span>因此限制了加工效率。<a href="http://m.e-seiyaku.com/" target="_blank"><strong>全自動(dòng)繞線(xiàn)機</strong></a>的出現雖然解決了半自動(dòng)繞線(xiàn)機生產(chǎn)的一些弊端<span lang="EN-US">,</span>但現有的自動(dòng)排線(xiàn)繞線(xiàn)機為單絕緣層供給<span lang="EN-US">,</span>不能實(shí)現線(xiàn)帶同步纏繞或線(xiàn)圈側邊絕緣紙纏繞<span lang="EN-US">,</span>自動(dòng)化程度低且工藝不完備。傳統變壓器線(xiàn)圈繞制都是依靠人力將絕緣層按照生產(chǎn)工藝流程纏繞到組件上的<span lang="EN-US">,</span>由工作人員統計匝數<span lang="EN-US">,</span>使用傳統繞線(xiàn)方式受到人為因素影響<span lang="EN-US">,</span>導致繞制效率較低。因此<span lang="EN-US">,</span>采用全自動(dòng)變壓器繞線(xiàn)機來(lái)解決該問(wèn)題<span lang="EN-US"> </span>。 </p> <p class="MsoNormal"> 針對上述問(wèn)題<span lang="EN-US">,</span>采用伺服系統來(lái)驅動(dòng)排線(xiàn)機構<span lang="EN-US">,</span>搭建硬件平臺<span lang="EN-US">,</span>結合控制系統軟件部分設計<span lang="EN-US">,</span>完成變壓器的繞制過(guò)程。為實(shí)現精密繞制<span lang="EN-US">,</span>需對漆包線(xiàn)和絕緣帶中的張力進(jìn)行控制<span lang="EN-US">,</span>本文對全自動(dòng)變壓器的自動(dòng)排線(xiàn)控制技術(shù)展開(kāi)研究<span lang="EN-US">,</span>為了絕緣帶的張力控制奠定基礎。 </p> <p class="MsoNormal"> <span lang="EN-US">1 </span>繞線(xiàn)機設備構成 </p> <p class="MsoNormal"> 傳統的半自動(dòng)繞線(xiàn)機包括機座、檢測裝置、基于<span lang="EN-US"> PLC</span>控制的控制柜和設置在機座上的人機界面<span lang="EN-US">,</span>該設備僅為單絕緣層供給<span lang="EN-US">,</span>不能實(shí)現線(xiàn)圈側邊絕緣紙纏繞<span lang="EN-US">,</span>工藝不完備<span lang="EN-US">,</span>生產(chǎn)的線(xiàn)圈側邊絕緣性能差。因此本文設計的全自動(dòng)變壓器繞線(xiàn)機<span lang="EN-US">,</span>采用雙絕緣層供給裝置<span lang="EN-US">,</span>可同時(shí)實(shí)現線(xiàn)帶同步纏繞和線(xiàn)圈側邊絕緣紙纏繞。對于繞線(xiàn)機主要設備主要包括電線(xiàn)自動(dòng)排線(xiàn)裝置、主副絕緣層供給裝置、主副絕緣層主軸軸向驅動(dòng)裝置和卷繞主機等裝置<span lang="EN-US">,</span>如圖<span lang="EN-US"> 1 </span>所示。 </p> <p class="MsoNormal"> <span lang="EN-US"> <img src="/upload/image/20200905/20200905105439793979.png" alt="全自動(dòng)變壓器繞線(xiàn)機" width="503" height="271" title="全自動(dòng)變壓器繞線(xiàn)機" align="" /></span> </p> <p class="MsoNormal"> <span lang="EN-US"> </span> </p> <p class="MsoNormal"> <span lang="EN-US">1.1 </span>電線(xiàn)自動(dòng)排線(xiàn)裝置 </p> <p class="MsoNormal"> 自動(dòng)排線(xiàn)裝置為一軸伺服控制<span lang="EN-US">,</span>包括排線(xiàn)裝置架體、主體小車(chē)、定向定位輪、電機、導軌、導程<span lang="EN-US">20</span>的滾珠絲杠和<span lang="EN-US">1 : 5</span>的配減速機組成的<span lang="EN-US">,</span>排線(xiàn)裝置架體和主體小車(chē)上端設有絲杠<span lang="EN-US">,</span>主體小車(chē)可沿導軌和絲杠方向移動(dòng)<span lang="EN-US">,</span>排線(xiàn)機頭安裝在滾珠絲杠上<span lang="EN-US">,</span>可實(shí)現線(xiàn)頭沿著(zhù)導軌直線(xiàn)移動(dòng)<span lang="EN-US">,</span>而排線(xiàn)裝置兩端設有限位開(kāi)關(guān)<span lang="EN-US">,</span>其中排線(xiàn)電機功率設置為<span lang="EN-US"> 150W </span>。 </p> <p class="MsoNormal"> <span lang="EN-US">1.2 </span>卷繞主機 </p> <p class="MsoNormal"> 卷繞主機包括主軸<span lang="EN-US"> 4.5kW </span>的伺服電機、<span lang="EN-US"> 1 : 10 </span>的主軸配減速機、便于安裝繞組芯模、取成品的主軸關(guān)節、主軸模架和手搖頂尖裝置<span lang="EN-US">;</span>主機裝置軸承上可固定工件<span lang="EN-US">,</span>隨著(zhù)主軸旋轉完成線(xiàn)圈的繞制。設收卷電極功率為<span lang="EN-US"> 6.0kW ,</span>通過(guò)變頻器驅動(dòng)腳踏開(kāi)關(guān)進(jìn)行啟動(dòng)與停止控制。收卷主機配有電磁驅動(dòng)器<span lang="EN-US">,</span>能夠滿(mǎn)足收卷主軸的制動(dòng)需求。收卷電機與主軸之間是通過(guò)機械換擋來(lái)調節機箱傳遞動(dòng)力的<span lang="EN-US">,</span>其中設置兩個(gè)檔位分別為變壓器繞制提供較小額定轉矩和較高額定轉速<span lang="EN-US">,</span>以滿(mǎn)足工藝要求。 </p> <p class="MsoNormal"> <span lang="EN-US">1.3 </span>主副絕緣層供給裝置 </p> <p class="MsoNormal"> 主副絕緣層供給裝置包括伺服張力控制系統<span lang="EN-US"> (</span>內含伺服電機一臺及反饋傳感器等相關(guān)部件<span lang="EN-US">)</span>、副絕緣層供給裝置中步進(jìn)驅動(dòng)輪組、剪紙機構和其他輔助機構<span lang="EN-US">;</span>伺服系統控制絕緣紙捆沿定位定向輪移動(dòng)。另雙絕緣層供給排線(xiàn)繞線(xiàn)機還包括腳踏開(kāi)關(guān)和控制盒<span lang="EN-US">,</span>卷繞主機主軸的正反轉可通過(guò)所述腳踏開(kāi)關(guān)和控制盒分別實(shí)現。 </p> <p class="MsoNormal"> <span lang="EN-US">1.4 </span>主副絕緣層主軸軸向驅動(dòng)裝置 </p> <p class="MsoNormal"> 主副絕緣層主軸軸向驅動(dòng)裝置包括主副絕緣層架體、<span lang="EN-US"> 2kW </span>伺服電機、<span lang="EN-US"> 1 : 5 </span>的配減速機、導程<span lang="EN-US"> 20 </span>的絲杠、導軌和主體小車(chē)<span lang="EN-US">;</span>主副絕緣層主軸軸向伺服電機和主副絕緣層主軸軸向配減速機連接<span lang="EN-US">PLC</span>控制系統<span lang="EN-US">, PLC</span>控制系統設有觸摸屏<span lang="EN-US">,</span>用于顯示繞線(xiàn)圈數<span lang="EN-US">,</span>并具有正反記數和斷電記憶功能。 </p> <p class="MsoNormal"> 全自動(dòng)變壓器繞線(xiàn)機主要設備負責完成程序編寫(xiě)和人機界面組態(tài)<span lang="EN-US">,</span>程序是控制技術(shù)的具體實(shí)現<span lang="EN-US">,</span>在硬件選型已經(jīng)確定條件下<span lang="EN-US">,</span>程序控制將最終決定整臺機器的性能。人機界面作為人機交互平臺<span lang="EN-US">,</span>不僅能夠完成向程序發(fā)送控制指令以及輸入工藝參數的操作<span lang="EN-US">,</span>還可實(shí)時(shí)顯示設備運行狀態(tài) 。 </p> <p class="MsoNormal"> <span lang="EN-US">2 </span>自動(dòng)排線(xiàn)控制技術(shù)分析 </p> <p class="MsoNormal"> 對于影響全自動(dòng)變壓器繞線(xiàn)機繞線(xiàn)質(zhì)量以及加工精度<span lang="EN-US">,</span>絕緣帶和漆包線(xiàn)中的張力是重要影響因素<span lang="EN-US">,</span>目前張力控制已經(jīng)廣泛應用于繞線(xiàn)行業(yè)中。在自動(dòng)繞線(xiàn)機繞線(xiàn)過(guò)程中<span lang="EN-US">,</span>如果漆包線(xiàn)中的張力較小<span lang="EN-US">,</span>而導致繞線(xiàn)機組的絕緣帶松弛<span lang="EN-US">,</span>那么就會(huì )產(chǎn)生繞線(xiàn)堆積現象<span lang="EN-US">;</span>反之<span lang="EN-US">,</span>如果漆包線(xiàn)中的張力較大<span lang="EN-US">,</span>而導致繞線(xiàn)機組的絕緣帶纏繞表面坍塌<span lang="EN-US">,</span>那么就會(huì )產(chǎn)生繞線(xiàn)斷帶現象<span lang="EN-US">,</span>因此控制漆包線(xiàn)和絕緣帶張力對于繞線(xiàn)機繞線(xiàn)質(zhì)量來(lái)說(shuō)是具有重要的作用。 </p> <p class="MsoNormal"> <span lang="EN-US">2.1 </span>張力的產(chǎn)生 </p> <p class="MsoNormal"> 在繞線(xiàn)機自動(dòng)繞線(xiàn)過(guò)程中<span lang="EN-US">,</span>為了達到工藝要求<span lang="EN-US">,</span>必須在漆包線(xiàn)上產(chǎn)生摩擦力和阻力<span lang="EN-US">,</span>因此對于張力的產(chǎn)生可通過(guò)如下<span lang="EN-US">3</span>種情況進(jìn)行說(shuō)明。 </p> <p class="MsoNormal"> <img src="/upload/image/20200905/20200905105480278027.png" alt="張力的產(chǎn)生" width="334" height="386" title="張力的產(chǎn)生" align="" /> </p> <p class="MsoNormal"> 由圖<span lang="EN-US"> 2 </span>可知<span lang="EN-US">:</span>圖<span lang="EN-US"> ( a )</span>中在漆包線(xiàn)表面設置摩擦輥<span lang="EN-US">,</span>使在運動(dòng)時(shí)產(chǎn)生張力。當機器主軸產(chǎn)生帶動(dòng)飛叉旋轉的繞線(xiàn)時(shí)<span lang="EN-US">,</span>摩擦輥與漆包線(xiàn)之間會(huì )產(chǎn)生相對摩擦力<span lang="EN-US">,</span>因此在摩擦輥與絕緣帶之間的漆包線(xiàn)產(chǎn)生了張力<span lang="EN-US">;</span>圖<span lang="EN-US"> ( b )</span>中是對防線(xiàn)卷施加了阻力矩<span lang="EN-US">,</span>設置產(chǎn)生阻力矩的裝置<span lang="EN-US">;</span>圖<span lang="EN-US"> (c )</span>是利用防線(xiàn)速度和收線(xiàn)速度之差來(lái)產(chǎn)生拉力<span lang="EN-US">,</span>采用該方式可通過(guò)控制放線(xiàn)卷的放線(xiàn)速度實(shí)現對漆包線(xiàn)和絕緣帶中張力的控制。 </p> <p class="MsoNormal"> 圖<span lang="EN-US"> ( a )</span>中產(chǎn)生的張力與帶盤(pán)半徑大小無(wú)關(guān)<span lang="EN-US">,</span>即帶盤(pán)轉動(dòng)變化對絕緣帶中張力是不產(chǎn)生影響的<span lang="EN-US">,</span>因此對于張力的控制是比較容易的<span lang="EN-US">;</span>圖<span lang="EN-US"> ( b )</span>中裝置產(chǎn)生的阻力矩是保持不變的<span lang="EN-US">,</span>因此絕緣帶產(chǎn)生的張力值是由阻力矩與放線(xiàn)卷半徑的比計算出來(lái)的<span lang="EN-US">;</span>由于在摩擦輥與絕緣帶之間施加正壓力產(chǎn)生一定張力值才能促使繞線(xiàn)機正常工作<span lang="EN-US">,</span>因此在圖<span lang="EN-US"> ( c )</span>產(chǎn)生張力過(guò)程中<span lang="EN-US">,</span>絕緣帶張力由如下公式進(jìn)行計算<span lang="EN-US">:</span> </p> <p class="MsoNormal"> <span lang="EN-US"> <img src="/upload/image/20200905/20200905105520312031.png" alt="" /></span> </p> <p class="MsoNormal"> <span lang="EN-US"> </span>公式<span lang="EN-US"> ( 1 )</span>中<span lang="EN-US">: V 2 </span>和<span lang="EN-US"> V 1 </span>分別為控制收線(xiàn)卷和防線(xiàn)卷的速度<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">s </span>為絕緣帶的截面積<span lang="EN-US">; </span>α 為絕緣帶彈性模量<span lang="EN-US">; d </span>為轉動(dòng)點(diǎn)之間的距離<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">t </span>為設備運轉時(shí)間。 </p> <p class="MsoNormal"> 絕緣帶張力會(huì )隨著(zhù)繞線(xiàn)機繞線(xiàn)的速度變化而產(chǎn)生一定影響<span lang="EN-US">,</span>在整個(gè)張力控制過(guò)程中實(shí)際上就是計算控制收線(xiàn)卷和放線(xiàn)卷之間的速度差<span lang="EN-US">,</span>采用這種方式將張力控制轉化為兩線(xiàn)速度差的控制。卷繞主機上放置線(xiàn)圈芯模<span lang="EN-US">,</span>而絕緣層 </p> <p class="MsoNormal"> 供給裝置將絕緣紙送至卷繞主機<span lang="EN-US">,</span>卷繞主機轉動(dòng)使絕緣紙纏繞在線(xiàn)圈芯模上<span lang="EN-US">,</span>主副絕緣層主軸軸向驅動(dòng)裝置左右重復移動(dòng)使絕緣紙均勻布滿(mǎn)線(xiàn)圈芯模<span lang="EN-US">,</span>通過(guò)張力調節線(xiàn)架<span lang="EN-US">,</span>將導線(xiàn)通過(guò)電線(xiàn)自動(dòng)排線(xiàn)裝置送至卷繞主機<span lang="EN-US">,</span>卷繞主機轉動(dòng)使導線(xiàn)纏繞在絕緣紙上<span lang="EN-US">,</span>電線(xiàn)自動(dòng)排線(xiàn)裝置左右重復移動(dòng)使導線(xiàn)均勻布滿(mǎn)絕緣紙。本文提出伺服自動(dòng)排線(xiàn)方案<span lang="EN-US">,</span>提高排線(xiàn)精確度<span lang="EN-US">,</span>為絕緣帶張力的控制打下基礎。 </p> <p class="MsoNormal"> <span lang="EN-US">2.2 </span>伺服自動(dòng)排線(xiàn)設計 </p> <p class="MsoNormal"> 伺服電機的控制有精確度高、定位準、調速范圍寬、響應速度快、動(dòng)態(tài)性能好等特點(diǎn)。本系統中排線(xiàn)機構需要較好的跟隨性和主軸電機協(xié)同運轉<span lang="EN-US">,</span>同時(shí)需要排線(xiàn)誤差小<span lang="EN-US">,</span>排線(xiàn)均勻<span lang="EN-US">,</span>精確度高<span lang="EN-US">,</span>因此我們選用三菱伺服系統來(lái)驅動(dòng)排線(xiàn)機構進(jìn)行排線(xiàn)<span lang="EN-US"> </span>。 </p> <p class="MsoNormal"> 使用伺服驅動(dòng)器時(shí)<span lang="EN-US">,</span>電線(xiàn)自動(dòng)排線(xiàn)方案設計如下所示<span lang="EN-US">:</span> </p> <p class="MsoNormal"> 根據一定時(shí)間內繞線(xiàn)機轉過(guò)的角度來(lái)控制程序向伺服驅動(dòng)器發(fā)動(dòng)的脈沖<span lang="EN-US">,</span>排線(xiàn)裝置快速跟隨繞線(xiàn)機主軸轉動(dòng)<span lang="EN-US">,</span>根據在執行時(shí)發(fā)送的脈沖指令改變發(fā)送脈沖頻率<span lang="EN-US">,</span>當發(fā)送脈沖指令之前<span lang="EN-US">,</span>會(huì )按照之前設定的頻率發(fā)送脈沖<span lang="EN-US">,</span>一旦更改了發(fā)送脈沖頻率之后<span lang="EN-US">,</span>必須先斷開(kāi)接通條件<span lang="EN-US">,</span>再重新接通啟動(dòng)脈沖指令<span lang="EN-US">,</span>才可按照原始的脈沖頻率執行。此時(shí)電極工作是位于控制模式下進(jìn)行的<span lang="EN-US">,</span>由此設計了如圖<span lang="EN-US"> 3 </span>所示的排線(xiàn)時(shí)序圖。 </p> <p class="MsoNormal"> <img src="/upload/image/20200905/20200905105515441544.png" alt="排線(xiàn)時(shí)序圖" width="311" height="377" title="排線(xiàn)時(shí)序圖" align="" /> </p> <p class="MsoNormal"> 由圖<span lang="EN-US">3</span>可知<span lang="EN-US">,</span>為了使排線(xiàn)更加平滑<span lang="EN-US">,</span>需保證脈沖采樣時(shí)間間隔最短<span lang="EN-US">,</span>選擇可編程邏輯控制器的掃描周期<span lang="EN-US"> T </span>作為采樣時(shí)間<span lang="EN-US">,</span>每隔<span lang="EN-US">2T</span>更新一次脈沖數量<span lang="EN-US">,</span>但是每次都必須在時(shí)間<span lang="EN-US"> T</span>內完成脈沖的發(fā)送<span lang="EN-US">,</span>因此在采樣周?chē)鸀?span lang="EN-US">2T</span>時(shí)<span lang="EN-US">,</span>就完成了一次自動(dòng)排序任務(wù)<span lang="EN-US">,</span>繼續進(jìn)行下一次自動(dòng)排線(xiàn)<span lang="EN-US">,</span>直到自動(dòng)繞線(xiàn)全部完成。具體排線(xiàn)方案設計如下所示<span lang="EN-US">:</span> </p> <p class="MsoNormal"> <span lang="EN-US">a )</span>計算導線(xiàn)整體直徑<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">b )</span>計算主軸轉速<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">c )</span>計算可編程邏輯控制器發(fā)送的脈沖主要頻率<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">d )</span>將上一次差值折算為可編程邏輯控制器發(fā)送脈沖的附加頻率<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">e )</span>計算可編程邏輯控制器實(shí)際應發(fā)脈沖頻率<span lang="EN-US">,</span>并以此頻率發(fā)送脈沖<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">f )</span>統計一個(gè)周期的采樣結果<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">g )</span>計算以此脈沖發(fā)送結束時(shí)的可編程邏輯控制器實(shí)際應發(fā)脈沖與理論應發(fā)脈沖之差<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">h )</span>將第一次差值固定<span lang="EN-US">,</span>將下一次差值移動(dòng)到上一次差值中<span lang="EN-US">;</span> </p> <p class="MsoNormal"> <span lang="EN-US">i )</span>查看是否達到設定的匝數<span lang="EN-US">?</span> </p> <p class="MsoNormal"> <span lang="EN-US">j )</span>如果達到<span lang="EN-US">,</span>則結束<span lang="EN-US">;</span>如果沒(méi)有達到<span lang="EN-US">,</span>則需重新計算導線(xiàn)整體直徑<span lang="EN-US">,</span>直到達到設定的匝數即可。 </p> <p class="MsoNormal"> 雖然根據上述設計方案實(shí)現了繞線(xiàn)機的快速排線(xiàn)<span lang="EN-US">,</span>但在變壓器的繞制過(guò)程中通過(guò)電磁剎車(chē)裝置實(shí)現主軸電機的快速制動(dòng)<span lang="EN-US">,</span>開(kāi)始時(shí)電機轉速由低速加速到高速運行<span lang="EN-US">,</span>在這一段繞制快要結束時(shí)電機又由高速降為低速運行<span lang="EN-US">,</span>繞線(xiàn)完成一層后<span lang="EN-US">,</span>自動(dòng)鋪設絕緣層<span lang="EN-US">,</span>伺服電機排線(xiàn)方向取反<span lang="EN-US">,</span>繼續繞制工作。在這個(gè)過(guò)程中<span lang="EN-US">,</span>主軸轉速過(guò)快<span lang="EN-US">,</span>轉動(dòng)慣量過(guò)大<span lang="EN-US">,</span>致使排線(xiàn)誤差偏大<span lang="EN-US">,</span>漆包線(xiàn)張力波動(dòng)<span lang="EN-US">,</span>因此本文提出逐次逼近補償的方法減少慣性造成的誤差。 </p> <p class="MsoNormal"> <span lang="EN-US"> </span> </p> <p class="MsoNormal"> <span lang="EN-US"> </span> </p> <p class="MsoNormal"> 本文采用伺服張力器工作原理是由電機作為主要工作機構<span lang="EN-US">,</span>通過(guò)調節速度控制扭矩<span lang="EN-US">,</span>由傳統被動(dòng)送線(xiàn)方式轉變?yōu)橹鲃?dòng)送線(xiàn)方式<span lang="EN-US">,</span>保持張力穩定性�？刂蒲b置是張力控制核心<span lang="EN-US">,</span>對于整個(gè)控制系統具有重大影響<span lang="EN-US">,</span>通過(guò)接收來(lái)自張力傳感器的反饋信號<span lang="EN-US">,</span>根據時(shí)序圖設計具體排線(xiàn)方案<span lang="EN-US">,</span>通過(guò)調試確定慣性補償系數<span 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