WO2023102874A1

WO2023102874A1 - Method for determining coil diameter of coiled material, winding device control method and apparatus, and device

Info

Publication number: WO2023102874A1
Application number: PCT/CN2021/136988
Authority: WO
Inventors: 吴卿; 冯仕平; 常文; 陈灿斌; 郑秋辉; 卢浩冉
Original assignee: 宁德时代新能源科技股份有限公司
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2023-06-15
Also published as: CN117203140A

Abstract

The present application discloses a method for determining the coil diameter of a coiled material, a winding device control method and apparatus, and a device. The method for determining the coil diameter of a coiled material in a winding device comprises the following steps: obtaining the initial coil diameter of a coiled material on a winding/unwinding roller; determining an initial operation condition of a winding device according to the initial coil diameter; enabling the winding device to operate under the initial operation condition; obtaining an offset angle of a floating swing roller and an advancement distance of a traction roller within a predetermined time period; and determining the current coil diameter of the coiled material on the winding/unwinding roller on the basis of the offset angle of the floating swing roller and the advancement distance of the traction roller.

Description

Coil diameter determination method, winding equipment control method, and related devices and equipment

technical field

The present application relates to the technical field of automatic control, in particular to a method for determining the diameter of a coil in a winding device, a control method for the winding device, a programmable logic controller for the winding device, and a Control devices for winding equipment and winding equipment.

Background technique

In the industrial fields of batteries, packaging, semiconductors, etc., there is a high demand for the handling and transportation of flexible webs, such as soft films or battery pole pieces. Systems responsible for handling and transport typically include winding equipment for winding and/or unwinding the coils for storage or subsequent handling. For winding equipment, the key is that the linear speed of the coil driven by each motor (especially the winding/unwinding motor and traction motor) should be consistent during operation, but the coil on the winding and unwinding roller will The real-time change of coil diameter will lead to the change of winding and unwinding line speed, so it is very important to adjust the speed of winding/unwinding motor according to the change of coil diameter.

There is a cumulative error in the conventional method of confirming the change of coil diameter, which will cause frequent tape breaks (for example, the linear speed of the traction motor is faster than the unwinding speed, and there is no coil buffer mechanism, so that the coil tension reaches the limit and causes tape breaks) , Rewinding (for example, the speed of the unwinding motor is faster than the speed of the traction motor, in order to match the speed, the unwinding motor suddenly decelerates and causes rewinding), so solving the problem of broken tape rewinding can effectively improve the utilization rate of coils. In addition, although the distance measuring sensor is used to detect the coil diameter in real time, this method is easily affected by external fluctuations and causes the coil to shake, resulting in inaccurate detection data, and the cost of manpower and material resources for the distance measuring sensor is very high. Take up extra space.

Contents of the invention

In view of the above problems, the present application provides a method for determining the diameter of the coil in the winding device, a control method for the winding device, a programmable logic controller for the winding device, a method for The control device of the winding equipment and the winding equipment can accurately calculate the coil diameter without the need for expensive distance measuring sensors, thereby saving costs.

In the first aspect, the present application provides a method for determining the roll diameter of a coil in a winding device, the coiling device includes a rewinding and unwinding roller, a floating pendulum roller, and a traction roller for transferring the coil, so that The method includes the following steps: S1: Obtain the initial roll diameter of the coil on the winding and unwinding roller; S2: Determine the initial operating conditions of the winding equipment according to the initial roll diameter; S3: Make the winding The equipment starts to operate under the initial operating conditions; S4: Obtain the offset angle of the floating pendulum roller and the advancing distance of the traction roller within a predetermined period of time; and S5: Based on the offset of the floating pendulum roller The angle and the advancing distance of the traction roller determine the current roll diameter of the coil on the winding and unwinding roller.

According to the technical solution of the embodiment of the present application according to the first aspect, the current roll diameter of the coil can be accurately calculated by means of the buffer mechanism of the floating pendulum roller, and this method allows low time lag while ensuring accuracy; On the other hand, the method allows the winding equipment to obtain the roll diameter of the coil without the need for a distance measuring sensor, which saves space and reduces costs.

In some embodiments, step S1 includes: applying a preset tension to the coil on the take-up and unwinding roller, the floating pendulum roller, and the pulling roller so that the floating pendulum roller is in a balanced position; reading The current angle of the driving motor of the winding and unwinding roller is obtained to obtain the first position angle P1; the coil is kept fixed at the traction roller, and the winding and unwinding roller is made to carry out the operation on the coil. Winding so that the floating pendulum roller is in the offset position; reading the current angle of the drive motor of the winding and unwinding roller to obtain the second position angle P2; obtaining the relative position when the floating pendulum roller is in the offset position The swing angle when being in the equilibrium position; calculate the circumferential moving distance Lf of the floating pendulum roller according to the swing angle; and use the formula

The initial roll diameter R ₀ is obtained. In this way, the winding can be used to offset the floating pendulum roller by a certain angle to obtain the initial winding diameter of the coil on the winding and unwinding roller through calculation.

In some embodiments, the initial operating conditions include the traction line speed of the traction roller and the initial rotational speed of the driving motor of the take-up roll, and step S2 includes: setting a constant traction line for the traction roller Speed; according to the initial roll diameter and the constant pulling line speed, the initial rotational speed of the drive motor of the winding roll is set, so that the winding line speed of the coil at the winding roll is basically on equal to the constant pulling line speed. In this way, a smooth start-up of the coil transfer when the winding device starts operating in this initial operating condition can be guaranteed.

In some embodiments, the predetermined time period is between 1 ms and 5 ms. The technical solution of the embodiment of the present application allows the winding device to determine the current winding diameter within a time period of milliseconds after the winding device starts to operate, so as to sense the change of the winding diameter in time.

In some embodiments, step S5 includes: calculating the buffer distance L _b of the floating pendulum roller according to the offset angle; reading the data of the driver of the traction roller to obtain the The advance distance L _p during the period; read the data of the driver of the winding and winding roller to obtain the current speed n _w of the winding and winding roller; obtain the winding and winding roller by the formula L _w =L _p +L _b the web advance distance L _w of the reel; and by the formula

to obtain the current roll diameter R _c of the take-up and take-up roll, where t is the predetermined time period. In this way, the current roll diameter R _c of the take-up and take-up roller can be reversed by the buffer distance L _b of the floating pendulum roller and the constant advancing distance L _p of the traction roller during a predetermined period of time, thereby realizing the The scientific calculation of the current roll diameter ensures accuracy.

In some embodiments, calculating the cache distance L _b includes: through the formula

to calculate the buffer distance L _b of the floating pendulum roller, where β represents the offset angle, and r _p represents the swing radius of the floating pendulum roller. In this way, a modeling method of the buffering amount when the floating pendulum roller is offset and a function expression of the buffering distance L _b calculated on this basis are provided.

In the second aspect, the present application provides a control method for winding equipment, the winding equipment includes rolls for winding and unwinding, floating pendulum rolls and traction rolls, the control method includes: roll diameter determination operation: According to the method in the above-mentioned embodiment, the current roll diameter R _c of the coil on the take-up and unwind roll is determined; the target rotational speed calculation operation: based on the current roll diameter R _c and the traction linear velocity V _p of the traction roll, by formula

to calculate the target rotational speed n _t of the drive motor of the winding and unwinding roller; speed adjustment operation: adjust the rotational speed of the driving motor of the winding and unwinding roller to the target rotational speed n _t .

According to the technical solution of the embodiment of the present application according to the second aspect, the current roll diameter of the coil can be accurately calculated by means of the buffer mechanism of the floating pendulum roll, and the drive of the take-up and take-up roll is driven based on the current roll diameter and the pulling line speed. The speed of the motor is updated to the target speed, so as to ensure that the linear speed of the winding and unwinding roller matches the linear speed of the traction roller.

In some embodiments, the control method includes: sequentially repeating step S4 and step S5 in the operation of determining the roll diameter, the operation of calculating the target rotation speed, and the operation of adjusting the rotation speed, so as to adjust the winding and unwinding roller The speed of the drive motor is periodically adjusted. In this way, the current roll diameter can be determined in real time and the take-up and take-up line speed of the take-up and take-up roll can be adjusted in real time to match the pulling line speed of the traction roll.

In some embodiments, repeating the operation of calculating the target rotational speed and the operation of adjusting the rotational speed is realized by using PID closed-loop adjustment. Using PID closed-loop adjustment, the speed of the drive motor of the rewinding and unwinding roller can be adjusted in a more timely manner following the calculated current roll diameter, filtering out abnormal values, avoiding sudden vibrations, rewinding, etc., and effectively reducing unwinding The problem that the belt is easy to break in the process.

In the third aspect, the present application provides a programmable logic controller used in winding equipment, the winding equipment includes take-up and unwinding rollers, floating pendulum rollers, and traction rollers for transferring coils, the adjustable The programming logic controller is configured to perform the following operations: S1: Acquire the initial roll diameter of the coil on the winding and unwinding roller; S2: Determine the initial operating condition of the winding device according to the initial roll diameter; S3: Make the winding device start to operate under the initial operating condition; S4: Acquire the offset angle of the floating pendulum roller and the advancing distance of the traction roller within a predetermined period of time; and S5: Based on the floating The offset angle of the pendulum roller and the advancing distance of the traction roller determine the current roll diameter of the coil on the take-up and take-up roll.

In some embodiments, operation S1 includes: applying a preset tension to the coil on the take-up and unwind roller, the floating swing roller, and the pulling roller so that the floating swing roller is in a balanced position; reading The current angle of the driving motor of the winding and unwinding roller is obtained to obtain the first position angle P1; the coil is kept fixed at the traction roller, and the winding and unwinding roller is made to carry out the operation on the coil. Winding so that the floating pendulum roller is in the offset position; reading the current angle of the drive motor of the winding and unwinding roller to obtain the second position angle P2; obtaining the relative position when the floating pendulum roller is in the offset position The swing angle when being in the equilibrium position; calculate the circumferential moving distance L _f of the floating pendulum roller according to the swing angle; and use the formula

The initial roll diameter R ₀ is obtained.

In some embodiments, the initial operating conditions include the pulling line speed of the pulling roller and the initial rotational speed of the driving motor of the winding roller, and operation S2 includes: setting a constant pulling line for the pulling roller Speed; according to the initial roll diameter and the constant pulling line speed, the initial rotational speed of the drive motor of the winding roll is set, so that the winding line speed of the coil at the winding roll is basically on equal to the constant pulling line speed.

In some embodiments, the predetermined time period is between 1 ms and 5 ms.

In some embodiments, operation S5 includes: calculating the buffer distance L _b of the floating pendulum roller according to the offset angle; reading the data of the driver of the traction roller to obtain the The advance distance L _p during the period; read the data of the driver of the winding and winding roller to obtain the current speed n _w of the winding and winding roller; obtain the winding and winding roller by the formula L _w =L _p +L _b the web advance distance L _w of the reel; and by the formula

to obtain the current roll diameter R _c of the take-up and take-up roll, where t is the predetermined time period.

to calculate the buffer distance L _b of the floating pendulum roller, where β represents the offset angle, and r _p represents the swing radius of the floating pendulum roller.

In some embodiments, the programmable logic controller is further configured to perform the following operations: S6: Based on the current coil diameter R _c and the traction linear velocity V _p of the traction roller, by the formula

to calculate the target rotational speed n _t of the driving motor of the winding and unwinding roller; S7: adjusting the rotational speed of the driving motor of the winding and unwinding roller to the target rotational speed n _t .

In some embodiments, the programmable logic controller is further configured to: repeat the above operations S4-S7 in sequence, so as to periodically adjust the rotation speed of the drive motor of the winding and unwinding roller.

In some embodiments, repeating the above operations S6 and S7 is realized by using PID closed-loop adjustment.

In a fourth aspect, the present application provides a control device for a winding device, the control device comprising: a roll diameter determination module configured to The method determines the current coil diameter R _c of the coil on the winding and unwinding roller; the target speed calculation module is configured to be based on the current coil diameter R _c and the traction linear velocity V _p of the traction roller, through the formula

to calculate the target rotational speed n _t of the drive motor of the winding and unwinding roller; and a rotational speed adjustment module configured to adjust the rotational speed of the driving motor of the winding and unwinding roller to the target rotational speed n _t .

In some embodiments, the control device is configured to: repeatedly make the winding diameter determination module perform step S4 and step S5, make the target speed calculation module calculate the target speed n _t , and make the speed adjustment The module adjusts the rotational speed of the drive motor of the winding and unwinding roller to the target rotational speed n _t , so as to periodically adjust the rotational speed of the driving motor of the winding and unwinding roller.

In some embodiments, repeating the operation of calculating the target rotational speed and the operation of adjusting the rotational speed is realized by using PID closed-loop adjustment.

In the fifth aspect, the present application provides a winding device, the winding device includes a rewinding and unwinding roller device, a floating swing roller device, a traction roller device, and one of the following: the programmable logic controller in the above-mentioned embodiment ; or the control device in the above-mentioned embodiment.

In a sixth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the methods in the foregoing embodiments are implemented.

The above description is only an overview of the technical solution of the present application. In order to better understand the technical means of the present application, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable , the following specifically cites the specific implementation manner of the present application.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the application. Also, the same reference numerals are used to denote the same components throughout the drawings. In the attached picture:

Figure 1 shows a first example winding apparatus suitable for use with methods according to embodiments of the present application;

Figures 2A and 2B show the first and second deflection positions of the floating pendulum roll, respectively, due to line speed mismatch;

Figure 3 shows a second example winding apparatus suitable for use with methods according to embodiments of the present application;

4 is a flowchart of a method for determining the diameter of a coil in a winding device according to some embodiments of the present application;

Fig. 5 exemplarily shows a modeling method of buffering amount when the floating pendulum roller is offset according to an optional embodiment of the present application;

6 is a flowchart of a control method for a winding device according to some embodiments of the present application;

Fig. 7 shows a schematic diagram of an iterative operation of a control method for a winding device according to an optional embodiment of the present application;

Fig. 8 shows a schematic block diagram of a control device for a winding device according to some embodiments of the present application; and

Fig. 9 shows a schematic block diagram of a winding device according to some embodiments of the application.

Detailed ways

Embodiments of the technical solutions of the present application will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present application more clearly, and therefore are only examples, rather than limiting the protection scope of the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the application; the terms used herein are only for the purpose of describing specific embodiments, and are not intended to To limit this application; the terms "comprising" and "having" and any variations thereof in the specification and claims of this application and the description of the above drawings are intended to cover a non-exclusive inclusion.

In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects, and should not be understood as indicating or implying relative importance or implicitly indicating the number, specificity, or specificity of the indicated technical features. Sequence or primary-secondary relationship. In the description of the embodiments of the present application, "plurality" means two or more, unless otherwise specifically defined.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments.

In the description of the embodiment of the present application, the term "and/or" is only a kind of association relationship describing associated objects, which means that there may be three kinds of relationships, such as A and/or B, which may mean: A exists alone, and A exists at the same time and B, there are three cases of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two), similarly, "multiple groups" refers to more than two groups (including two), and "multiple pieces" refers to More than two pieces (including two pieces).

In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical" "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", "Radial", "Circumferential", etc. indicate the orientation or positional relationship based on the drawings Orientation or positional relationship is only for the convenience of describing the embodiment of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as an implementation of the present application. Example limitations.

In the description of the embodiments of this application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a fixed connection. Disassembled connection, or integration; it can also be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application according to specific situations.

When the term "A is substantially equal to B" is used herein, it means that the exact value of A is within ±10% of B.

According to an embodiment of the present application, a method for determining the diameter of a coil in a winding device is provided.

Referring to FIG. 1 , there is shown an example winding apparatus 100 suitable for use with methods according to embodiments of the present application. The winding device 100 includes a take-up and take-up roller 110 for transferring the coil 101 , a floating swing roller 120 and a pulling roller 130 . The winding device 100 also includes a driving motor (not shown) for driving the winding roller 110 and the pulling roller 130 . The winding device 100 may further include a pressing roller 131 cooperating with the pulling roller 130 . The floating swing roller 120 may be swingably connected to the fixed swing shaft 121 through a swing link 122 . The winding device 100 may further include a tension applying device (not shown) to apply an adjustable tension to the coil between the winding roller 110 and the pulling roller 130 . The winding device 100 may further include a device (not shown) such as a proportional valve for controlling the swing of the floating swing roller 120 so as to adjust the swing of the floating swing roller 120 through tension feedback. The floating pendulum roller 120 may have a balanced state (eg, a vertical state) and an offset state (eg, a non-vertical state). The coil entry and exit position X of the unwinding and unwinding roller 110 can be basically set directly above the coil entry and exit position Y of the floating pendulum roller 120 so that: More preferably, during deflection between -10° and 10°, the change in the length of the coil between the winding roller 110 and the floating pendulum roller 120 is negligible; The change in length of the web between the rollers can be represented by the swing distance of the floating pendulum roller 120, which will be described in more detail below.

For example, before the winding device 100 starts to operate, a preset tension can be applied to the coil by the tension applying device so that the coil has a tension level suitable for subsequent transmission, and the floating pendulum roller 120 is in a balanced state.

In the following, for the convenience of description, the unwinding operation performed by the winding and unwinding roller 110 is taken as an example for illustration.

Referring to FIG. 2A , there is shown a first deflection position of the floating pendulum roller 120 due to line speed mismatch. During the operation of the winding device 100, if the unwinding linear velocity V ₁ of the coil on the winding and unwinding roller 110 is greater than the pulling linear velocity V ₂ of the traction roller 130, then the distance between the winding and unwinding roller 110 and the traction roller 130 Coils will grow over time. In this case, in order to maintain the web at the preset tension level, the floating pendulum roller 110 is adjusted to shift to the left to perform "positive" buffering for the increased web.

Referring to FIG. 2B , there is shown a second deflection position of the floating pendulum roller 120 due to line speed mismatch. During the operation of the winding device 100, if the unwinding linear velocity V ₁ of the coil on the winding and unwinding roller 110 is less than the pulling linear velocity V ₂ of the traction roller 130, the distance between the winding and unwinding roller 110 and the traction roller 130 Coils will thin out over time. In this case, to keep the web still at the preset tension level, the pendulum roll 110 may be adjusted (eg, via a proportional valve) to be offset to the right to provide a "negative" buffer for the dwindling web.

Optionally, the winding device may also include one or more transition rollers to facilitate long-distance transfer. Referring to Figure 3, there is shown an example winding apparatus 300 comprising a plurality of transition rolls, also suitable for use with methods according to embodiments of the present application. The winding device 300 may include a take-up and take-up roller 310 for transferring the coil, a floating swing roller 320, a traction roller 330, and a plurality of transition rollers G1-G8. As shown in the figure, the transition rollers G1-G7 can be arranged between the take-up and unwind roller 310 and the floating roller 320 , and the transition roller G8 can be arranged between the floating roller 320 and the traction roller 330 . Note that those skilled in the art can conceive that the winding device 300 may include fewer or more transition rolls as needed. The winding device 300 may also include a pressing roller 331 cooperating with the pulling roller 330 so as to fix or unfix the coil at the pulling roller 330 .

The coil entry and exit position X of the transition roller G8 can be basically set directly above the coil entry and exit position Y of the floating pendulum roller 320 so that: ground, between -10° and 10°), the change in the length of the coil between the transition roller G8 and the floating pendulum roller 320 is negligible; The change in length of can be represented by the swing distance of the floating pendulum roller 320, which will be described in more detail below.

The winding device 300 may further include a tension applying device (not shown) to apply an adjustable tension to the coil between the winding roller 310 and the pulling roller 330 . The floating pendulum roller 320 may have a balanced state B (eg, a vertical state) and an offset state L or R (eg, a non-vertical state). In equilibrium state B, the web path is shown by solid line 301 .

For example, during the operation of the winding device 300, if the unwinding linear velocity V ₁ of the coil on the winding and unwinding roller 310 is greater than the pulling linear velocity V ₂ of the pulling roller 330, then the floating pendulum roller 310 can be adjusted to the left Offset (state L among Fig. 3) carries out " positive " buffering to more coiled material, and wherein coiled material path is as shown in dashed line dotted line 302; If the velocity _V1 is less than the traction linear velocity _V2 of the traction roller 330, the floating pendulum roller 310 can be adjusted to shift to the right (state R in FIG. The path of the coil is shown by dashed dotted line 303 .

Please refer to FIG. 4 , which is a flow chart of a method 400 for determining a coil diameter of a coil in a coiling device according to some embodiments of the present application. The method may include steps S410 to S450.

As shown in FIG. 4 , at step S410 , the initial coil diameter of the coil on the winding and unwinding roller 110 / 310 is acquired. In this context, the term "coil diameter" refers to the radial distance from the radially outermost coil on the roll member to the center (i.e., the center of rotation) of the roller Increase or decrease by winding or unwinding. The initial roll diameter can be obtained through existing or future methods, which are not limited in this application. In one example, the web on the rewind roll 110/310 may have been wound or unwound during a previous process to have a specific roll diameter, which may be known or may be obtained from a previous process. obtained (eg, calculated or detected), and then optionally stored in a recording medium. In another example, the initial roll diameter can also be manually measured, and then optionally stored in a recording medium.

At step S420, the initial operating conditions of the winding device 100/300 are determined according to the initial winding diameter.

The initial operating conditions may include the pulling linear speed of the pulling roller 130/330 and the initial rotational speed of the drive motor of the take-up and unwinding roller 110/310. When the winding equipment 100/300 starts running, the linear speeds of the coils driven by each motor (especially the winding/unwinding motor and the traction motor) should be consistent. In order to achieve this, a constant pulling line speed can be set for the pulling roller 130/330, and then the initial rotating speed of the driving motor of the winding and unwinding roller 110/310 is set according to the initial roll diameter and the constant pulling line speed, so that When the winding device 100/300 starts to operate, the winding and unwinding linear velocity of the coil at the winding and unwinding roller 110/310 is substantially equal to the constant pulling linear velocity. Since the radius of the pulling roll 130/330 is known and constant (no coil is wound on it), a constant rotational speed can be set for the pulling motor of the pulling roll 130/330, thereby resulting in a constant pulling line speed .

At step S430, the winding device 100/300 is brought into operation under initial operating conditions. As mentioned above, when the winding equipment 100/300 starts to operate, the initial take-up and take-up linear speed of the coil at the take-up and take-up roll 110/310 can be substantially equal to the initial drawing-off line speed at the pulling roller 130/330, thereby ensuring Smooth start of web transfer.

At step S440, the deviation angle of the floating pendulum roller 120/320 is obtained and the advancing distance of the traction roller 130/330 is obtained within a predetermined period of time.

In some embodiments of the present application, the predetermined time period may be between 1 ms and 5 ms. The deflection angle of the swing roller 120/320 is an angle at which the swing roller 120/320 swings during a predetermined period of time and may be obtained from a driver that drives a swing lever of the swing roller 120/320 to swing. The advance distance of the pulling rollers 130/330 can be read directly from the drive or calculated indirectly (eg, pulling line speed multiplied by a predetermined time period).

At step S450, based on the offset angle of the floating pendulum roller 120/320 and the advancing distance of the traction roller 130/330, the current coil diameter of the coil on the winding and unwinding roller 110/310 is determined.

The above describes the method for determining the coil diameter of the coil in the coiling device according to the exemplary embodiment of the present application. With this method, the current coil diameter of the coil can be accurately calculated by means of the buffer mechanism of the floating pendulum roller. In this method, the calculation of the current roll diameter of the coil can be completed within milliseconds, which has a low time lag while ensuring accuracy; on the other hand, this method does not need to use a distance measuring sensor to measure the roll diameter, saving space And reduce costs.

According to some embodiments of the present application, optionally, at step S410 in the above method 400, the initial roll diameter of the roll material on the take-up and take-up roll 110/310 may also be acquired through self-learning. The self-learning manner may include the following actions 411-417.

Action 411: Apply a preset tension to the coil on the take-up and unwind roller 110/310, the floating pendulum roller 120/320, and the traction roller 130/330 to trigger the self-learning mode and make the floating pendulum roller in a vertical position (that is, initial position in self-learning mode).

Action 412: Read the current angle of the driving motor of the winding and unwinding roller 110/310 to obtain the first position angle P1. The current angle of the driving motor of the rewinding roller 110/310 can be read from the driver of the rewinding roller 110/310, for example in degrees (°).

Action 413: Keep the coiled material stationary at the traction roller 130/330, and make the winding and unwinding roller 110/310 wind the coiled material so that the floating pendulum roller 120/320 is in an offset position (that is, self-learning end position of the pattern). For example, the coil can be clamped and fixed by using the pressure roller 131/331 and the traction roller 130/330, so that the coil cannot move; With the tension on the web constant (ie, maintaining the preset tension), the floating pendulum roller 120/320 is deflected to the right by an angle to perform "negative" buffering of the web. The application does not limit the amount of coil material wound by the winding and unwinding roller 110/310, as long as the floating pendulum roller 120/320 produces a deflection angle that can be measured, recognized or read so as to determine its outer diameter distance of movement. In one example, the amount of coil material wound by the unwinding roller 110/310 may depend on the limit distance of the floating pendulum roller 120/320 deflecting to the right; When the floating pendulum roller can no longer swing at a larger angle, this state is used as the end position of the self-learning mode.

Action 414: Read the current angle of the driving motor of the winding and unwinding roller 110/320 to obtain the second position angle P2.

Action 415: Detect the swing angle when the floating pendulum roller 120/320 is in the offset position relative to the balance position.

Action 416: Calculate the circumferential movement distance L _f of the floating pendulum roller according to the swing angle. For example, assuming that the swing angle of the floating swing roller 120/320 is θ (°), and its swing radius (the distance between the swing axis and the center of the floating swing roller) is r, the circumferential moving distance can be roughly calculated

In this way, the retraction distance L ₀ generated by winding up and unwinding roller 110/310 can be approximated as the circumferential movement distance L _f .

Act 417: Using Formulas

Get the initial roll diameter R ₀ . In action 416, the retraction distance L ₀ (≈L _f ) generated by the rewinding and rewinding roller 110/310 is approximately obtained, and the retraction distance actually represents the angular change of the drive motor of the rewinding and rewinding roller 110/310 (P2-P1) defines the outer peripheral length of the coil (related to the initial coil diameter R ₀ ), that is,

Therefore, the formula

To derive the initial roll radius R ₀ .

Note that the above actions 411-417 are only used as an example to illustrate a self-learning acquisition method of the initial coil diameter of the coil on the winding roller 110/310, the application is not limited thereto and other (existing or future) methods can be used. There are) ways. For example, as mentioned above, the initial roll radius can be known and stored on the recording medium, so that the initial roll radius R ₀ can be obtained directly from the record medium.

According to some embodiments of the present application, optionally, in step S450 of the above method 400, the offset distance of the floating swing roller 120/320 can be obtained from the offset angle of the floating swing roller 120/320, the offset The distance can be approximated as the buffer distance of the floating pendulum roller 120/320 for the web. Then, the advancing distance of the take-up and unwinding roller 110/310 within a predetermined period of time can be calculated based on the buffering distance and the advancing distance of the traction roller 130/330. Finally, the current coil diameter of the coil on the winding and unwinding roller 110/310 can be obtained according to the advancing distance of the winding and unwinding roller 110/310 and the rotation speed of the driving motor.

An exemplary embodiment of determining the current roll diameter of the roll on the winding and unwinding rollers will be described in detail below with reference to FIG. 5 and actions 451-457. For the sake of brevity, Fig. 5 only shows the floating pendulum roller 520 and the traction roller 530 (similar to the arrangement in Fig. Transition rolls (similar arrangement to Fig. 3).

Action 451: Calculate the buffering distance L _b of the floating pendulum roller according to the offset angle.

Referring to FIG. 5 , FIG. 5 shows an example modeling method of the buffer distance L _b of the floating swing roller. In this example, the floating balance rollers 520 are respectively in the balance position B and the left offset position L, wherein the swing angle of the floating balance rollers is β. In this paper, for the convenience of description, it is stipulated as follows: when the floating pendulum roller 520 swings to the left from its equilibrium position (that is, the vertical position), β is a positive angle, and when the floating pendulum roller 520 swings from its equilibrium position (that is, the vertical position) , vertical position) when swinging to the right, β is a negative angle. FIG. 5 shows the angle bisector 501 of the swing angle β of the floating pendulum roller 520. When β is small (for example, between -10° and 10°),

In this example, the center of the floating pendulum roller 520 at the equilibrium position L is set as point o; the center of the floating pendulum roll 520 at the left offset position L is set as point o', and the radially lowest point is set as point p'; The web entry point of the pulling roller 530 is q. The distance between point o and point o'

Where r _p represents the swing radius of the floating pendulum roller. Since the swing angle β is small, the distance D2 ≈ D1 between point o and point p′, and the distance between point o′ and point q ≈ the distance between p′ and point q.

As mentioned above, when the floating pendulum roll 520 deflects at a small angle (between -10° and 10°), the change in web length between the take-up and unwind roll (not shown) and the floating pendulum roll 520 is negligible Neglected, therefore the length change of the coil between the winding roller (not shown) and the traction roller 530 can be represented by the coil buffer amount (buffer distance) of the floating pendulum roller 520, then it can be seen from the above relationship that Floating pendulum roller 520 cache distance

In this way, the buffering distance L _b of the floating swing roller can be calculated through the swing angle and swing radius of the floating swing roller 520 .

It should be noted that the above-mentioned modeling method of the buffering amount when the floating pendulum roller is offset and the function expression of the buffering distance L _b calculated on this basis are not unique. According to the structure and arrangement of the floating pendulum rollers in different winding devices, other forms of buffer volume modeling models can be established, and the functional expressions of different buffer distances L _b can be calculated accordingly.

Action 452: Read the data of the driver of the traction roller 530 to obtain the advancing distance L _p of the traction roller 530 during the time period t, where t is the time it takes for the floating pendulum roller 520 to swing from the balance position B to the left offset position L . As mentioned above, the advancing distance _Lp of the pulling roller 530 can be read directly from the driver or calculated indirectly (eg, pulling line speed multiplied by a predetermined time period).

Action 453: Read the data of the driver of the winding and unwinding roller to obtain the current rotational speed n _w of the winding and winding roller.

Action 454: Obtain the coil advance distance L _w of the take-up and unwind roller through the formula L _w =L _p +L _b . As described above with reference to FIG.

Therefore, the coil advance distance of the winding and unwinding roller

When the floating swing roller 520 swings to the left, β is a positive angle, so

And when the floating swing roller 520 swings to the right, β is a negative angle, so

Act 455: Passing Formulas

To obtain the current roll diameter R _c of the take-up and unwind roll. Coil advancing distance L _w of take-up and take-up roller = take-up and take-up line speed V _w ×t, take-up and take-up line speed V _w =ω _w ×R _c , take-up and take-up roller angular velocity ω _w = n _w ×2π, it can be seen that L _w =n _w ×t×2π×R _c , so the formula can be used

To roll back the current roll diameter R _c of the take-up and unwind roll.

According to some embodiments of the present application, the present application also provides a control method for winding equipment. The control method is suitable for use with the example winding apparatus 100/300 described with reference to Figures 1-3. Please refer to FIG. 6 , which is a flowchart of a control method 600 for a winding device according to some embodiments of the present application. The method 600 may include a roll radius determination operation 610 , a target rotational speed calculation operation 630 and a rotational speed adjustment operation 650 . The roll diameter determination operation 610 may be used to determine the current roll diameter _Rc of the roll material on the take-up and unwind rolls 110/310. This roll diameter determination operation 610 may be implemented using the method 400 for determining the roll diameter of a coil in the winding apparatus 100/300 as described above. The target rotational speed calculation operation 630 can be used based on the current coil diameter R _c and the pulling line speed V _p of the pulling roller 130/330, by the formula

to calculate the target rotational speed n _t of the driving motor of the winding and unwinding roller 110/310. The rotational speed adjustment operation 650 may be used to adjust the rotational speed of the driving motor of the take-up and unwinding roller 110/310 to a target rotational speed n _t .

The above describes the control method for the winding device according to the exemplary embodiment of the present application. With this method, when the linear speed of the winding roller does not match the pulling linear velocity of the traction roller, the driving motor speed of the winding roller can be calculated according to the current diameter of the coil on the winding roller. target speed and adjust accordingly. In this method, the calculation of the current roll diameter of the coil can be completed within milliseconds, which has a low time lag while ensuring accuracy; on the other hand, this method does not need to use a distance measuring sensor to measure the roll diameter, saving space In addition, reducing costs and reducing detection points are also conducive to improving device stability.

According to some embodiments of the present application, optionally, referring to FIG. 7 , the control method 600 may further include: sequentially repeating step S440 and step S450 of the method 400 in the roll diameter determination operation 610, the target rotational speed calculation operation 630 and the rotational speed An adjustment operation 650 is performed to periodically adjust the rotational speed of the drive motor of the take-up and unwind rollers 110/310. In this way, the volume diameter of the winding and unwinding roller can be determined in real time (in milliseconds), thereby updating the rotational speed of the driving motor of the winding and unwinding roller 110/310 in real time, so that the linear speed of the winding and unwinding roller 110/310 Matching with the traction line speed of the traction roller 130/330, avoiding problems such as frequent breakage and rewinding of the coil caused by the mismatch of the line speed in the winding equipment.

According to some embodiments of the present application, optionally, repeating the operation of calculating the target rotational speed and adjusting the rotational speed is realized by using (proportional-derivative-integral) PID closed-loop adjustment. Through PID adjustment, the relationship between the linear speed of the unwinding motor, the buffer distance and the linear speed of the traction roller can be further quickly processed, and the equipment speed can reach full load without fluctuations, while the traditional unwinding process cannot be too fast. In particular, using PID closed-loop adjustment, the speed of the drive motor of the take-up and unwinding roller can be adjusted according to the calculated current roll diameter, filtering out abnormal values, avoiding sudden vibration, rewinding, etc., and effectively reducing unwinding The problem that the belt is easy to break in the process.

According to some embodiments of the present application, a programmable logic controller (PLC) is correspondingly provided, which can be used in the winding device 100/300 as described with reference to FIGS. 1-3 . The aforementioned programmable logic controller (PLC) can implement the method 400 and/or the control method 600 for determining the diameter of the coil in the winding device according to the present application as described above. Many design concepts and details applicable in the method 400 and/or control method 600 for determining the coil diameter in the winding device of the present application are also applicable to the above-mentioned programmable logic controller (PLC), and the same can be obtained. The beneficial technical effects are not repeated here. In addition, by utilizing the characteristics of short and periodic scanning of the PLC, the latest value is continuously assigned to the cache data drive, and the cycle synchronization speed command is called to update the rotation speed of the unwinding motor, thereby further promoting the real-time calculation of the coil diameter And the real-time update of the rotating speed of the driving motor of the rewinding and unwinding roller.

According to some embodiments of the present application, a control device for winding equipment is also provided correspondingly.

Referring to FIG. 8 , it shows a schematic block diagram of a control device 800 for a winding device according to some embodiments of the present application. The control device 800 is used in the winding device 100/300 as described with reference to FIGS. The coil diameter determining module 810 may be configured to determine the current coil diameter R _c of the coil on the winding and unwinding roller according to the method 400 for determining the coil diameter of the coil in the winding device according to the present application as described above. The target rotational speed calculation module 820 can be configured to be based on the current coil diameter R _c and the traction linear velocity V _p of the traction roller, through the formula

to calculate the target speed n _t of the driving motor of the unwinding roller. The rotational speed adjustment module 830 may be configured to adjust the rotational speed of the drive motor of the winding and unwinding roller to a target rotational speed n _t .

According to some embodiments of the present application, optionally, the control device 800 may be configured to: repeatedly make the winding radius determination module 810 perform step S440 and step S450 of the method 400 in sequence, make the target speed calculation module 820 calculate the target speed n _t and The rotational speed adjustment module 830 adjusts the rotational speed of the driving motor of the winding and unwinding roller to a target rotational speed n _t , so as to periodically adjust the rotational speed of the driving motor of the winding and unwinding roller.

Optionally, repeating the operation of calculating the target rotational speed and adjusting the rotational speed is realized by using PID closed-loop adjustment.

Many design concepts and details applicable in the control method 600 of the present application are also applicable to the above-mentioned control device 800 for winding equipment, and can obtain the same beneficial technical effect, and will not be repeated here.

According to some embodiments of the present application, a winding device is also provided correspondingly.

Referring to FIG. 9 , there is shown a schematic block diagram of a winding device 900 according to some embodiments of the present application. The winding device 900 may include a winding and unwinding roller device 910 , a floating swing roller device 920 , a pulling roller device 930 and the programmable logic controller or control device 800 described above. The programmable logic controller or the control device 800 can be communicatively connected with the respective drivers of the take-up and unwinding roller device 910 , the floating pendulum roller device 920 , and the traction roller device 930 , so as to exchange data signals.

In addition, the above-mentioned method for determining the roll diameter of the coil in the winding device and the control method for the winding device according to the present application can be realized by executing computer instructions by a processor, and the instructions can be stored in a computer-readable memory medium. The computer readable storage medium may include a hard disk drive, a floppy disk drive, a compact disk read/write (CD-R/W) drive, a digital versatile disk (DVD) drive, a flash memory drive, and/or a solid state storage device, among others.

So far, the method for determining the diameter of the coil in the winding device, the control method for the winding device, the programmable logic controller for the winding device, the A control device and a winding device, and a computer-readable storage medium capable of implementing the above method are also introduced.

Through the application, the coil diameter on the take-up and unwinding roller can be automatically calculated during the operation of the winding equipment, allowing the winding equipment to be more intelligent. Furthermore, the PID closed-loop adjustment is used to achieve the purpose of synchronizing the linear speed of the winding and unwinding motor and the traction motor. After trial and error, the application can solve the problems of coil breaking and rewinding often encountered in winding and unwinding of the winding equipment, thereby increasing the coil utilization rate of the winding equipment by 1.5%.

In addition, compared with the traditional method, this application allows the real-time calculation of the roll diameter, the winding/unwinding distance of the rewinding and unwinding roller, and allows real-time (millisecond) processing of the line speed of the rewinding and unwinding motor and the floating pendulum roller through PID adjustment. The relationship between the buffer distance and the linear speed of the traction motor enables the operating speed of the winding equipment to reach full load without fluctuations, while the traditional winding and unwinding process cannot be too fast.

On the other hand, the application uses scientific calculations to obtain the real-time roll diameter and update the rewinding and unwinding motor speed to match the rewinding and unwinding line speed with the pulling line speed, without the need for distance measuring sensors used in traditional winding equipment. Traditional sensors detect The method is easily affected by the vibration of the coil caused by external fluctuations, resulting in inaccurate detection data. Therefore, this application allows the winding equipment to avoid the situation that the sensor detects false values, while reducing installation and material costs, and saving limited space. In an example of traditional winding equipment, the laser distance measuring sensor is 3,000 yuan each, and the installation and commissioning cost is 300 yuan each. The whole set of equipment has a common anode unwinding, upper cathode, lower pole unwinding, and upper and lower separators. , the material and labor cost of the laser ranging sensor is (3000+300)*5=16500 yuan, and the equipment batch cost is about 400w; in this case, if the winding equipment of the present application is used, the equipment cost can be reduced by 4.125‰.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present application. All of them should be covered by the scope of the claims and description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

A method for determining the roll diameter of a coiled material in a winding device, the coiled device comprising a take-up and unwinding roller, a floating pendulum roller and a traction roller for transferring the coiled material, the method comprising the following steps:

S1: Obtain the initial coil diameter of the coil on the winding and unwinding roller;

S2: Determine the initial operating conditions of the winding device according to the initial winding diameter;

S3: Make the winding device start running under the initial running condition;

S4: Obtain the offset angle of the floating pendulum roller and the advancing distance of the traction roller within a predetermined period of time; and

S5: Based on the offset angle of the floating pendulum roller and the advancing distance of the traction roller, determine the current coil diameter of the coil on the winding and unwinding roller.
The method according to claim 1, characterized in that step S1 comprises:

Applying a preset tension to the winding roll, the floating pendulum roll, and the coil on the traction roll so that the floating pendulum roll is in a balanced position;

Reading the current angle of the driving motor of the winding and unwinding roller to obtain the first position angle P1;

holding the web stationary at the pulling rollers and causing the take-up and unwind rollers to wind the web so that the floating pendulum rollers are in an offset position;

Reading the current angle of the driving motor of the winding and unwinding roller to obtain the second position angle P2;

Obtaining the swing angle when the floating pendulum roller is in the offset position relative to when it is in the equilibrium position;

Calculate the circumferential movement distance L f of the floating pendulum roller according to the swing angle; and

use the formula
The initial roll diameter R 0 is obtained.
The method according to claim 1, wherein the initial operating conditions include the traction linear velocity of the traction roller and the initial rotational speed of the driving motor of the winding roller, and step S2 comprises:

Setting a constant pulling line speed for the pulling rolls;

According to the initial volume diameter and the constant pulling line speed, the initial rotational speed of the driving motor of the winding and unwinding roller is set, so that the winding and unwinding linear speed of the coil at the winding and unwinding roller is substantially equal to The constant pulling line speed.
The method of claim 1, wherein the predetermined time period is between 1 ms and 5 ms.
The method according to claim 1, wherein step S5 comprises:

calculating the buffer distance L b of the floating pendulum roller according to the offset angle;

reading the data of the drive of the traction roller to obtain the advancing distance L p of the traction roller during the predetermined time period;

Reading the data of the driver of the winding and unwinding roller to obtain the current speed n w of the winding and winding roller;

The coil advancing distance L w of the winding and unwinding roller is obtained by the formula L w =L p +L b ; and

by formula
to obtain the current roll diameter R c of the take-up and take-up roll, where t is the predetermined time period.
The method according to claim 5, wherein calculating the cache distance L b comprises: by the formula
to calculate the buffer distance L b of the floating pendulum roller, where β represents the offset angle, and r p represents the swing radius of the floating pendulum roller.
A control method for a winding device, the winding device includes a winding roller for retracting and unwinding, a floating pendulum roller and a traction roller, the control method includes:

Roll diameter determination operation: determine the current roll diameter R c of the coil on the winding and unwinding roller according to the method according to any one of claims 1-6;

Target rotational speed calculation operation: based on the current coil diameter R c and the traction linear velocity V p of the traction roller, through the formula
To calculate the target speed n t of the driving motor of the winding and unwinding roller;

Speed adjustment operation: adjust the speed of the driving motor of the winding and unwinding roller to the target speed n t .
The control method according to claim 7, characterized in that, the control method comprises: repeating step S4 and step S5 in the operation of determining the winding diameter, the operation of calculating the target rotation speed and the operation of adjusting the rotation speed in sequence, Periodically adjust the rotational speed of the driving motor of the winding and unwinding roller.
The control method according to claim 8, wherein repeating said operation of calculating said target rotational speed and said operation of adjusting said rotational speed is realized by using a PID closed-loop adjustment.
A programmable logic controller used in winding equipment, the winding equipment includes take-up and unwinding rollers, floating pendulum rollers and traction rollers for transferring coils, the programmable logic controller is configured to execute Do the following:

S1: Obtain the initial coil diameter of the coil on the winding and unwinding roller;

S2: Determine the initial operating conditions of the winding device according to the initial winding diameter;

S3: Make the winding device start running under the initial running condition;

S4: Obtain the offset angle of the floating pendulum roller and the advancing distance of the traction roller within a predetermined period of time; and

S5: Based on the offset angle of the floating pendulum roller and the advancing distance of the traction roller, determine the current coil diameter of the coil on the winding and unwinding roller.
The programmable logic controller of claim 10, wherein operation S1 comprises:

Applying a preset tension to the winding roll, the floating pendulum roll, and the coil on the traction roll so that the floating pendulum roll is in a balanced position;

Reading the current angle of the driving motor of the winding and unwinding roller to obtain the first position angle P1;

holding the web stationary at the pulling rollers and causing the take-up and unwind rollers to wind the web so that the floating pendulum rollers are in an offset position;

Reading the current angle of the driving motor of the winding and unwinding roller to obtain the second position angle P2;

Obtaining the swing angle when the floating pendulum roller is in the offset position relative to when it is in the equilibrium position;

Calculate the circumferential movement distance L f of the floating pendulum roller according to the swing angle; and

use the formula
The initial roll diameter R 0 is obtained.
The programmable logic controller as claimed in claim 10, wherein the initial operating conditions include the traction linear speed of the traction roller and the initial rotational speed of the driving motor of the winding and unwinding roller, and the operation S2 comprises:

Setting a constant pulling line speed for the pulling rolls;

According to the initial volume diameter and the constant pulling line speed, the initial rotational speed of the driving motor of the winding and unwinding roller is set, so that the winding and unwinding linear speed of the coil at the winding and unwinding roller is substantially equal to The constant pulling line speed.
The programmable logic controller according to claim 10, wherein the predetermined time period is between 1 ms and 5 ms.
The programmable logic controller of claim 10, wherein operation S5 comprises:

calculating the buffer distance L b of the floating pendulum roller according to the offset angle;

reading the data of the drive of the traction roller to obtain the advancing distance L p of the traction roller during the predetermined time period;

Reading the data of the driver of the winding and unwinding roller to obtain the current speed n w of the winding and winding roller;

The coil advancing distance L w of the winding and unwinding roller is obtained by the formula L w =L p +L b ; and

by formula
to obtain the current roll diameter R c of the take-up and take-up roll, where t is the predetermined time period.
The programmable logic controller according to claim 14, wherein calculating the buffer distance L b comprises: by the formula
to calculate the buffer distance L b of the floating pendulum roller, where β represents the offset angle, and r p represents the swing radius of the floating pendulum roller.
The programmable logic controller according to any one of claims 10-15, wherein the programmable logic controller is further configured to perform the following operations:

S6: Based on the current coil diameter R c and the traction linear velocity V p of the traction roller, through the formula
To calculate the target speed n t of the driving motor of the winding and unwinding roller;

S7: Adjusting the rotational speed of the drive motor of the take-up and unwinding roller to the target rotational speed n t .
The programmable logic controller according to claim 16, characterized in that, the programmable logic controller is further configured to: repeat the above-mentioned operations S4-S7 in order to control the driving motor of the winding and unwinding roller The speed is adjusted periodically.
The programmable logic controller as claimed in claim 17, wherein repeating the above operations S6 and S7 is realized by using PID closed-loop adjustment.
A control device for a winding device, the control device comprising:

A coil diameter determination module configured to determine the current coil diameter R c of the coil on the winding and unwinding roller according to the method according to any one of claims 1-6;

The target rotational speed calculation module is configured to be based on the current roll diameter R c and the traction linear velocity V p of the traction roller, through the formula
To calculate the target speed n t of the driving motor of the winding and unwinding roller; and

The rotational speed adjustment module is configured to adjust the rotational speed of the driving motor of the take-up and unwinding roller to the target rotational speed n t .
The control device according to claim 19, characterized in that, the control device is configured to: repeatedly make the winding diameter determination module perform step S4 and step S5, and make the target speed calculation module calculate the target speed n t and make the rotation speed adjustment module adjust the rotation speed of the drive motor of the winding and unwinding roller to the target rotation speed n t , so as to periodically adjust the rotation speed of the driving motor of the winding and winding roller.
The control apparatus according to claim 19, wherein repeating said operation of calculating said target rotational speed and said operation of adjusting said rotational speed is realized by using a PID closed-loop adjustment.
A kind of winding equipment, described winding equipment comprises one of following:

A programmable logic controller as claimed in any one of claims 10-18; or

A control device as claimed in any one of claims 19-21.
A computer-readable storage medium, the computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 9 is implemented. The control method described in any one.