CN116812640A - Tension control method and device - Google Patents

Abstract

The application relates to a tension control method and a tension control device. The method comprises the following steps: acquiring a first tension of a base material within a preset range of a distance winding and unwinding mechanism; iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the target first interval to obtain an initial angular speed; controlling the winding and unwinding mechanism to rotate according to the initial angular speed, and periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism; iteratively adjusting the angular speed of the winding and unwinding mechanism until the second tension is within the target second interval when the second tension exceeds the target second interval; wherein the target second interval is smaller than the target first interval. The embodiment of the disclosure does not need to rely on data of a sensor, and accurate self-adjustment in a system is realized.

Description

Tension control method and device

Technical Field

The application relates to the technical field of automation, in particular to a tension control method and device.

Background

In the vacuum winding process flow, for example, magnetron sputtering winding coating films are used for sputtering target materials excited by a glow discharge process onto the surface of a film which is attached to a mirror roller and is in flat running, so that a large load is driven to electric control to realize film flattening in a vacuum environment. In the existing tension control method, the winding diameter of the winding and unwinding is required to be collected in real time through a sensor, and in a vacuum environment, measuring equipment such as the sensor is difficult to install and normally use, and the tension fluctuation amplitude of the film is easy to introduce errors due to the limited measuring precision of the sensor. Therefore, a feasible real-time roll diameter calculation scheme of the self-stable tension of the system is introduced from the film tension control application of the vacuum process environment without depending on external input, and the technical problem to be solved is needed.

Disclosure of Invention

Based on this, it is necessary to provide a tension control method and apparatus for the above technical problems.

In a first aspect, the present application provides a tension control method. The method comprises the following steps:

a tension control method applied to a winding device, the winding device comprising: the device comprises an unreeling mechanism, an intermediate roller and a reeling mechanism, wherein the base material released by the unreeling mechanism is reeled by the reeling mechanism after passing through the intermediate roller, and the method comprises the following steps of:

acquiring a first tension of a base material within a preset range of a distance winding and unwinding mechanism; wherein the winding and unwinding mechanism comprises the unwinding mechanism or the winding mechanism;

iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the target first interval to obtain an initial angular speed;

controlling the winding and unwinding mechanism to rotate according to the initial angular speed, and periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism;

iteratively adjusting the angular speed of the winding and unwinding mechanism until the second tension is within the target second interval when the second tension exceeds the target second interval; wherein the target second interval is smaller than the target first interval.

In one possible implementation manner, the obtaining the first tension of the substrate within the preset range of the distance winding and unwinding mechanism includes:

controlling the winding and unwinding mechanism to rotate at a preset angular speed, and obtaining a first tension of the base material within a preset range of the winding and unwinding mechanism;

and under the condition that the first tension exceeds a target first interval, iteratively adjusting the angular speed of the winding and unwinding mechanism until the first tension is positioned in the first interval to obtain an initial angular speed, wherein the method comprises the following steps of:

when the first tension exceeds a first interval, adjusting the angular speed of the winding and unwinding mechanism, and controlling the winding and unwinding mechanism to rotate according to the adjusted angular speed until the first tension is within the first interval;

and reducing the first interval for a plurality of times until reaching a target first interval, and adjusting the angular speed of the winding and unwinding mechanism every time when the first tension is within the target first interval.

In one possible implementation, before the periodically obtaining the second tension of the substrate within a preset range from the winding and unwinding mechanism, the method further includes:

periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to a preset period to obtain first data;

Adjusting the preset period for a plurality of times, and periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to the period after each adjustment to obtain a plurality of second data; wherein each second data corresponds to a period after each adjustment;

determining a sampling period as a period corresponding to the data with the smallest standard deviation in the first data and the second data;

and periodically acquiring the second tension of the base material within a preset range from the winding and unwinding mechanism according to the sampling period.

In one possible implementation, the periodically obtaining the second tension of the substrate within a preset range from the winding and unwinding mechanism includes:

periodically obtaining a plurality of second tensions of the base material within a preset range of the winding and unwinding mechanism;

data screening is carried out on the second tensions according to a preset data cleaning rule, and a plurality of screened second tensions are obtained;

and determining the second tension of the base material within a preset range of the winding and unwinding mechanism as an average value of the screened second tension.

In one possible implementation, before the obtaining the first tension of the substrate between the intermediate roller closest to the winding and unwinding mechanism and the winding and unwinding mechanism, the method further includes:

Obtaining tension of a preset substrate section of the winding device; the preset substrate section comprises a substrate between the unreeling mechanism and the middle roller, a substrate between the two middle rollers and a substrate between the middle roller and the reeling mechanism;

and under the condition that the tension exceeds a preset range corresponding to the preset base material section, determining the winding and unwinding mechanism as the winding and unwinding mechanism corresponding to the preset base material section.

In one possible implementation, iteratively adjusting the angular speed of the winding and unwinding mechanism includes:

iteratively adjusting the proportionality coefficient of the angular speed of the winding and unwinding mechanism and the angular speed of a system main shaft; the ratio coefficient is the radius of the main shaft/the radius of the current shaft, and the radius of the main shaft is a preset value.

In a second aspect, the present application also provides a tension control device. The device comprises:

applied to a winding device comprising: unreeling mechanism, intermediate roll and winding mechanism, wherein, by unreel the substrate that mechanism released behind the intermediate roll, by winding mechanism carries out the rolling, tension control device includes:

the acquisition module is used for acquiring the first tension of the base material within a preset range of the winding and unwinding mechanism; wherein the winding and unwinding mechanism comprises the unwinding mechanism or the winding mechanism;

The first adjusting module is used for iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the target first interval to obtain an initial angular speed;

the acquisition module is also used for controlling the winding and unwinding mechanism to rotate according to the initial angular speed and periodically acquiring the second tension of the base material within a preset range from the winding and unwinding mechanism;

the second adjusting module is used for iteratively adjusting the angular speed of the winding and unwinding mechanism until the second tension is positioned in the target second interval under the condition that the second tension exceeds the target second interval; wherein the target second interval is smaller than the target first interval.

In one possible implementation manner, the acquiring module includes:

the first acquisition submodule is used for controlling the winding and unwinding mechanism to rotate at a preset angular speed and acquiring a first tension of the base material within a preset range from the winding and unwinding mechanism;

the first adjustment module includes:

the first adjusting sub-module is used for iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the first interval to obtain an initial angular speed;

The second adjusting sub-module is used for adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a first interval and controlling the winding and unwinding mechanism to rotate according to the adjusted angular speed until the first tension is positioned in the first interval;

and the third adjusting sub-module is used for reducing the first interval for a plurality of times until reaching the target first interval, and adjusting the angular speed of the winding and unwinding mechanism every time of reducing the first interval until the first tension is positioned in the target first interval.

In one possible implementation, the apparatus further includes:

the acquisition module is also used for periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to a preset period to obtain first data;

the third adjusting module is used for adjusting the preset period for a plurality of times, and periodically acquiring second tension of the base material within a preset range of the winding and unwinding mechanism according to the period after each adjustment to obtain a plurality of second data; wherein each second data corresponds to a period after each adjustment;

and the first determining module is used for determining the sampling period as a period corresponding to the data with the smallest standard deviation in the first data and the second data.

In one possible implementation manner, the second obtaining module includes:

the second acquisition submodule is used for periodically acquiring a plurality of second tensions of the base material within a preset range of the winding and unwinding mechanism;

the screening submodule is used for carrying out data screening on the plurality of second tensions according to a preset data cleaning rule to obtain a plurality of screened second tensions;

and the determining submodule is used for determining that the second tension of the base material within a preset range of the winding and unwinding mechanism is the average value of the screened second tension.

In one possible implementation, the apparatus further includes:

the acquisition module is also used for acquiring the tension of a preset substrate section of the winding device; the preset substrate section comprises a substrate between the unreeling mechanism and the middle roller, a substrate between the two middle rollers and a substrate between the middle roller and the reeling mechanism;

a first determining module, configured to determine, when the tension exceeds a preset range corresponding to the preset substrate segment, that the winding and unwinding mechanism is a winding and unwinding mechanism corresponding to the preset substrate segment

In one possible implementation manner, the first adjusting module includes:

The fourth adjusting sub-module is used for iteratively adjusting the proportionality coefficient of the angular speed of the winding and unwinding mechanism; the ratio coefficient is the radius of the main shaft/the radius of the current shaft, and the radius of the main shaft is a preset value.

According to the tension control method and device, the target first section with a larger variation range is set in the initial stage of the winding device, and the angular speed of the winding and unwinding mechanism is iteratively adjusted by detecting the first tension, so that the stability of the tension fluctuation range is realized. In the balance stage of the winding device, a target second section with a smaller change range is arranged, the angular speed of the winding and unwinding mechanism is iteratively adjusted by periodically detecting the second tension, the stability of the tension fluctuation range in a smaller section is realized, and more accurate tension control is realized. Compared with the traditional winding and unwinding mechanism, the winding and unwinding mechanism is additionally provided with the sensor with the winding diameter changing function, and the tension scheme is controlled through the winding diameter changing value. Further, in the balancing stage, the change of the radius of the winding and unwinding mechanism is small in a short time compared with the radius of winding and unwinding, so that the periodic tension adjustment is more reasonable and efficient.

Drawings

FIG. 1 is a diagram of an application environment for a tension control method in one embodiment;

FIG. 2 is a schematic diagram of a first process of a tension control method according to one embodiment;

FIG. 3 is a schematic diagram of a second process of the tension control method according to another embodiment;

FIG. 4 is a graph of spindle to roll relationship of a tension control method in one embodiment;

FIG. 5 is a graph showing the relationship between a spindle and a roll shaft in a prior art tension control method;

FIG. 6 is a third flow chart of a tension control method according to another embodiment;

fig. 7 is a block diagram of a tension control device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

It should be further noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for presentation, analyzed data, etc.) related to the present disclosure are information and data authorized by the user or sufficiently authorized by each party. The data acquisition, storage, use and processing in the technical scheme of the application all accord with the relevant regulations of national laws and regulations.

The tension control method provided by the embodiment of the application can be applied to the application environment of the winding device shown in fig. 1. The unreeling mechanism comprises an unreeling roller 105, the reeling mechanism comprises a reeling roller 107, a plurality of intermediate rollers are arranged between the unreeling roller 105 and the reeling roller 107, and the unreeling mechanism sequentially comprises a conventional passing roller, a flattening roller 113, a conventional passing roller, a tension measuring roller, a first cooling coating roller 101, a conventional passing roller 117, a conventional passing roller, a flattening roller, a tension measuring roller 115, a second cooling coating roller 103, a tension measuring roller, a tension isolating roller 111, a tension measuring roller, a conventional passing roller, a flattening roller and a conventional passing roller 109 according to the conveying direction of a base material. It should be noted that, in the embodiment of the present disclosure, the number and types of the intermediate rolls may be increased or decreased according to the actual needs of the scene, and those skilled in the art may also make other changes in the light of the technical spirit of the present disclosure, so long as the functions and effects implemented by the present disclosure are the same as or similar to those of the present disclosure, and all the changes are covered by the protection scope of the present disclosure.

In one embodiment, as shown in fig. 2, a tension control method is provided, and the method is applied to the winding device in fig. 1, for example, the winding device includes: the base material released by the unreeling mechanism passes through the intermediate roller and is reeled by the reeling mechanism,

step S201, obtaining a first tension of a base material within a preset range of a distance winding and unwinding mechanism; the winding and unwinding mechanism comprises an unwinding mechanism or a winding mechanism.

Specifically, the winding and unwinding mechanism comprises an unwinding mechanism or a winding mechanism, wherein the unwinding mechanism at least comprises an unwinding roller, and the winding mechanism at least comprises a winding roller. The preset range may include a preset length range, and may also include a range of a substrate between the preset roller and the winding and unwinding mechanism, taking the unwinding roller 105 in fig. 1 as an example, the preset roller may include: the first chill roll 101, the obtaining of the first tension of the substrate within a preset range from the unwind mechanism by the tension measuring roller may comprise obtaining a first tension between the unwind roller 105 and the first chill roll 101. As another example, taking the wind-up roll 107 in fig. 1 as an example, the preset roll may include a tension isolating roll 111, and obtaining the first tension of the substrate within the preset range from the wind-up and unwinding mechanism by a tension measuring roll located between the tension isolating roll 111 and the wind-up roll 107 may include: a first tension between the wind-up roll 107 and the tension break roll 111. In an exemplary embodiment, the winding and unwinding mechanism may include: and a vacuum winding and film coating winding and unwinding mechanism. As shown in fig. 4, the winding tension control system independently controls the unwinding shaft, the first cooling film coating roll shaft a, the second cooling film coating roll shaft B, the partition roll shaft and the winding shaft respectively, and the first cooling film coating roll shaft a, the second cooling film coating roll shaft B and the partition roll shaft are intermediate shafts.

In the embodiment of the disclosure, the first tension of the substrate within the preset range of the intermediate roller can be obtained as well, so that the adjustment of the tension of the intermediate roller, such as the first cooling coating roller 101 and the second cooling coating roller 103, is realized. While the diameter of the intermediate roll is unchanged (film thickness is not counted) during the transfer of the substrate. Therefore, in practical use, the tension adjustment of the intermediate roller portion is only required to be performed by fine adjustment of the ratio, and the influence of the radius change is not required to be focused.

And step 203, iteratively adjusting the angular speed of the winding and unwinding mechanism until the first tension is within the target first interval to obtain an initial angular speed under the condition that the first tension exceeds the target first interval.

Specifically, the target first interval may include a preset tension range interval, for example, a range interval between 80N and 160N. The size of the window can be set according to specific application scenes, for example, a relatively large-variation interval can be set. Generally, when the winding device is initially operated, the fluctuation range of the tension is large, and at this time, when the first tension exceeds the target first interval, the tension fluctuation range of the corresponding winding and unwinding mechanism is indicated to be unsuitable, and tension adjustment is required. And iteratively adjusting the angular speed of the winding and unwinding mechanism until the first tension is within a first interval of the target. In an exemplary embodiment, at the unwind end, if the detected tension is greater (e.g., greater than the maximum value of the target first interval or greater than a preset value), indicating that the substrate is relatively taut, the value of the angular velocity of the unwind mechanism may be increased; if the detected tension is smaller (e.g., smaller than the minimum value or the preset value of the target first section), it indicates that the substrate is loose, and the angular speed of the winding and unwinding mechanism can be reduced. The first tension may be repeated a plurality of times until the first tension is within the target first interval. At this time, it is indicated that the first tension tends to be in a stable state. In addition, for the winding end, the mode is opposite to the unreeling end control mode, and if the detected tension is larger (for example, larger than the maximum value of the target first section or larger than a preset value) at the winding end, the base material is relatively tight, so that the value of the angular speed of the winding mechanism can be reduced; if the detected tension is relatively small (e.g., less than the minimum or preset value for the target first zone), indicating that the substrate is relatively relaxed, the angular velocity of the take-up reel may be increased by a value that is not further described herein.

Step S205, controlling the winding and unwinding mechanism to rotate according to the initial angular velocity, and periodically obtaining a second tension of the substrate within a preset range from the winding and unwinding mechanism.

Specifically, in the foregoing step, the tension in the vicinity of the winding and unwinding mechanism tends to be in a stable state. In the winding and unwinding mechanism, the roller diameter changes with the decrease or increase of the base material, so that the tension in the vicinity thereof also changes. In an embodiment of the disclosure, the second tension of the substrate within a preset range of the winding and unwinding mechanism is periodically spaced apart. The periodicity may include obtaining a second tension every predetermined time period. The preset time length can be set according to specific application scenes, and can also be adjusted in real time in the working process of the winding device.

In the embodiment of the disclosure, the change of the winding and unwinding mechanism winding diameter is relatively tiny in a short time in an actual process compared with the whole winding diameter (the film thickness is 3 micrometers at a speed of 12m/min, the winding diameter of 10 micrometers is changed only approximately for 10 minutes, and the winding diameter is almost unchanged in a short time compared with the unwinding diameter of 200mm, so that the second tension of the base material within a preset range of the winding and unwinding mechanism can be periodically acquired without being regulated every moment.

Step S207, iteratively adjusting the angular speed of the winding and unwinding mechanism until the second tension is within the target second interval under the condition that the second tension exceeds the target second interval; wherein the target second interval is smaller than the target first interval.

Specifically, when the second tension exceeds the target second interval, the angular speed of the winding and unwinding mechanism is adjusted. Wherein the target second interval may include a preset tension range interval, for example, a range interval between (-5N) - (+5n). The size of the window can be set according to the specific application scene, for example, a section with relatively small variation can be set. To improve the stability of the tension adjustment. The target second interval is smaller than the target first interval. In an exemplary embodiment, at the unreeling end, if the detected tension is greater (e.g., greater than the maximum value of the target first section or greater than a preset value), indicating that the substrate is relatively taut, the value of the angular velocity of the reeling and unreeling mechanism may be increased; if the detected tension is smaller (e.g., smaller than the minimum or preset value of the target first section), the substrate is relaxed, and the angular speed of the winding and unwinding mechanism can be reduced until the second tension is within the target second section.

In the tension control method, a target first section with a larger variation range is set at the initial stage of the winding device, and the angular speed of the winding and unwinding mechanism is iteratively adjusted by detecting the first tension, so that the stability of the tension fluctuation range is realized. In the balance stage of the winding device, a target second section with a smaller change range is arranged, the angular speed of the winding and unwinding mechanism is adjusted by periodically detecting the second tension, the stability of the tension fluctuation range in a smaller section is realized, and more accurate tension control is realized. Compared with the traditional winding and unwinding mechanism, the winding and unwinding mechanism is additionally provided with the winding diameter change sensor, and the tension is controlled through the winding diameter change value. Further, in the balancing stage, the change of the radius of the winding and unwinding mechanism is small in a short time compared with the radius of winding and unwinding, so that the periodic tension adjustment is more reasonable and efficient.

In one possible implementation manner, the obtaining the first tension of the substrate within the preset range of the distance winding and unwinding mechanism includes:

controlling the winding and unwinding mechanism to rotate at a preset angular speed, and obtaining a first tension of the base material within a preset range of the winding and unwinding mechanism;

And under the condition that the first tension exceeds a target first interval, iteratively adjusting the angular speed of the winding and unwinding mechanism until the first tension is positioned in the first interval to obtain an initial angular speed, wherein the method comprises the following steps of:

iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a first interval, and controlling the winding and unwinding mechanism to rotate according to the adjusted angular speed until the first tension is positioned in the first interval;

and reducing the first interval for a plurality of times until reaching a target first interval, and adjusting the angular speed of the winding and unwinding mechanism every time when the first tension is within the target first interval.

In particular, the preset angular velocity may include a velocity lower than a preset value, and the rotation may be performed at a lower angular velocity during an initial operation stage of the winding device. In the embodiment of the present disclosure, the first section may include a section larger than the target first section. In an initial run phase, where the tension is prone to extreme large or small values, a first larger interval may be provided, for example 50N-150N, in an exemplary embodiment by adjusting the angular velocity of the unwind mechanism such that the tension of the unwind mechanism is within said first interval. In an exemplary embodiment, the range of the first interval may be successively narrowed, for example, for the first time, to a second interval; secondly, the first interval is reduced to a third interval; … Nth time, the N interval is narrowed down to the target first interval. After each interval is reduced, the angular speed of the winding and unwinding mechanism can be adjusted until the first tension falls within the target first interval.

In the above embodiment, by successively narrowing the section of the tension, the amount of change in the angular velocity adjustment amplitude is reduced, and the tension instability due to a large change in the angular velocity is reduced.

In one possible implementation, before the periodically obtaining the second tension of the substrate within a preset range from the winding and unwinding mechanism, the method further includes:

periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to a preset period to obtain first data;

adjusting the preset period for a plurality of times, and periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to the period after each adjustment to obtain a plurality of second data; wherein each second data corresponds to a period after each adjustment;

determining a sampling period as a period corresponding to the data with the smallest standard deviation in the first data and the second data;

and periodically acquiring the second tension of the base material within a preset range from the winding and unwinding mechanism according to the sampling period.

Specifically, the second tension is obtained in the sampling period, the second tension data is obtained by sampling in the preset period in the sampling period, a plurality of tension values are obtained in the sampling period, the maximum value and the minimum value are removed, the rest tension values are averaged or directly averaged, and further the relatively prepared second tension is obtained, for example, the sampling period is 1s, and the preset period is 2ms. In the embodiment of the present disclosure, adjusting the preset period for several times may include increasing or decreasing a preset amount of time based on the preset period to obtain an adjusted period; and may also include increasing or decreasing the preset amount of time over the adjusted period. And periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to the adjusted period each time to obtain a plurality of second data. Wherein each second data corresponds to a period after each adjustment, for example: period a corresponds to second data 1; period b corresponds to second data 2; period c corresponds to the second data 3 … ….

In the embodiment of the disclosure, the standard deviation of the first data and the standard deviations of the plurality of second data are respectively obtained, a period corresponding to the data with the smallest standard deviation is determined, and the period is taken as a sampling period. And periodically acquiring the second tension of the base material within a preset range from the winding and unwinding mechanism according to the sampling period.

According to the embodiment, the sampling period is adaptively adjusted, the period corresponding to the data with the minimum standard deviation is determined as the optimal sampling period, and the second tension is sampled by using the sampling period, so that the system can sample the tension in a better sampling period, the acquired tension is more real, the abnormal value or the unstable value with larger change is filtered to a certain extent, and therefore more stable adjustment is realized.

In one possible implementation, the periodically obtaining the second tension of the substrate between the intermediate roller closest to the winding and unwinding mechanism and the winding and unwinding mechanism includes:

periodically acquiring a plurality of second tensions of the substrate between the intermediate roller nearest to the winding and unwinding mechanism and the winding and unwinding mechanism;

data screening is carried out on the second tensions according to a preset data cleaning rule, and screened second tensions are obtained;

And determining the second tension of the base material within a preset range of the winding and unwinding mechanism as an average value of the screened second tension.

Specifically, the plurality of second tensions are measured by the tension test roller to obtain data of the same position at different times. In an embodiment of the present disclosure, periodically acquiring the plurality of second tensions may include acquiring the plurality of second tensions every predetermined period, for example, the predetermined period may include 1ms (second), and in an exemplary embodiment, 1s may be further divided into a plurality of ms (milliseconds), for example, 2ms, 10ms, 15ms …, each scanning period corresponds to one second tension.

In the embodiment of the disclosure, the data cleansing rule may include a rule for deleting an outlier in data, such as deleting a maximum value, a minimum value, a value outside a preset interval range, and the like. And data screening is carried out on the second tensions according to the data cleaning rules, so that screened second tensions are obtained. And averaging the plurality of second tensions after screening to obtain the second tensions sampled in the preset period.

According to the embodiment, the second tensions of the base materials within the preset range of the winding and unwinding mechanism are periodically obtained, data screening is carried out on the second tensions, and the average processing is carried out, so that the effectiveness of obtaining the second tensions is higher, and the influence of abnormal values on tension control is reduced.

In one possible implementation, referring to fig. 3, before the step of obtaining the first tension of the substrate between the intermediate roller closest to the winding and unwinding mechanism and the winding and unwinding mechanism, the method further includes:

step S301, obtaining tension of a preset substrate section of the winding device; the preset substrate section comprises a substrate between the unreeling mechanism and the middle roller and a substrate between the middle roller and the reeling mechanism; here, the intermediate roll may be a first chilled coating roll or a second chilled coating roll, which acquires the tension of the predetermined substrate section of the winding device through a tension measuring roll.

Step S303, determining the winding and unwinding mechanism as the winding and unwinding mechanism corresponding to the preset substrate segment under the condition that the tension exceeds the preset range corresponding to the preset substrate segment.

Specifically, the tension of any substrate section of the winding device can be monitored, wherein the preset substrate section comprises a substrate between the unreeling mechanism and the intermediate roller, and a substrate between the intermediate roller and the reeling mechanism. In this disclosed embodiment, different tension preset ranges may be set for different substrate segments, and if the tension exceeds the preset range corresponding to the preset substrate segment, the tension abnormality of the preset substrate segment is indicated, and the roller shaft adjacent to the substrate segment needs to be adjusted.

In an exemplary embodiment, the rollers located between the unwind mechanism and the wind-up mechanism may each act as intermediate rollers. The preset substrate section comprises a substrate between the unreeling mechanism and the intermediate roller, wherein the intermediate roller can be a first film coating cooling roller; the predetermined substrate segment includes a substrate between the intermediate roll and the take-up mechanism, where the intermediate roll may be a tension cutoff roll, not further limited herein.

In an exemplary embodiment, if the substrate segment corresponding to the winding and unwinding mechanism has abnormal tension, the winding and unwinding mechanism is subjected to tension adjustment.

In the above embodiment, by monitoring any substrate section of the winding device, if abnormality occurs, the corresponding roller shaft is adjusted, and thus precise adjustment can be achieved.

In one possible implementation, iteratively adjusting the angular speed of the winding and unwinding mechanism includes: iteratively adjusting the proportionality coefficient of the angular speed of the winding and unwinding mechanism; wherein the proportionality coefficient is the angular speed of the winding and unwinding mechanism/the angular speed of the main shaft, wherein the main shaft is a virtual shaft which is easy to calculate and is assumed, the radius of the main shaft is a preset value, and in the embodiment, the main shaft can be the roll shaft of the first film coating cooling film coating roll or the second film coating cooling film coating roll.

In particular, the embodiments of the present disclosure may achieve the effect of adjusting the angular speed of the roller by adjusting the ratio of the angular speed of the roller. In an exemplary embodiment, the intrinsic demand winding and unwinding speed of the tension control system is consistent, whereby the linear speed is constant, the angular speed is inversely related to the shaft radius (linear speed=angular speed×shaft radius) during the steady state of the coating process, and thus the proportionality coefficient is expressed as the angular speed of the winding and unwinding mechanism/the angular speed of the spindle, which is mathematically equal to the spindle radius/the current spindle radius, which is the shaft radius of the winding and unwinding mechanism that varies with the coating process, and the spindle corresponding to the first coating film cooling coating roller or the second coating film cooling coating roller, which is a preset value for the default coating roller (i.e., spindle) radius that does not vary with the coating time during the entire coating process, which is mathematically equal. In practical application, the real-time rolling diameter quantity can be calculated, so that the control quantity (corresponding to the angular speed control of the shaft) is given, and the relationship of the rolling diameter ratio is used as the input quantity. Therefore, in the whole coating process, the radius of the current shaft (the radius of the winding and unwinding roller shaft) is changed, and the tension of the base material is correspondingly changed, so that the effect of accurately adjusting the tension of the base material is realized by adjusting the proportionality coefficient of the angular speed of the winding and unwinding mechanism, namely the angular speed of the current roller shaft. Referring to fig. 4, in the embodiment of the present disclosure, the relationship between the spindle and each roller is a direct relationship, i.e., the adjustment of the angular velocity of any roller is independent of the other rollers. Referring to fig. 5, in the prior art, the setting of the proportionality coefficient of the angular velocity is often dependent on the adjacent roll shafts, such as the unreeling roll/the cold roll a, and at this time, adjusting the angular velocity of the cold roll a also has an influence on the angular velocity of the unreeling roll, and if there is an error, the error is accumulated.

In the above embodiment, however, the real-time error of the front servo in cascade in the system is synchronously amplified to the reference target followed by the rear servo in motion control, which is easy to cause the deterioration of the rear servo control characteristic; the system is stable, the mathematical relationship linkage of the servo synchronization in the group is adopted, and the transient error amplification effect in the servo cascade topology design can be effectively reduced.

FIG. 6 is a third flow chart of a tension control method according to another embodiment; in the embodiment of the disclosure, the mathematical model of the abstract axis angular velocity proportionality coefficient is c=spindle radius/current axis radius, c=c (offset) +c (pidrio), C (offset) is R spindle/R current axis proportionality coefficient, and C (pidrio) is an adjustment coefficient, i.e., c=r spindle/R current axis+delta×pid. The proportionality coefficient is the current shaft angular speed/main shaft angular speed, and is equal to the main shaft radius/current shaft radius (the main shaft radius is a preset constant value) in the mathematical relation. In the iteration process, C (offset) is the current axis ratio coefficient of the main axis/R of the previous iteration period R, and C (PIDRatio) is the real-time adjustment coefficient formed by the current period according to tension fluctuation. Referring to fig. 6, when the winding device starts to operate, if the tension amplitude of the system is detected to be proper, that is, the tension of each preset substrate section of the system does not exceed the preset range, the real-time characteristic of the system is analyzed, and if the tension of the unreeled single section is abnormal, the tension of the unreeled mechanism is adjusted. And detecting whether the fluctuation amplitude of the unreeling tension section is proper or not, if not, constructing the unreeling tension section at a low speed, wherein the initial C (offset) is 0, and adjusting by only depending on PID. Until the tension fluctuation trend is stable and oscillated, the tension fluctuation trend is not divergent. I.e. the first tension in the above embodiment is located within the target first interval. The initial iteration C (offset) =c is obtained by means of an initial variant c= +c (pidrotio) of formula c=c (offset) +c (pidrotio). When the unreeling tension band amplitude is proper, the tension is collected in real time, and data is processed. When the data adjustment period satisfies the preset data amount or interval duration, the adjustment condition of the sampling period, for example, the preset data amount or interval duration, can be set. When the adjustment condition is not satisfied, C (offset) =c is iteratively obtained according to the formula c=c (offset) +c (PIDRatio). When the adjustment condition is met, the real-time tension acquisition sample capacity, the sampling period and the filtering are adjusted, tension data of each sampling period are optimized and iterated, standard deviation of the tension data is analyzed, the optimal sampling period is obtained, and then the second tension is acquired and adjusted according to the optimal sampling period. In the embodiment of the disclosure, the tension fluctuation causes a change of C (PIDRatio) due to a change of the winding diameter, in which, by mathematical relationship, we have C (offset) equal to C, and by selecting a suitable time interval, we can control C (PID) to be in a small range, and the reaction is that the tension is self-adjusted within the tolerance range of the index at the system end. In a specific process, a short-time filtering value of the real-time tension is obtained, and the system is subjected to stability constraint c=c (offset) +c (PIDRatio), fluctuation compensation of the tension is implemented in C (PIDRatio), and C (offset) is approximately equal to C, so that the iteration of the tension of the system is completed by iteratively correcting C (offset) for a certain time. Returning to the initial stage, the initial consideration of the above procedure is the balancing stage, and before entering this stage, we also adopt c=c (offset) +c (pidroio), since there is no initial winding concept, a rough C (offset) is obtained by adjusting the system PID completely in advance (this operation has limitations, the tension fluctuation amplitude is large, the vibration is large, but in the low-speed tension building stage, a more suitable initial convergence C can be obtained barely), and the system is completed by combining with the steady-state angular velocity iteration. Furthermore, for the iterative cycle of the iterative manner described above, the iterative cycle of C (offset) is on the order of minutes, for example, one iteration can be performed for 100-300s, while the iterative cycle of C (pidrotio) is in real time, i.e., fine-tuned every second.

For the iterative process of the abstract shaft angular velocity proportionality coefficient, the iterative process corresponds to the iterative change of the angular velocity, and is specifically as follows:

ω1＝ω0+Δω

wherein ω1 is the real-time angular velocity of winding and unwinding, ω0 is the initial angular velocity, and Δω is the adjustment angular velocity. Taking the unreeling roller as an example, when the reeling device starts to operate, the initial C (offset) is 0, and the initial C (offset) is adjusted by means of PID only, that is, ω0 of the unreeling roller is zero, and the tension of the substrate is obtained by the tension measuring roller located between the unreeling roller 105 and the first film coating cooling roller 101, and is greater or less than the reference tension, wherein the reference tension corresponds to the tension value of each substrate in the ideal film coating state. At this time, for the unreeling roller, if the tension is greater than the reference tension, the angular velocity of the unreeling roller needs to be increased so that the linear velocity of the substrate on the unreeling roller 105 and the first coating film cooling coating roller 101 is the same, and further, the tension of the substrate is reduced, and if the tension is less than the reference tension, the angular velocity of the unreeling roller needs to be reduced so that the tension of the substrate is increased. In this state, the substrate tension is simply regulated by PID, after the substrate tension is obtained, Δω is given by the control system, the angular velocity of the unreeling roller is adjusted, ω1=0+Δω is adjusted, and ω1 is assigned to ω0 after adjustment, which is equivalent to obtaining an initial iteration C (offset) =c by means of an initial variation c= +c (pidrio) of formula c=c (offset) +c (pidrio).

Because in the adjustment process, due to hysteresis, after the angular velocity is adjusted, the tension of the base material is obtained again through the tension measuring roller, at this time, the tension approaches to the reference tension, and after data processing, namely, c=c (offset) +c (PIDRatio), the fluctuation compensation of the tension is represented by C (PIDRatio), and further, the corresponding Δω is given for adjustment, at this time, ω1 '=ω0+Δω is given, after adjustment, ω1' is assigned to ω0 again, which is equivalent to iteratively adjusting the proportionality coefficient of the angular velocity of the unreeling mechanism again.

Repeating the above steps, and iteratively adjusting the angular velocity (i.e. iteratively adjusting the proportionality coefficient of the angular velocity of the unreeling mechanism) until the tension measuring roller obtains Zhang Liwei of the base material in the target first interval, thereby completing the angular velocity adjustment in the initial stage.

In addition, the tension measuring roller obtains the tension of the base material and is located in a first interval, the proportional coefficient of the angular velocity of the unreeling mechanism is adjusted through repeated iteration, and the angular velocity is adjusted until the tension measuring roller obtains Zhang Liwei of the base material in a target second interval, and the proportional coefficient of the angular velocity of the unreeling mechanism in a stable stage is adjusted in an iteration mode, wherein the target second interval is smaller than the target first interval.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a tension control device for realizing the tension control method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitation of one or more embodiments of the tension control device provided below may be referred to above for limitation of the tension control method, and will not be repeated here.

In one embodiment, as shown in fig. 7, there is provided a tension control device applied to a winding device including: unreeling mechanism, intermediate roll and winding mechanism, wherein, by unreel the substrate that mechanism released behind the intermediate roll, by winding mechanism carries out the rolling, tension control device includes:

an obtaining module 701, configured to obtain a first tension of a substrate within a preset range from the winding and unwinding mechanism; wherein the winding and unwinding mechanism comprises the unwinding mechanism or the winding mechanism;

the first adjusting module 703 is configured to iteratively adjust the angular speed of the winding and unwinding mechanism when the first tension exceeds a target first interval until the first tension is within the target first interval, so as to obtain an initial angular speed;

the obtaining module 701 is further configured to control the winding and unwinding mechanism to rotate according to the initial angular velocity, and periodically obtain a second tension of the substrate within a preset range from the winding and unwinding mechanism;

a second adjusting module 707, configured to iteratively adjust an angular speed of the winding and unwinding mechanism until the second tension is within a target second interval if the second tension exceeds the target second interval; wherein the target second interval is smaller than the target first interval.

In one possible implementation manner, the acquiring module includes:

the acquisition submodule is used for controlling the winding and unwinding mechanism to rotate at a preset angular speed and acquiring a first tension of the base material within a preset range from the winding and unwinding mechanism;

the first adjustment module includes:

and the first adjusting sub-module is used for iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the first interval, so as to obtain the initial angular speed.

The second adjusting sub-module is used for adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a first interval and controlling the winding and unwinding mechanism to rotate according to the adjusted angular speed until the first tension is positioned in the first interval;

and the third adjusting sub-module is used for reducing the first interval for a plurality of times until reaching the target first interval, and adjusting the angular speed of the winding and unwinding mechanism every time of reducing the first interval until the first tension is positioned in the target first interval.

In one possible implementation, the apparatus further includes:

the acquisition module is also used for periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to a preset period to obtain first data;

The third adjusting module is used for adjusting the preset period for a plurality of times, and periodically acquiring second tension of the base material within a preset range of the winding and unwinding mechanism according to the period after each adjustment to obtain a plurality of second data; wherein each second data corresponds to a period after each adjustment;

and the first determining module is used for determining the sampling period as a period corresponding to the data with the smallest standard deviation in the first data and the second data.

In one possible implementation manner, the second obtaining module includes:

the second acquisition submodule is used for periodically acquiring a plurality of second tensions of the base material within a preset range of the winding and unwinding mechanism;

the screening submodule is used for carrying out data screening on the plurality of second tensions according to a preset data cleaning rule to obtain a plurality of screened second tensions;

and the determining submodule is used for determining that the second tension of the base material within a preset range of the winding and unwinding mechanism is the average value of the screened second tension.

In one possible implementation, the apparatus further includes:

the acquisition module is also used for acquiring the tension of a preset substrate section of the winding device; the preset substrate section comprises a substrate between the unreeling mechanism and the middle roller and a substrate between the middle roller and the reeling mechanism;

A first determining module, configured to determine, when the tension exceeds a preset range corresponding to the preset substrate segment, that the winding and unwinding mechanism is a winding and unwinding mechanism corresponding to the preset substrate segment

In one possible implementation manner, the first adjusting module includes:

the fourth adjusting sub-module is used for iteratively adjusting the proportionality coefficient of the angular speed of the winding and unwinding mechanism; the ratio coefficient is the radius of the main shaft/the radius of the current shaft, and the radius of the main shaft is a preset value.

The various modules in the tension control device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims (10)

1. A method of tension control, the method being applied to a winding device comprising: the device comprises an unreeling mechanism, an intermediate roller and a reeling mechanism, wherein the base material released by the unreeling mechanism is reeled by the reeling mechanism after passing through the intermediate roller, and the method comprises the following steps of:

acquiring a first tension of a base material within a preset range of a distance winding and unwinding mechanism; wherein the winding and unwinding mechanism comprises the unwinding mechanism or the winding mechanism;

iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the target first interval to obtain an initial angular speed;

Controlling the winding and unwinding mechanism to rotate according to the initial angular speed, and periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism;

iteratively adjusting the angular speed of the winding and unwinding mechanism until the second tension is within the target second interval when the second tension exceeds the target second interval; wherein the target second interval is smaller than the target first interval.

2. The method of claim 1, wherein the obtaining a first tension of the substrate within a predetermined range from the unwind mechanism comprises:

controlling the winding and unwinding mechanism to rotate at a preset angular speed, and obtaining a first tension of the base material within a preset range of the winding and unwinding mechanism;

and under the condition that the first tension exceeds a target first interval, iteratively adjusting the angular speed of the winding and unwinding mechanism until the first tension is positioned in the first interval to obtain an initial angular speed, wherein the method comprises the following steps of:

iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a first interval, and controlling the winding and unwinding mechanism to rotate according to the adjusted angular speed until the first tension is positioned in the first interval;

And reducing the first interval for a plurality of times until reaching a target first interval, and adjusting the angular speed of the winding and unwinding mechanism every time when the first tension is within the target first interval.

3. The method of claim 1, further comprising, prior to the periodically obtaining a second tension of the substrate within a predetermined range from the unwind mechanism:

periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to a preset period to obtain first data;

adjusting the preset period for a plurality of times, and periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to the period after each adjustment to obtain a plurality of second data; wherein each second data corresponds to a period after each adjustment;

determining a sampling period as a period corresponding to the data with the smallest standard deviation in the first data and the second data;

and periodically acquiring the second tension of the base material within a preset range from the winding and unwinding mechanism according to the sampling period.

4. A method according to claim 3, wherein periodically obtaining a second tension of the substrate within a predetermined range from the unwind mechanism comprises:

Periodically obtaining a plurality of second tensions of the base material within a preset range of the winding and unwinding mechanism;

data screening is carried out on the second tensions according to a preset data cleaning rule, and a plurality of screened second tensions are obtained;

and determining the second tension of the base material within a preset range of the winding and unwinding mechanism as an average value of the screened second tension.

5. The method of claim 1, further comprising, prior to said obtaining a first tension of the substrate between the intermediate roll closest to the unwind and the unwind mechanism:

obtaining tension of a preset substrate section of the winding device; the preset substrate section comprises a substrate between the unreeling mechanism and the middle roller and a substrate between the middle roller and the reeling mechanism;

and under the condition that the tension exceeds a preset range corresponding to the preset base material section, determining the winding and unwinding mechanism as the winding and unwinding mechanism corresponding to the preset base material section.

6. The method of claim 1, wherein iteratively adjusting the angular velocity of the unwind and wind mechanism comprises:

iteratively adjusting the ratio coefficient of the angular speed of the winding and unwinding mechanism to the angular speed of the main shaft of the system; the ratio coefficient is the radius of the main shaft/the radius of the current shaft, and the radius of the main shaft is a preset value.

7. A tension control device, characterized by being applied to a winding device, the winding device comprising: unreeling mechanism, intermediate roll and winding mechanism, wherein, by unreel the substrate that mechanism released behind the intermediate roll, by winding mechanism carries out the rolling, tension control device includes:

the acquisition module is used for acquiring the first tension of the base material within a preset range of the winding and unwinding mechanism; wherein the winding and unwinding mechanism comprises the unwinding mechanism or the winding mechanism;

the first adjusting module is used for iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the target first interval to obtain an initial angular speed;

the acquisition module is also used for controlling the winding and unwinding mechanism to rotate according to the initial angular speed and periodically acquiring the second tension of the base material within a preset range from the winding and unwinding mechanism;

the second adjusting module is used for iteratively adjusting the angular speed of the winding and unwinding mechanism until the second tension is positioned in the target second interval under the condition that the second tension exceeds the target second interval; wherein the target second interval is smaller than the target first interval.

8. The apparatus of claim 7, wherein the acquisition module comprises:

the first acquisition submodule is used for controlling the winding and unwinding mechanism to rotate at a preset angular speed and acquiring a first tension of the base material within a preset range from the winding and unwinding mechanism;

the first adjustment module includes:

the first adjusting sub-module is used for iteratively adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a target first interval until the first tension is positioned in the first interval to obtain an initial angular speed;

the second adjusting sub-module is used for adjusting the angular speed of the winding and unwinding mechanism under the condition that the first tension exceeds a first interval and controlling the winding and unwinding mechanism to rotate according to the adjusted angular speed until the first tension is positioned in the first interval;

and the third adjusting sub-module is used for reducing the first interval for a plurality of times until reaching the target first interval, and adjusting the angular speed of the winding and unwinding mechanism every time of reducing the first interval until the first tension is positioned in the target first interval.

9. The apparatus as recited in claim 7, further comprising:

The acquisition module is also used for periodically acquiring second tension of the base material within a preset range from the winding and unwinding mechanism according to a preset period to obtain first data;

the third adjusting module is used for adjusting the preset period for a plurality of times, and periodically acquiring second tension of the base material within a preset range of the winding and unwinding mechanism according to the period after each adjustment to obtain a plurality of second data; wherein each second data corresponds to a period after each adjustment;

and the first determining module is used for determining the sampling period as a period corresponding to the data with the smallest standard deviation in the first data and the second data.

10. The apparatus of claim 7, wherein the acquisition module further comprises:

the second acquisition submodule is used for periodically acquiring a plurality of second tensions of the base material within a preset range of the winding and unwinding mechanism;

the screening submodule is used for carrying out data screening on the plurality of second tensions according to a preset data cleaning rule to obtain a plurality of screened second tensions;

and the determining submodule is used for determining that the second tension of the base material within a preset range of the winding and unwinding mechanism is the average value of the screened second tension.