CN104600348A - Self-learning winding device and method - Google Patents
Self-learning winding device and method Download PDFInfo
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- CN104600348A CN104600348A CN201510031784.9A CN201510031784A CN104600348A CN 104600348 A CN104600348 A CN 104600348A CN 201510031784 A CN201510031784 A CN 201510031784A CN 104600348 A CN104600348 A CN 104600348A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
- H01M10/0404—Machines for assembling batteries
- H01M10/0409—Machines for assembling batteries for cells with wound electrodes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01G—CAPACITORS; CAPACITORS, RECTIFIERS, DETECTORS, SWITCHING DEVICES, LIGHT-SENSITIVE OR TEMPERATURE-SENSITIVE DEVICES OF THE ELECTROLYTIC TYPE
- H01G13/00—Apparatus specially adapted for manufacturing capacitors; Processes specially adapted for manufacturing capacitors not provided for in groups H01G4/00 - H01G11/00
- H01G13/02—Machines for winding capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a self-learning winding device and a self-learning winding method. The device comprises a roller encoder used for recording the motion position of a roller, a winding needle motor encoder used for recording the motion position of a winding needle, a virtual main shaft, an electronic cam module, a cam meter, a winding control module and a self-learning module, wherein the virtual main shaft is connected with the electronic cam module; the electronic cam module and the virtual main shaft are respectively connected with the winding control module; the winding needle motor encoder and the roller encoder are connected with the self-learning module and the winding control module; the self-learning module and the winding control module are connected with a winding needle motor; the self-learning module is connected with the cam meter; and the cam meter is connected with the electronic cam module. According to the self-learning winding device provided by the invention, the actual linear velocity and target linear velocity can be acquired for performing PI operation on the basis of executing a cam curve, linear velocity fluctuation caused by reasons such as non-uniform material thickness and middle inserted pole pieces can be adjusted, and the accumulated error is eliminated.
Description
Technical field
The invention belongs to battery, electric capacity winding technique field, relate to a kind of battery, electric capacity coiling controlling method and device.
Background technology
In the manufacture process of battery, electric capacity, need anode foils, barrier film and negative foil roll around forming battery core together, one of core of its technique is exactly the linear velocity constant keeping material unwinding in winding process, tension force control effects front end being unreeled can reach good.For circular winding pin, along with the increase of spooling length, winding radius is increasing, if volume pin invariablenes turning speed, linear velocity can be increasing; For abnormity volume pin, if volume pin invariablenes turning speed, the sudden change of winding radius can cause linear velocity big ups and downs in one-period, and when winding speed improves, tension force is difficult to control.
Chinese invention patent CN101841069B discloses a kind of method for winding and controlling electric core of square secondary cell, by carrying out mathematical modeling to the volume pin of known geometries, obtains the variable speed model that will obtain constant linear velocity under volume pin is in each position.During actual winding, the output that this model is calculated as feedforward amount, as the main source of motor speed instruction; In addition, be PID by the feedback and goal tension reading tension pick-up in real time, control to unreel motor and run.
Chinese invention patent CN 102437366B discloses a kind of coiling apparatus for battery and coiling controlling method thereof, by an examination rolling step in advance, in winding process, the angular position information turning around material namely sampling should be carried out the current place of servo motor shaft of the equal portions length that often reels, during actual winding, need the target location of rotating according to external input lines velocity information and the angular position information calculating servomotor prestored.
But, in the above prior art, there is following problem:
By mark rotating speed model cootrol speed change, need the geometry data obtaining volume pin in advance, pin cannot be rolled up by the various abnormity of flexible adaptation; In addition, along with the increase of Winding Layer, due to reasons such as coiling material tension force, elasticity, bending degrees, the profile of actual winding there will be change, and modeling is difficult to this deformation of simulation, finally causes linear velocity to fluctuate.
In addition, by the feedfoward control after examination rolling, when trying rolling necessarily Obtaining Accurate a isometric coiling material time material long codes device and the position data of servo motor shaft, if the winding radius change of abnormity volume pin is violent, linear velocity meeting acute variation during examination rolling, be difficult to collect the data of equal portions accurately during linear velocity height, cause final wire velocity control effect to give a discount; In addition, adopt feedfoward control completely, owing to inserting pole piece or expecting that the even linear velocity error caused of thickness ununiformity cannot be eliminated in winding process, and these factors can cause winding form when actual winding process and examination wrapup procedure to be had any different, error can be accumulated, the length of winding is longer, and control effects is poorer.
Summary of the invention
The object of the present invention is to provide a kind of mathematical modeling can avoiding complexity, and can accumulated error be eliminated, the accurate coiler device of control effects and method.
For achieving the above object, the invention provides a kind of self study coiler device, comprising the rolling wheel encoding device for recording roller movement position, for recording the volume pin motor encoder of volume needle movement position, virtual main shaft, electric cam module, CAM table, winding control module and self-learning module; Described virtual main shaft and electric cam model calling, described electric cam module and virtual main shaft respectively with winding control model calling; Described volume pin motor encoder and rolling wheel encoding device all with self-learning module and winding control model calling, described self-learning module and winding control module are also connected with volume pin motor; Described self-study module is connected with CAM table, described CAM table and electric cam model calling.
Wherein, described self-learning module comprises motor drive module, volume pin motor encoder counter, rolling wheel encoding device counter, data acquisition module, data buffer zone and data processing module; Described motor drive module is connected with volume pin motor; Described volume pin motor encoder counter is connected with volume pin motor encoder, and described rolling wheel encoding device counter is connected with rolling wheel encoding device; Described volume pin motor encoder counter is all connected with data acquisition module with rolling wheel encoding device counter, and described data acquisition module is connected with data buffer zone, and described data buffer zone is connected with data processing module, and described data processing module is connected with CAM table.
Wherein, described winding control module comprises position ring, speed ring, torque ring, difference block and linear velocity compensating module; Described position ring one side and electric cam model calling, be connected with speed ring on the other hand; Described speed ring is connected with torque ring, and torque ring is connected with volume pin motor; Described position ring and speed ring are also connected with volume pin motor encoder; Described difference block is connected with virtual main shaft on the one hand, and be connected with linear velocity compensating module on the other hand, described linear velocity compensating module is connected between speed ring and torque ring.
Wherein, described electric cam module comprise the pulse train for receiving virtual main shaft main shaft processing module and for read CAM table data go forward side by side row interpolation calculate CAM table data processing module, described main shaft processing module is connected with CAM table data processing module; Described main shaft processing module is connected with virtual main shaft, and described CAM table data processing module is connected with CAM table on the one hand, on the other hand with winding control model calling.
In addition, the invention provides a kind of self study method for winding, the method performs in two steps:
The first step, self study process, self-learning module drives volume pin motor to run a winding cycle according to the rotating speed of setting, periodically gather the feedback data of volume pin motor encoder and rolling wheel encoding device, after collection completes, coordinate transform is done to data, obtains taking roller as roller-volume pin position correspondence table that benchmark equidistantly arranges, be kept in CAM table;
Second step, winding implementation, virtual main shaft module, according to the linear velocity generating virtual main shaft pulse train of setting, drives electric cam module to run, electric cam module according to the CAM table outgoing position instruction obtained in the first step to winding control module; Winding control module completes motor-driven three ring computings, and gather the linear velocity of rolling wheel encoding device feedback, the target linear velocity obtained with virtual main shaft difference does PI computing simultaneously, and its result is added in speed ring output.
Wherein, self study process can be divided into following steps:
Step one, motor drive module runs according to the destination address of setting and speed drive volume pin motor;
Step 2, volume pin motor encoder counter and rolling wheel encoding device counter obtain the feedback position of volume pin motor encoder and rolling wheel encoding device in real time in running;
Step 3, data acquisition module judges, when judging to meet acquisition condition, the value of two counters of the synchronization read to be write data buffer zone;
Step 4, data buffer zone is write completely, does coordinate transform by data processing module, result write CAM table.
Wherein, in the step 3 of self study process, judge whether that the method meeting acquisition condition is as follows:
First drive volume pin motor to the initial position that reels, pin motor encoder and the counter O reset of rolling wheel encoding device will be rolled up, then calculate and gather spacing: gather spacing=volume pin operational objective distance/collection and count;
The distance run with hope volume pin is for destination address, volume pin motor is being run with slower speed, constantly volume pin motor and rolling wheel encoding device counter is read in running, if the increment collecting volume pin motor is more than or equal to collection spacing, then volume pin motor encoder now and rolling wheel encoding device data are saved in the unit of buffering area;
Repeat to read and determining step, until motor runs arrive destination address, now all buffering areas are just filled up.
Wherein, in the step 4 of self study process, the method data in buffering area being done to coordinate transform is as follows:
First, calculate roller data point periodic increment, roller overall pulse is X, and CAM table is N point, then roller data point periodic increment is X/N;
Then, data point in search buffering area, with [X/N*n] for target, wherein n is the subscript of CAM table; If finding corresponding volume pin data is just in time [X/N*n], under volume pin data are directly inserted electric cam table correspondence, be designated as the unit of n; If there are not just in time equal data, then reading two data points being less than [X/N*n] and being greater than [X/N*n], according to the positions of 2, linear interpolation being done to volume pin data, inserting electric cam table.
Wherein, in winding implementation, main shaft pulse train is obtained by difference block, and calculate corresponding target linear velocity according to roller geological information, linear velocity compensating module gathers rolling wheel encoding device data, calculate actual linear velocity according to roller geological information, target linear velocity and actual linear velocity do PI computing, and the result of computing is superimposed upon in the output of cam-actuated speed ring.
The invention has the beneficial effects as follows: the self study coiler device of confession of the present invention, the cam curve that can obtain contains shape in whole winding process, expects the information such as thick, the volume pin of arbitrary shape can be adapted to, do not need to carry out complicated mathematical modeling to difformity volume pin; And the present invention is in winding process, and on the basis performing cam curve, collection actual linear velocity and target linear velocity do PI computing, material thickness ununiformity, the middle linear velocity fluctuation of inserting the reasons such as pole piece and causing can be regulated, elimination accumulated error.
Accompanying drawing explanation
Fig. 1 is the simplified structure diagram of existing battery capacitor coiler device;
Fig. 2 is the block diagram of the self study side of winding of the present invention device;
Fig. 3 is the block diagram of self-learning module of the present invention;
Fig. 4 is the block diagram of winding control module of the present invention;
Fig. 5 is the flow chart of self study process of the present invention;
Fig. 6 is the example collecting pending data in buffering area;
Fig. 7 is the CAM table obtained after data processing in Fig. 6.
Main element symbol description is as follows:
10, roller 11, volume pin
12, pin motor 13, rolling wheel encoding device is rolled up
14, pin motor encoder 15, virtual main shaft is rolled up
16, electric cam module 17, CAM table
18, winding control module 19, self-learning module
181, position ring 182, speed ring
183, torque ring 184, difference block
185, linear velocity compensating module 191, motor drive module
192, pin motor encoder counter 193, rolling wheel encoding device counter is rolled up
194, data acquisition module 195, data buffer zone
196, data processing module
Embodiment
Refer to Fig. 1, existing battery capacitor coiler device, form primarily of roller 10, volume pin 11 and volume pin motor 12.
Refer to Fig. 2, self study coiler device provided by the invention, comprises the rolling wheel encoding device 13 for recording roller 10 movement position, for recording volume pin motor encoder 14, virtual main shaft 15, electric cam module 16, CAM table 17, winding control module 18 and the self-learning module 19 of rolling up pin 11 movement position; Virtual main shaft 15 is connected with electric cam module 16, and electric cam module 16 is connected with winding control module 18 respectively with virtual main shaft 15; Volume pin motor encoder 14 is all connected with self-learning module 19 and winding control module 18 with rolling wheel encoding device 13, and self-learning module 19 and winding control module 18 are also connected with volume pin motor 12; Learn by oneself module to be connected with CAM table 17, CAM table 17 is connected with electric cam module 16.
Self study coiler device provided by the invention, its operation principle is:
First, carry out self study process, self-learning module 19 drives volume pin motor 12 to run the distance of setting according to the rotating speed of setting, the feedback data of volume pin motor encoder 14 and rolling wheel encoding device 13 is gathered in study, after collection completes, coordinate transform is done to data, obtains rolling up pin 11 position correspondence table with the roller 10-that roller 10 equidistantly arranges for benchmark, be kept in CAM table 17;
Then, when carrying out execution winding, virtual main shaft 15 module, according to linear velocity generating virtual main shaft 15 pulse train of setting, drives electric cam module 16 to run, electric cam module 16 according to the CAM table 17 outgoing position instruction learning to obtain to winding control module 18; Winding control module 18 completes motor-driven three ring computings, and gather the linear velocity that rolling wheel encoding device 13 feeds back, the target linear velocity obtained with virtual main shaft 15 difference does PI computing simultaneously, and its result is added in speed ring 182 output.
Refer to Fig. 3, specifically, self-learning module 19 comprises motor drive module 191, volume pin motor encoder counter 192, rolling wheel encoding device counter 193, data acquisition module 194, data buffer zone 195 and data processing module 196; Motor drive module 191 is connected with volume pin motor 12; Volume pin motor encoder counter 192 is connected with volume pin motor encoder 14, and rolling wheel encoding device counter 193 is connected with rolling wheel encoding device 13; Volume pin motor encoder counter 192 is all connected with data acquisition module 194 with rolling wheel encoding device counter 193, data acquisition module 194 is connected with data buffer zone 195, data buffer zone 195 is connected with data processing module 196, and data processing module 196 is connected with CAM table 17.
The operation principle of each part of self-learning module 19 is as follows:
Motor drive module 191, drives volume pin motor 12 to run according to setting speed and distance; Volume pin motor encoder counter 192, counts volume pin motor encoder 14; Rolling wheel encoding device counter 193 respectively pair roller encoder 13 counts; Data acquisition module 194, reading the currency of volume pin motor encoder counter 192 and rolling wheel encoding device counter 193, being kept in a unit of data buffer zone 195 when meeting acquisition condition; Data buffer zone 195, order preserves volume pin motor encoder 14 and rolling wheel encoding device 13 corresponding data of data acquisition module 194 collection; Data processing module 196, does coordinate transform to data in buffering area after data acquisition completes, result write CAM table 17.
Refer to Fig. 4, specifically, winding control module 18 comprises position ring 181, speed ring 182, torque ring 183, difference block 184 and linear velocity compensating module 185; Position ring 181 1 aspect is connected with electric cam module 16, is connected on the other hand with speed ring 182; Speed ring 182 is connected with torque ring 183, and torque ring is connected with volume pin motor 12; Position ring 181 and speed ring 182 are also connected with volume pin motor encoder 14; Difference block 184 1 aspect is connected with virtual main shaft 15, and be connected with linear velocity compensating module 185 on the other hand, linear velocity compensating module 185 is connected between speed ring 182 and torque ring 183.
The operation principle of each part of winding control module 18 is as follows:
Difference block 184, does calculus of differences to virtual main shaft 15 sequence and obtains target linear velocity; Linear velocity compensating module 185, gathers the linear velocity of rolling wheel encoding device 13, is PI calculates with target linear velocity; Position ring 181, does PI computing according to the output of electric cam module 16 and the position feedback of volume pin motor encoder 14; Speed ring 182, does PI computing according to the output of position ring 181 and the velocity feedback of volume pin 11 encoder; Torque ring 183, according to the stack result that linear velocity compensating module 185 and speed ring 182 export, controls volume pin motor 12 and runs.
Specifically, electric cam module 16 comprises main shaft processing module and CAM table 17 data processing module 196, and main shaft processing module is connected with CAM table 17 data processing module 196; Main shaft processing module is connected with virtual main shaft 15, and CAM table 17 data processing module 196 1 aspect is connected with CAM table 17, is connected on the other hand with winding control module 18.
The operation principle of each part of electric cam module 16 is as follows:
Main shaft processing module, receives the pulse train of virtual main shaft 15; CAM table 17 data processing module 196, reads corresponding CAM table 17 data in running, and carries out necessary interpolation calculation, and the result of calculating sends in the mode of increment.
Compared to prior art, the self study coiler device of confession of the present invention, the cam curve that can obtain contains shape in whole winding process, expects the information such as thick, can adapt to the volume pin 11 of arbitrary shape, does not need to carry out complicated mathematical modeling to difformity volume pin 11; And difference block 184 is to roll up the criterion that the unit increment of pin 11 axle is record data, and the speed of this axle is even, controlled, and the precision of data acquisition is higher; In addition, the present invention is in winding process, and on the basis performing cam curve, collection actual linear velocity and target linear velocity do PI computing, can regulate material thickness ununiformity, the middle linear velocity fluctuation of inserting the reasons such as pole piece and causing, elimination accumulated error.
The present invention also provides a kind of self study method for winding, and the method divides self study process and winding implementation two step to carry out.
The first step, self study process: self-learning module 19 drives volume pin motor 12 to run a winding cycle according to the rotating speed of setting, periodically gather the feedback data of volume pin motor encoder 14 and rolling wheel encoding device 13, after collection completes, coordinate transform is done to data, obtain rolling up pin 11 position correspondence table with the roller 10-that roller 10 equidistantly arranges for benchmark, be kept in CAM table 17.
Specifically, self study process can be divided into following steps:
Step one, motor drive module 191 runs according to the destination address of setting and speed drive volume pin motor 12;
Step 2, volume pin motor encoder counter 192 and rolling wheel encoding device counter 193 obtain the feedback position of volume pin motor encoder 14 and rolling wheel encoding device 13 in real time in running;
Step 3, data acquisition module 194 judges, when judging to meet acquisition condition, the value of two counters of the synchronization read to be write data buffer zone 195;
Step 4, data buffer zone 195 is write completely, does coordinate transform by data processing module 196, result write CAM table 17.
Refer to Fig. 5, more particularly, step 3 comprises following content:
First drive volume pin motor 12 to the initial position that reels, volume pin motor encoder 14 and rolling wheel encoding device counter 193 are reset, then calculates and gather spacing: gather spacing=volume pin 11 operational objective distance/collection and count;
The distance run with hope volume pin 11 is for destination address, volume pin motor 12 is being run with slower speed, volume pin motor 12 and rolling wheel encoding device counter 193 is constantly read in running, if the increment collecting volume pin motor 12 is more than or equal to collection spacing, then volume pin motor encoder 14 now and rolling wheel encoding device 13 data are saved in the unit of buffering area;
Repeat to read and determining step, until motor runs arrive destination address, now all buffering areas are just filled up.
More particularly, in step 4, the method for coordinate transform is done to the data in buffering area as follows:
First, calculate roller 10 data point periodic increment, roller 10 overall pulse is X, and CAM table 17 is N point, then roller 10 data point periodic increment is X/N;
Then, data point in search buffering area, with [X/N*n] for target, wherein n is the subscript of CAM table 17; If finding corresponding volume pin 11 data is just in time [X/N*n], under volume pin 11 data are directly inserted electric cam table 17 correspondence, be designated as the unit of n; If there are not just in time equal data, then reading two data points being less than [X/N*n] and being greater than [X/N*n], according to the positions of 2, linear interpolation being done to volume pin 11 data, inserting electric cam table 17.
Referring to 6 and Fig. 7, Fig. 6 is the example collecting pending data in buffering area, and Fig. 7 is the CAM table 17 obtained after data processing in Fig. 6.
As can be seen from the figure, after treatment, linear velocity is more steady.Therefore, the present invention can keep the linear velocity constant of material unwinding in winding process, and front end unreels the tension force control effects that can reach good.
Second step, winding implementation: virtual main shaft 15 module is according to linear velocity generating virtual main shaft 15 pulse train of setting, drive electric cam module 16 to run, electric cam module 16 according to the CAM table 17 outgoing position instruction obtained in the first step to winding control module 18; Winding control module 18 completes motor-driven three ring computings, and gather the linear velocity that rolling wheel encoding device 13 feeds back, the target linear velocity obtained with virtual main shaft 15 difference does PI computing simultaneously, and its result is added in speed ring 182 output.
Specifically, first set the linear velocity of expectation, spooling length, Acceleration and deceleration time, in order to reduce the shake of startup and stop phase, use the acceleration and deceleration of S shape, virtual main shaft 15 sends periodic pulse train according to these parameters.This sequence is originated as the main shaft of electric cam module 16, and electric cam module 16 calls the CAM table 17 that study obtains, and periodically sends the command pulse driving volume pin motor 12.Difference block 184 obtains main shaft pulse train, corresponding target linear velocity is calculated according to roller 10 geological information, linear velocity compensating module 185 gathers rolling wheel encoding device 13 data, actual linear velocity is calculated according to roller 10 geological information, target linear velocity and actual linear velocity do PI computing, and the result of computing is superimposed upon in the output of cam-actuated speed ring 182.
Compared to prior art, the self study method for winding that the present invention also provides, by a learning process, the cam curve obtained contains shape in whole winding process, expects the information such as thick, the volume pin 11 of arbitrary shape can be adapted to, do not need to carry out complicated mathematical modeling to difformity volume pin 11; And the present invention is in learning process, and to roll up the criterion that the unit increment of pin 11 axle is record data, the speed of this axle is even, controlled, and the precision of data acquisition is higher; In addition, the present invention is in winding process, and on the basis performing cam curve, collection actual linear velocity and target linear velocity do PI computing, can regulate material thickness ununiformity, the middle linear velocity fluctuation of inserting the reasons such as pole piece and causing, elimination accumulated error.
These are only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. a self study coiler device, it is characterized in that, comprising the rolling wheel encoding device for recording roller movement position, for recording the volume pin motor encoder of volume needle movement position, virtual main shaft, electric cam module, CAM table, winding control module and self-learning module; Described virtual main shaft and electric cam model calling, described electric cam module and virtual main shaft respectively with winding control model calling; Described volume pin motor encoder and rolling wheel encoding device all with self-learning module and winding control model calling, described self-learning module and winding control module are also connected with volume pin motor; Described self-study module is connected with CAM table, described CAM table and electric cam model calling.
2. self study coiler device according to claim 1, is characterized in that, described self-learning module comprises motor drive module, volume pin motor encoder counter, rolling wheel encoding device counter, data acquisition module, data buffer zone and data processing module; Described motor drive module is connected with volume pin motor; Described volume pin motor encoder counter is connected with volume pin motor encoder, and described rolling wheel encoding device counter is connected with rolling wheel encoding device; Described volume pin motor encoder counter is all connected with data acquisition module with rolling wheel encoding device counter, and described data acquisition module is connected with data buffer zone, and described data buffer zone is connected with data processing module, and described data processing module is connected with CAM table.
3. self study coiler device according to claim 1, is characterized in that, described winding control module comprises position ring, speed ring, torque ring, difference block and linear velocity compensating module; Described position ring one side and electric cam model calling, be connected with speed ring on the other hand; Described speed ring is connected with torque ring, and torque ring is connected with volume pin motor; Described position ring and speed ring are also connected with volume pin motor encoder; Described difference block is connected with virtual main shaft on the one hand, and be connected with linear velocity compensating module on the other hand, described linear velocity compensating module is connected between speed ring and torque ring.
4. self study coiler device according to claim 1, it is characterized in that, described electric cam module comprise the pulse train for receiving virtual main shaft main shaft processing module and for read CAM table data go forward side by side row interpolation calculate CAM table data processing module, described main shaft processing module is connected with CAM table data processing module; Described main shaft processing module is connected with virtual main shaft, and described CAM table data processing module is connected with CAM table on the one hand, on the other hand with winding control model calling.
5. a self study method for winding, is characterized in that, the method performs in two steps:
The first step, self study process, self-learning module drives volume pin motor to run a winding cycle according to the rotating speed of setting, periodically gather the feedback data of volume pin motor encoder and rolling wheel encoding device, after collection completes, coordinate transform is done to data, obtains taking roller as roller-volume pin position correspondence table that benchmark equidistantly arranges, be kept in CAM table;
Second step, winding implementation, virtual main shaft module, according to the linear velocity generating virtual main shaft pulse train of setting, drives electric cam module to run, electric cam module according to the CAM table outgoing position instruction obtained in the first step to winding control module; Winding control module completes motor-driven three ring computings, and gather the linear velocity of rolling wheel encoding device feedback, the target linear velocity obtained with virtual main shaft difference does PI computing simultaneously, and its result is added in speed ring output.
6. self study method for winding according to claim 5, is characterized in that, self study process can be divided into following steps:
Step one, motor drive module runs according to the destination address of setting and speed drive volume pin motor;
Step 2, volume pin motor encoder counter and rolling wheel encoding device counter obtain the feedback position of volume pin motor encoder and rolling wheel encoding device in real time in running;
Step 3, data acquisition module judges, when judging to meet acquisition condition, the value of two counters of the synchronization read to be write data buffer zone;
Step 4, data buffer zone is write completely, does coordinate transform by data processing module, result write CAM table.
7. self study method for winding according to claim 6, is characterized in that, in the step 3 of self study process, judges whether that the method meeting acquisition condition is as follows:
First drive volume pin motor to the initial position that reels, pin motor encoder and the counter O reset of rolling wheel encoding device will be rolled up, then calculate and gather spacing: gather spacing=volume pin operational objective distance/collection and count;
The distance run with hope volume pin is for destination address, volume pin motor is being run with slower speed, constantly volume pin motor and rolling wheel encoding device counter is read in running, if the increment collecting volume pin motor is more than or equal to collection spacing, then volume pin motor encoder now and rolling wheel encoding device data are saved in the unit of buffering area;
Repeat to read and determining step, until motor runs arrive destination address, now all buffering areas are just filled up.
8. self study method for winding according to claim 6, is characterized in that, in the step 4 of self study process, the method data in buffering area being done to coordinate transform is as follows:
First, calculate roller data point periodic increment, roller overall pulse is X, and CAM table is N point, then roller data point periodic increment is X/N;
Then, data point in search buffering area, with [X/N*n] for target, wherein n is the subscript of CAM table; If finding corresponding volume pin data is just in time [X/N*n], under volume pin data are directly inserted electric cam table correspondence, be designated as the unit of n; If there are not just in time equal data, then reading two data points being less than [X/N*n] and being greater than [X/N*n], according to the positions of 2, linear interpolation being done to volume pin data, inserting electric cam table.
9. self study method for winding according to claim 5, it is characterized in that, in winding implementation, main shaft pulse train is obtained by difference block, and calculating corresponding target linear velocity according to roller geological information, linear velocity compensating module gathers rolling wheel encoding device data, calculates actual linear velocity according to roller geological information, target linear velocity and actual linear velocity do PI computing, and the result of computing is superimposed upon in the output of cam-actuated speed ring.
Priority Applications (1)
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| 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 |
| CN106140870A (en) * | 2016-07-04 | 2016-11-23 | 东南大学 | Lithium battery pole slice auto reeling method |
| CN108278333A (en) * | 2017-12-22 | 2018-07-13 | 中国船舶重工集团公司第七0七研究所 | A kind of optic fiber gyroscope winding machine Orthogonally arrangement control method |
| CN114171773A (en) * | 2021-11-30 | 2022-03-11 | 广东利元亨智能装备股份有限公司 | Active cache method and device, storage medium and continuous winding machine |
| CN114843621A (en) * | 2022-04-01 | 2022-08-02 | 广东利元亨智能装备股份有限公司 | Method and device for controlling edge distance of tab, controller and storage medium |
| JP2023066332A (en) * | 2021-10-28 | 2023-05-15 | リ，ケ－ソル | Flag forming device after laser notching of secondary battery for electric vehicle |
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| CN114843621A (en) * | 2022-04-01 | 2022-08-02 | 广东利元亨智能装备股份有限公司 | Method and device for controlling edge distance of tab, controller and storage medium |
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