CN102437366B - Battery coiling device and coiling control method thereof - Google Patents
Battery coiling device and coiling control method thereof Download PDFInfo
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- CN102437366B CN102437366B CN201110409981.1A CN201110409981A CN102437366B CN 102437366 B CN102437366 B CN 102437366B CN 201110409981 A CN201110409981 A CN 201110409981A CN 102437366 B CN102437366 B CN 102437366B
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Abstract
The invention is applied in the technical field of battery manufacture, and provides a battery coiling control method, which comprises the following steps of: A, calculating a current target material coiling length in real time in each preset time period according to received linear velocity information; B, determining a target angular position to which a coiling pin is required to rotate according to the current target material coiling length and pre-stored information about corresponding relationship between each equilong rotating-coiled material and the angular positions of a servo motor shaft; and C, controlling a servo motor in real time to drive the coiling pin to rotate to a corresponding target angular position in the preset time period according to the determined target angular position by using a servo driver, so that the rotating-coiled material is coiled on the coiling pin at constant linear velocity. When the method is used, the rotating angular position information of the coiling pin is sampled and stored in advance in the whole battery coiling process, and angular velocity at which constant linear velocity rotation can be realized is calculated in actual coiling, so that constant linear velocity coiling effects can be improved.
Description
Technical field
The invention belongs to battery manufacture technical field, relate in particular to a kind of coiling apparatus for battery and coiling controlling method thereof.
Background technology
In battery manufacturing process, need cell cathode, the multiple different materials such as anode and barrier film is wound into battery battery core together, shown in Fig. 1 is the major part that the permanent linear speed of coiling apparatus for battery is controlled: the roller 11 that connects encoder, encoder 12, the volume pin 13 that connects the axle of servomotor 14, servomotor 14, servo-driver 15, the material that turns around being wrapped in unwinding device (not shown) is rolled up pin 13 rollings by roller 11, servo-driver 15 is for driving servomotor 14 to rotate, servomotor 14 drives volume pin 13 to rotate, 12 of the encoders rotating cycle for pair roller 11 is counted, to record by the length that turns around material of rolling.
For the coiling effect having reached, battery winding technique need to be carried out permanent tension force control, square shaped volume pin 13, if volume pin 13 is constant angular velocity rotations, the linear velocity that turns around so material can be non-constant, when linear velocity is very high and can make inconstant time permanent tension force control difficulty, strengthen, so the permanent linear speed that volume pin 13 is reeled has been controlled to very important part in battery winding technology.
Current application be generally by peripheral control unit according to volume pin 13 shapometer calculate can realize permanent linear-speed winding the corresponding angular speed in each position as feed forward variable, then utilizing the information of encoder 12 to feed back revises volume needle speed, control servo-driver 15 rotations, realize by peripheral control unit, servo-driver 15, servomotor 14, volume pin 13, turn around the system that the turns around closed-loop control that material forms.But on the one hand because volume pin 3 winding radius can change along with the increase turning into material, the different also differences that change of material thickness, cause feed forward variable to be difficult to determine; On the other hand, in actual machine in order to reach other performance requirement, also have several rollers connecing between the roller 11 of encoder 12 and volume pin 13, and material has certain elasticity, the speed of material on volume pin 13 can not be reflected on encoder 2 in time, cause affecting control effect after feedback.
Summary of the invention
First technical problem to be solved by this invention is to provide a kind of coiling controlling method of coiling apparatus for battery, be intended to avoid calculate early stage the shape of volume pin, particularly battery variety is changed the needed a large amount of calculating of volume pin shape conversion causing, and be reduced in material in the process of turning around and turn around the control difficulty that radius change causes, improve the effect of permanent linear-speed winding.
Second technical problem to be solved by this invention is to provide a kind of coiling apparatus for battery, is intended to avoid need to calculate the shape of volume pin early stage, and is reduced in material in the process of turning around and turns around the control difficulty that radius change causes, improves the effect of permanent linear-speed winding.
For solving above-mentioned first technical problem, the present invention is achieved in that a kind of coiling controlling method of coiling apparatus for battery, and described coiling apparatus for battery comprises volume pin, servomotor, the servo-driver that can drive described volume pin to rotate; Described control method comprises the steps:
Steps A, receives the linear velocity information of peripheral control unit input or the linear velocity information that user sets, and according to described linear velocity information, within each default time cycle, calculates in real time the target material length that current need turn around;
Step B, the target material length turning around according to described current need, and the correspondence relationship information of the angle position that turns around material and servo motor shaft of each the equal portions length prestoring, determine the angle on target position that volume pin need turn to;
Step C, servo-driver, according to definite angle on target position, is controlled in real time servomotor and within the described default time cycle, is driven volume pin to turn to corresponding angle on target position, so that turn around the permanent linear speed of material, is wound on pin;
Before described steps A, described method also comprises the steps:
Steps A 01, will turn around material examination rolling in advance on volume pin, in winding process, every coiling one equal portions length turn around the angular position information that material is the current place of once sampling servo motor shaft;
Steps A 02, stores the sampled result of steps A 01.
Further, after described steps A 01 and before described steps A 02, described method also comprises the steps:
Steps A 011, according to following formula, the angle position parameter corresponding to n equal portions material of steps A 01 sampling carried out to filtering processing:
α
* n=(α
n-(N-1)／2+α
n-(N-1)／2+1+...+α
n+...+α
n+(N-1)／2-1+α
n+(N-1)／2)／N
If x=n-(N-1)/2, when x<0, α
x=α
-x
Wherein, α * is filtered angle position parameter, and α is the original angle location parameter of sampling, and N is filtering parameter, and N gets odd number.
Further, after described step B and before described step C, described method also comprises the steps:
Step B1, carries out phase compensation to the angle position parameter that step B is definite, then performs step C.
For solving above-mentioned second technical problem, coiling apparatus for battery provided by the invention, comprise volume pin, servomotor, the servo-driver that can drive described volume pin to rotate, also comprise a volume pin angle position sampling unit, a linear velocity setting unit, volume pin angle position determining unit;
Described volume pin angle position sampling unit is for will turning around material examination rolling in the angular position information that material is the current place of once sampling servo motor shaft that turns around of the every coiling one equal portions length of process of volume pin in advance, and sampled result is stored;
Described linear velocity setting unit is used for receiving the linear velocity information of peripheral control unit input or the linear velocity information that user sets, and according to described linear velocity information, within each default time cycle, calculates in real time the target material length that current need turn around;
The target material length that described volume pin angle position determining unit turns around for the current need that calculate according to described linear velocity setting unit, and the correspondence relationship information of the angle position that turns around material and servo motor shaft of each the equal portions length prestoring, determine the angle on target position that volume pin need turn to;
Described servo-driver is used for according to the definite angle on target position of determining unit, described volume pin angle position, control in real time described servomotor and within the described default time cycle, drive described volume pin to turn to corresponding angle on target position, so that turn around the permanent linear speed of material, be wound on described volume pin.
Further, described volume pin angle position sampling unit also carries out filtering processing for the angle position parameter that described volume pin angle position sampling unit sampling is obtained to the angle position parameter that n equal portions material is corresponding according to following formula:
α
* n=(α
n-(N-1)／2+α
n-(N-1)／2+1+...+α
n+...+α
n+(N-1)／2-1+α
n+(N-1)／2)／N
If X=n-(N-1)/2, when x<0, α
x=α
-x
Wherein, α * is filtered angle position parameter, and α is the original angle location parameter of sampling, and N is filtering parameter, and N gets odd number.
Further, described volume pin angle position determining unit is also carried out phase compensation for the angle on target location parameter to definite.
Further, described volume pin angle position sampling unit, linear velocity setting unit and volume pin angle position determining unit are built in described servo-driver.
The present invention compared with prior art, by sample mode, obtain angular position information the preservation that the volume pin in whole battery winding process rotates in advance, in actual winding process, calculate the angular speed that material is corresponding that turns around that can realize every equal portions length that permanent linear speed rotates, realize open loop relatively reliably and control.The method can greatly reduce early stage to the shape amount of calculation of volume pin and eliminate rolls up pin winding radius and strengthens and cause feedforward amount error in winding process, the use of simultaneously phase compensation also contributes to solve because machine and material cause cause the too low problem of feedback response, has greatly improved permanent linear-speed winding effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of the coiling apparatus for battery that provides of prior art;
Fig. 2 is the realization flow figure of the coiling controlling method of the coiling apparatus for battery that provides of the embodiment of the present invention;
Fig. 3 is the change in angular position curve chart of rolling up pin in materials process that turns around of the volume pin rotational angle of the circular winding pin sampling that provides of the embodiment of the present invention and every equal portions length of reeling;
Fig. 4 is the change in angular position curve chart of rolling up pin in materials process that turns around of the volume pin rotational angle of the square volume needle sampler that provides of the embodiment of the present invention and every equal portions length of reeling;
Fig. 5 is the angular velocity varies curve chart of rolling up pin in materials process that turns around that turns around length of material, volume pin rotational angle and every equal portions length of reeling of the square volume needle sampler that provides of the embodiment of the present invention;
Fig. 6 be the embodiment of the present invention provide sampling angle is carried out to the contrast schematic diagram before and after filtering;
Fig. 7 be the embodiment of the present invention provide sampling angle is carried out to the contrast schematic diagram before and after phase compensation;
Fig. 8 A, 8B are the structural representations of the coiling apparatus for battery that provides of the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
In the embodiment of the present invention, for material to be turned around, carry out in advance low speed examination rolling, by sample mode, obtain trying the volume pin rotational angle information in wrapup procedure and preserving, in actual winding process, calculate in real time again and can realize permanent linear speed and rotate corresponding angular speed.
The coiling apparatus for battery that the embodiment of the present invention needs comprises volume pin, servomotor, servo-driver, can be by the roller of material driven rotary, the encoder that connects roller, wherein servomotor can drive volume pin to rotate, and specifically volume pin can be connected on servo motor shaft and realize.Fig. 2 shows the realization flow of the coiling controlling method of above-mentioned coiling apparatus for battery provided by the invention, and details are as follows.
In steps A, receive the linear velocity information of peripheral control unit input or the linear velocity information that user sets, and according to described linear velocity information, within each default time cycle, calculate in real time the target material length that current need turn around.
In the present embodiment, can directly on servo-driver, set the convoluting speed information of expectation by user, also can be by peripheral control unit to servo-driver input line velocity information, for example with the form of input pulse, carry out input line velocity information, the number by pulse characterizes linear velocity size.In servo-driver or other controller, be preset with the time cycle, this time cycle can solidify in servo-driver at first, accordingly, this time cycle can be the scale parameter k of a sign time size, it is corresponding with above-mentioned umber of pulse, k is larger, and speed is faster, can be also a real time parameter t.
Servo-driver receives after linear velocity information, calculates in real time the target material length that current need turn around within each default time cycle.If current input pulse number is p, the target material length that current need turn around is k*p, (k is scale parameter), if the linear velocity that user sets is v, the target material length that current need turn around is ∫ vdt.
In step B, the target material length turning around according to described current need, and the correspondence relationship information of the angle position that turns around material and servo motor shaft of each the equal portions length prestoring, determine the angle on target position that volume pin need turn to.
The correspondence relationship information of the angle position that turns around material and servo motor shaft of above-mentioned each the equal portions length prestoring can be stored with form in advance, for example, form length is made as to fixed value, user arranges the length of material of sampling, if the length of material of sampling is L, form length is n, every motor shaft angle information of L/n length samples.
In reality, may have such a case, the integral multiple of each equal portions length of material that the target material length that needs to turn around not necessarily prestores, now also needs simply to convert, and for example, if current goal turns around length, is L
x,, L
xfor L
iwith L
i+1between a value (i is integer, L
i=i* Δ L), current goal angle position so
x=α
i+ (L
x-L
i)/Δ L* (α
i+1-α
i), α wherein
ibe i equal portions length turn around the corresponding angle position of material, α
i+1be i+1 equal portions length turn around the corresponding angle position of material, the length that turns around material that Δ L is each equal portions length.
Step C, servo-driver, according to definite angle on target position, is controlled in real time servomotor and within the described default time cycle, is driven volume pin to turn to corresponding angle on target position, so that turn around the permanent linear speed of material, is wound on pin.
In whole winding process, along with the material of rolling on volume pin is more, volume pin need to rotate less angle and get final product rolling with the material of equal portions length.Above-mentioned " correspondence relationship information of the angle position that turns around material and servo motor shaft of each equal portions length " just need first be determined by examination rolling before formal rolling, but and before not meaning that each formal rolling all need first to try rolling, for identical material to be turned around and with the volume pin of shape, can once try at first rolling, determine after above-mentioned " correspondence relationship information of the angle position that turns around material and servo motor shaft of each equal portions length " storage, can carry out multiple batches of formal coiling.
Examination wrapup procedure for before above-mentioned steps A, comprises the steps:
Steps A 01, will turn around material examination rolling in advance on volume pin, in winding process, every coiling one equal portions length turn around the angular position information that material is the current place of once sampling servo motor shaft.
Steps A 02, stores the sampled result of steps A 01.
If volume pin is circular, and ignore the winding radius increasing that volume pin causes because turning around the increase of material, if volume pin constant angular speed, that is: d α (t)/dt=const; Because turn around length of material and volume pin winding angle relation in direct ratio, that is: dL (α)/d α=const, dL (t)/dt=const so, so speed of the material to be wound is constant.Wherein: α=volume pin anglec of rotation; L=turns around length of material; Const=constant; If every a α of Δ L sampling, data and curves as shown in Figure 3 so.
If volume pin is square, with the rotation of constant angular velocity slowly, roller and encoder just can well react current angle corresponding turn around length of material, every the Δ L α that samples, data and curves is as shown in Figure 4 so.α corresponding to L is saved in form, and L is index, and α is data.Make to turn around material velocity constant, i.e. L (t)=∫ kdt, (k=constant), only need to go out corresponding L and table look-up to obtain corresponding α in t Time Calculation, controls servomotor and drives volume pin to rotate to alpha position, the size of k decision target velocity.
For avoiding excessive velocities start and stop cause shake and material extending is caused to distortion, as long as adjust k value, reach slow start and stop, roll up so pin anglec of rotation α, angular speed d α/dt, turns around the time graph of length of material L as shown in Figure 5.
In actual applications, on the one hand, encoder may be disturbed generation noise; If volume pin compression is excessive on the other hand, reach permanent linear speed turn round desired rate of change of angular also can be very large, very high to the performance of servomotor, and need winding machinery to have very strong rigidity to make the speed of rolling up pin in high speed, in the situation of frequent acceleration and deceleration, can also catch up with the speed of the axle of servomotor, otherwise winding process can produce shake.For optimizing coiling effect, the filtering parameter that can arrange is also introduced in this invention, in the process of α of sampling, adds filtering algorithm, after described steps A 01 and before described steps A 02, described method also comprises the steps:
Steps A 011, carries out filtering processing to the angular position information of steps A 01 sampling.
Because the particularity of this application, maximum and the position of minimum speed in table that must guarantee filtering front and back volume pin can not change, otherwise volume pin rotary speed will produce phase deviation, therefore select arithmetic average filter method here, according to following formula, the angle position parameter corresponding to n equal portions material of steps A 01 sampling carried out to filtering processing:
α
* n＝(α
n-(N-1)／2+α
n-(N-1)／2+1+...+α
n+...+α
n+(N-1)／2-1+α
n+(N-1)／2)／N
If x=n-(N-1)/2, when x<0, α
x=α
-x
Wherein, α * is filtered angle position parameter, and α is the original angle location parameter of sampling, and N is filtering parameter, and N gets odd number.Fig. 6 is d α */dL curve comparison after the front d α/dL of filtering and filtering.
Further, consider the mechanical hysteresis reaction that may exist, the present invention is increased by an offset parameter α
offsetcompensate, that is, after described step B and before described step C, described method also comprises the steps:
Step B1, carries out phase compensation to the angle position parameter that step B is definite, then performs step C.
Concrete principle is for to put forward previous phase place by definite angle position parameter, and Fig. 7 is d (α *-α for the front d α */dL of skew and after increasing skew
offset)/dL curve comparison schematic diagram.Due to mechanical delay degree and rate of change of angular d (d α */dt)/dt relation in direct ratio, d α */dt and linear velocity v (dL/dt) relation in direct ratio, so practical application can be to the open α of user
offset, allow user according to mechanical condition and the concrete numerical value of speed adjustment.Also can be to the open parameter alpha of user
offset_factor, servo-driver calculates α according to linear velocity v again
offset=α
offset_factor* V*V.
Fig. 8 shows the structural representation of the coiling apparatus for battery that the embodiment of the present invention provides, and for convenience of description, only shows the part relevant to the present embodiment.
With reference to Fig. 8, the coiling apparatus for battery that the embodiment of the present invention provides at least comprises volume pin 81, servomotor 82, volume pin angle position sampling unit 83, linear velocity setting unit 84, volume pin angle position determining unit 85, servo-driver 86, wherein servomotor 82 can drive volume pin 81 to rotate, realization will be transferred the possession of material rolling on volume pin 81, specifically can say that volume pin 1 is connected on the axle of servomotor 82, can also comprise roller 87 and the encoder 88 that is connected roller 87, turn around material and pass through roller 87 by rolling, along with turning around takeing in of material, roller 87 rotates thereupon, encoder 88 is counted for the rotating cycle of pair roller 87, to add up by the length that turns around material of rolling.While should be appreciated that concrete enforcement, can also adopt other modes to add up by the length that turns around material of rolling, be not limited to aforesaid way.
As described above, to a kind of brand-new when turning around material and carrying out rolling, need first try rolling, so as to add up every equal portions length turn around material by rolling time roll up the corresponding required rotational angle information of pin.Above-mentioned volume pin angle position sampling unit 83 is connected with the axle of servomotor 82, for will turning around material examination rolling in the process of volume pin in advance, every coiling one equal portions length turn around the angular position information that material is the current place of once sampling servo motor shaft, and sampled result is stored.
Linear velocity setting unit 84 receives the linear velocity information of peripheral control unit input or the linear velocity information that user sets, and according to described linear velocity information, within each default time cycle, calculates in real time the target material length that current need turn around.The situation of the integral multiple of each equal portions length of material that the target material length turning around for need not necessarily prestores, the formula shown in concrete reference above calculates.
The target material length that the current need that volume pin angle position determining unit 85 calculates according to linear velocity setting unit 84 turn around, and the correspondence relationship information of the angle position that turns around material and servo motor shaft of each the equal portions length prestoring, determine the angle on target position that volume pin need turn to.For example, for the material that turns around of the first equal portions length, find the first corresponding with it angle information from the information prestoring, for the material that turns around of the second equal portions length, find the second corresponding with it angle information from the information prestoring, the rest may be inferred.
Servo-driver 86 is according to the definite angle on target position of determining unit, described volume pin angle position, control in real time described servomotor and within the described default time cycle, drive described volume pin to turn to corresponding angle on target position, so that turn around the permanent linear speed of material, be wound on described volume pin.
Further, for optimizing coiling effect, the present invention adds filtering algorithm in the process of sampling α, and above-mentioned volume pin angle position sampling unit 83 also carries out filtering processing for the angle position parameter that described volume pin angle position sampling unit sampling is obtained to the angle position parameter that n equal portions material is corresponding according to following formula:
α
* n＝(α
n-(N-1)／2+α
n-(N-1)／2+1+...+α
n+...+α
n+(N-1)／2-1+α
n+(N-1)／2)／N
If X=n-(N-1)/2, when x<0, α
x=α
-x
Wherein, α * is filtered angle position parameter, and α is the original angle location parameter of sampling, and N is filtering parameter, and N gets odd number.
Further, for improving response speed, avoid occurring mechanical hysteresis reaction, the present invention further adds migration behind definite angle on target position, particularly, by 85 pairs of definite angle on target location parameters of volume pin angle position determining unit, carries out phase compensation.Principle as described above, repeats no more herein.
Above-mentioned volume pin angle position sampling unit 83, linear velocity setting unit 84 and volume pin angle position determining unit 85 can be software unit, be placed in as shown in Figure 8 A outside servo-driver 86, for example adopt PLC (Programmable Logic Controller, programmable logic controller (PLC)) realize, this PLC can read the angular position information of servomotor 82 encoder information that record turns around length of material by servo-driver 86, also within can being built in servo-driver 86, as shown in Figure 8 B.
In sum, the embodiment of the present invention is obtained the volume pin rotational angle information in whole battery winding process and is preserved by sample mode in advance, in actual winding process, calculate the angular speed that material is corresponding that turns around that can realize every equal portions length that permanent linear speed rotates, realize open loop relatively reliably and control.The method can greatly reduce early stage to the shape amount of calculation of volume pin and eliminate rolls up pin winding radius and strengthens and cause feedforward amount error in winding process, the use of simultaneously phase compensation also contributes to solve because machine and material cause cause the too low problem of feedback response, has greatly improved permanent linear-speed winding effect.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. a coiling controlling method for coiling apparatus for battery, described coiling apparatus for battery comprises volume pin, servomotor, the servo-driver that can drive described volume pin to rotate; It is characterized in that, described control method comprises the steps:
Steps A, receives the linear velocity information of peripheral control unit input or the linear velocity information that user sets, and according to described linear velocity information, within each default time cycle, calculates in real time the target material length that current need turn around;
Step B, the target material length turning around according to described current need, and the correspondence relationship information of the angle position that turns around material and servo motor shaft of each the equal portions length prestoring, determine the angle on target position that volume pin need turn to;
Step C, servo-driver, according to definite angle on target position, is controlled in real time servomotor and within the described default time cycle, is driven volume pin to turn to corresponding angle on target position, so that turn around the permanent linear speed of material, is wound on pin;
Before described steps A, described method also comprises the steps:
Steps A 01, will turn around material examination rolling in advance on volume pin, in winding process, every coiling one equal portions length turn around the angular position information that material is the current place of once sampling servo motor shaft;
Steps A 02, stores the sampled result of steps A 01.
2. the coiling controlling method of coiling apparatus for battery as claimed in claim 1, is characterized in that, after described steps A 01 and before described steps A 02, described method also comprises the steps:
Steps A 011, according to following formula, the angle position parameter corresponding to n equal portions material of steps A 01 sampling carried out to filtering processing:
α
* n=(α
n-(N-1)／2+α
n-(N-1)／2+1+...+α
n+...+α
n+(N-1)／2-1+α
n+(N-1)／2)／N
If x=n-(N-1)/2, when x<0, α
x=α
-x
Wherein, α * is filtered angle position parameter, and α is the original angle location parameter of sampling, and N is filtering parameter, and N gets odd number.
3. the coiling controlling method of coiling apparatus for battery as claimed in claim 1, is characterized in that, after described step B and before described step C, described method also comprises the steps:
Step B1, carries out phase compensation to the angle position parameter that step B is definite, then performs step C.
4. a coiling apparatus for battery, comprises volume pin, servomotor, the servo-driver that can drive described volume pin to rotate, and it is characterized in that, also comprises a volume pin angle position sampling unit, a linear velocity setting unit, volume pin angle position determining unit;
Described volume pin angle position sampling unit in advance will turn around material examination rolling in the process of volume pin, every coiling one equal portions length turn around the angular position information that material is the current place of once sampling servo motor shaft, and sampled result is stored;
Described linear velocity setting unit is used for receiving the linear velocity information of peripheral control unit input or the linear velocity information that user sets, and according to described linear velocity information, within each default time cycle, calculates in real time the target material length that current need turn around;
The target material length that described volume pin angle position determining unit turns around for the current need that calculate according to described linear velocity setting unit, and the correspondence relationship information of the angle position that turns around material and servo motor shaft of each the equal portions length prestoring, determine the angle on target position that volume pin need turn to;
Described servo-driver is used for according to the definite angle on target position of determining unit, described volume pin angle position, control in real time described servomotor and within the described default time cycle, drive described volume pin to turn to corresponding angle on target position, so that turn around the permanent linear speed of material, be wound on described volume pin.
5. coiling apparatus for battery as claimed in claim 4, it is characterized in that, described volume pin angle position sampling unit also carries out filtering processing for the angle position parameter that described volume pin angle position sampling unit sampling is obtained to the angle position parameter that n equal portions material is corresponding according to following formula:
α
* n=(α
n-(N-1)／2+α
n-(N-1)／2+1+...+α
n+...+α
n+(N-1)／2-1+α
n+(N-1)／2)／N
If x=n-(N-1)/2, when x<0, α
x=α
-x
Wherein, α * is filtered angle position parameter, and α is the original angle location parameter of sampling, and N is filtering parameter, and N gets odd number.
6. coiling apparatus for battery as claimed in claim 4, is characterized in that, described volume pin angle position determining unit is also carried out phase compensation for the angle on target location parameter to definite.
7. the coiling apparatus for battery as described in claim 4 or 6, is characterized in that, described volume pin angle position sampling unit, linear velocity setting unit and volume pin angle position determining unit are built in described servo-driver.
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| CN104466228B (en) * | 2014-12-31 | 2017-02-22 | 深圳市赢合科技股份有限公司 | Pole piece winding method |
| CN104600348B (en) * | 2015-01-22 | 2017-02-22 | 深圳市微秒控制技术有限公司 | Self-learning winding device and method |
| CN106025375A (en) * | 2016-07-30 | 2016-10-12 | 深圳科瑞技术股份有限公司 | Unreeling control system of isolation membrane of lithium battery lamination machine |
| CN108217306B (en) * | 2016-12-21 | 2020-02-04 | 上海尧治自动化系统工程有限公司 | Wire arrangement control method and control system of micro-channel flat aluminum tube winding machine |
| CN107195982B (en) * | 2017-07-19 | 2023-04-25 | 广东科伺智能科技有限公司 | Full-closed-loop lithium battery cell winding device and method |
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| CN101103418A (en) * | 2005-01-17 | 2008-01-09 | 平河福泰克株式会社 | Apparatus for manufacturing taped insulated conductor and method of controlling tape winding tension |
| CN101841068A (en) * | 2009-03-20 | 2010-09-22 | 深圳市吉阳自动化科技有限公司 | Battery winder control system and control method |
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| CN1802301A (en) * | 2003-05-19 | 2006-07-12 | 施塔林格有限公司 | Strip winding method |
| CN101103418A (en) * | 2005-01-17 | 2008-01-09 | 平河福泰克株式会社 | Apparatus for manufacturing taped insulated conductor and method of controlling tape winding tension |
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Denomination of invention: A battery winding device and its winding control method Effective date of registration: 20220617 Granted publication date: 20140416 Pledgee: China Construction Bank Corporation Shanghai Zhangjiang Branch Pledgor: KINCO AUTOMATION (SHANGHAI) Ltd. Registration number: Y2022310000066 |
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