Winding and unwinding control method, winding and unwinding control apparatus, control device, and storage medium

Abstract

The present application discloses a winding and unwinding control method, a winding and unwinding control apparatus, a control device, and a storage medium. The method can be applied to a control device in a mechanical system, and the mechanical system further comprises a winding and unwinding motor. The method comprises: acquiring the real-time winding diameter of a winding and unwinding motor; on the basis of the real-time winding diameter and a preset expected linear velocity, determining a target angular velocity of the winding and unwinding motor; and on the basis of the target angular velocity, controlling the winding and unwinding motor to operate. By means of the solution of the present application, the linear velocity of winding and unwinding can be kept stable, so that synchronization of winding and unwinding is guaranteed, thereby reducing the situation of shutdown of a winding and unwinding machine.

Description

Winding and unwinding control method, winding and unwinding control device, control equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 4, 2023, with application number 202310975069.5 and invention name “Rewinding and Unwinding Control Method, Rewinding and Unwinding Control Device, Control Equipment and Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of control technology, and in particular relates to a winding and unwinding control method, a winding and unwinding control device, a control device, and a computer-readable storage medium. Background Art

[0003] During the rewinding and unwinding process, the rewinder's diameter constantly changes, typically decreasing during the unwinding process and increasing during the rewinding process. This change in rewinder diameter can affect the linear speed of the material being rewound, making it difficult to maintain a stable linear speed. Unstable linear speeds can reduce synchronization and potentially lead to unstable rewinding rhythms, which can cause the rewinding machine to shut down and compromise efficiency.

[0004] Application Contents

[0005] The present application provides a winding and unwinding control method, a winding and unwinding control device, a control device and a computer-readable storage medium, which can maintain a stable linear speed of the winding and unwinding, ensure the synchronization between the winding and unwinding, and thus reduce the occurrence of winding and unwinding machine shutdowns.

[0006] In a first aspect, the present application provides a reeling and unreeling control method, which is applied to a control device in a mechanical system, and the mechanical system also includes a reeling and unreeling motor; the reeling and unreeling control method includes:

[0007] Get the real-time coil diameter of the rewinding and unwinding motor;

[0008] Determine the target angular velocity of the rewinding and unwinding motor based on the real-time roll diameter and the preset desired linear speed;

[0009] The operation of the rewinding and unwinding motors is controlled based on the target angular velocity.

[0010] In a second aspect, the present application provides a reeling and unreeling control device, which is applied to a control device in a mechanical system, and the mechanical system also includes a reeling and unreeling motor; the reeling and unreeling control device includes:

[0011] An acquisition module is used to obtain the real-time coil diameter of the reel-up and reel-down motor;

[0012] A first determination module is used to determine the target angular velocity of the rewinding and unwinding motor according to the real-time coil diameter and the preset desired linear velocity;

[0013] The control module is used to control the operation of the rewinding and unwinding motor based on the target angular velocity.

[0014] In a third aspect, the present application provides a control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method according to the first aspect are implemented.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect are implemented.

[0016] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, it implements the steps of the method of the first aspect.

[0017] Compared to the prior art, the present invention offers the following advantages: The present invention allows the real-time reel diameter of the reel motor to be acquired during reeling and unreeling. Since variations in the reel diameter lead to instabilities in the reel linear velocity, the present invention uses this real-time reel diameter and a preset desired linear velocity to determine the reel motor's target angular velocity. This allows the reel motor to be controlled based on this target angular velocity, maintaining the reel linear velocity near the desired linear velocity. This allows for synchronization of reeling and unreeling, reduces downtime during reeling and unreeling operations, and improves reeling and unreeling efficiency.

[0018] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] FIG1 is a schematic diagram of an implementation flow of a reeling and unreeling control method provided in an embodiment of the present application;

[0021] FIG2 is a structural block diagram of a reeling and unreeling control device provided in an embodiment of the present application;

[0022] FIG3 is a schematic diagram of the structure of the control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0025] 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 cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0026] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0027] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0028] In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), unless otherwise clearly and specifically defined.

[0029] In industrial applications, winding and unwinding often occur at the start and end of production. Generally, the objects being wound and unwound are various sheets or threads of materials such as paper, metal, fiber, and plastic. Winding and unwinding typically involve both an unwinding motor and a rewinding motor. As you can imagine, as the unwinding and unwinding process continues, the material wound on the reel corresponding to the unwinding motor decreases, causing the reel diameter to decrease. Similarly, the material wound on the rewinding motor increases, causing the reel diameter to increase. Because changes in reel diameter affect the rewinding and unwinding linear speed, maintaining a stable linear speed is difficult. In the event of an unstable rewinding and unwinding linear speed, synchronization is compromised, potentially leading to unstable rewinding and unwinding rhythms. This can cause the rewinding and unwinding machine to shut down, requiring manual intervention to resume operation, impacting rewinding and unwinding efficiency.

[0030] Based on the above considerations, the embodiment of the present application proposes a winding and unwinding control method. After the winding and unwinding begins, the real-time coil diameter of the winding and unwinding motor can be first obtained, and the target angular velocity of the winding and unwinding motor can be determined in combination with the preset desired linear velocity. The operation of the winding and unwinding motor is then controlled based on the target angular velocity. During this process, the winding and unwinding motor is always stable (maintained near the desired linear velocity), and the synchronization between the winding and unwinding is greatly enhanced, reducing the occurrence of unstable winding and unwinding rhythm, thereby reducing the downtime of the winding and unwinding machine due to asynchrony. In order to illustrate the technical solution proposed in the embodiment of the present application, a specific embodiment will be described below.

[0031] The following describes a reeling and unwinding control method provided by an embodiment of the present application. The reeling and unwinding control method can be applied to a control device in a mechanical system. To facilitate understanding of the reeling and unwinding control method, the following briefly describes the mechanical system:

[0032] In addition to the control device, the mechanical system also includes a reel motor. Depending on the purpose of use, the reel motor can be subdivided into: a motor for unwinding the material, and a motor for rewinding the material base paper. In some examples, in application scenarios based on material coating and wrapping (such as the application scenario of battery pack blue film), in addition to the reel motor, the mechanical system also includes a motor for pulling and cutting the material.

[0033] Taking the application scenario of battery pack blue film as an example, the working process of the mechanical system can be briefly described as follows: the motor at one end unwinds the blue film tape, and the motor at the other end rewinds the base paper of the blue film tape. The motor between the two motors pulls the blue film on the blue film tape and tears it off as needed. The torn blue film can be attached to the battery to achieve the effect of battery pack blue film.

[0034] For ease of description, in the embodiment of the present application, the motor used for unwinding the material is referred to as the first motor, the motor used for pulling and cutting the material is referred to as the second motor, and the motor used for winding the base paper of the material is referred to as the third motor.

[0035] The control device in the mechanical system can be used to control the operation of each component in the mechanical system. The control device includes: a central controller. The central controller has an interactive function (including an interactive input function and an interactive output function), and the interactive function can be implemented through a touch screen; alternatively, the interactive function can also be implemented through a keyboard and / or mouse, as well as a screen. In the embodiments of the present application, the manufacturer and model of the central controller are not limited.

[0036] Considering that the control objects of the embodiments of this application are primarily motors, the control device may also include a frequency converter. There is a one-to-one correspondence between motors and frequency converters; that is, each motor may be equipped with a frequency converter. In some examples, the frequency converters equipped with each motor may be of the same model.

[0037] The central controller can establish a communication connection with each inverter using the RS-485 serial bus standard. This allows the central controller to exchange data with the inverter even when wiring is reduced, and obtain information on each variable of the inverter at any time. In other words, it can achieve control of each component in the mechanical system while streamlining the system.

[0038] Of course, in addition to the various components described above, the mechanical structure can also be provided with other components according to its needs. For example, it can also be provided with a tension adjustment mechanism or a rubber pressure roller, etc., which will not be described in detail here.

[0039] Based on the mechanical system described above, please refer to Figure 1 , the reeling and unreeling control method in the embodiment of the present application includes:

[0040] Step 101: Obtain the real-time winding diameter of the rewinding and unwinding motor.

[0041] Once the mechanical system is started and the reel motor begins operating, the control device can obtain the real-time reel diameter of the reel motor. Specifically, the real-time reel diameter of the reel motor refers to the real-time reel diameter of the reel roller associated with the reel motor and the material being wound around it. In some embodiments, this real-time reel diameter can be measured in real time using a high-precision sensor; in other embodiments, it can be calculated in real time using a recursive algorithm based on the initial reel diameter.

[0042] Step 102: Determine the target angular velocity of the rewinding and unwinding motor according to the real-time coil diameter and the preset desired linear velocity.

[0043] The manager of the mechanical system can set the desired linear speed when rewinding and unwinding in advance according to the needs, that is, the expected linear speed. Based on the interactive function of the control device, the control device can obtain the expected linear speed. According to mathematical knowledge, the angular velocity and linear speed have the following relationship: v = ωr, where v is the linear speed, ω is the angular speed, and r is the radius of the circular motion. Therefore, in the embodiment of the present application, the real-time radius of the circular motion can be obtained according to the real-time coil diameter, and the real-time radius and the expected linear speed are substituted into the formula v = ωr to calculate the angular velocity corresponding to the real-time radius and the expected linear speed, that is, the target angular velocity.

[0044] Step 103: Control the operation of the rewinding and unwinding motor based on the target angular velocity.

[0045] After obtaining the target angular velocity, the control device can control the operation of the rewinding and unwinding motor based on the target angular velocity, that is, use the target angular velocity as the control parameter of the rewinding and unwinding motor. Specifically, for the first motor and the third motor, the corresponding control of the two can be achieved through their respective target angular velocities; that is, the operation of the first motor is controlled based on the target angular velocity of the first motor, and the operation of the third motor is controlled based on the third target angular velocity. It can be understood that under ideal conditions, when the rewinding and unwinding motors are operated based on their respective target angular velocities, the outermost linear velocity of the material wound on the reel corresponding to the rewinding and unwinding motor can be the desired linear velocity; of course, subject to external factors such as resistance in actual application scenarios, the outermost linear velocity of the material wound on the reel corresponding to the rewinding and unwinding motor may fluctuate, but it will still remain near the desired linear velocity. In this way, the rewinding and unwinding motor can maintain a relatively stable linear velocity, achieving synchronization of the rewinding and unwinding motors.

[0046] As described above, during the unwinding process of the first motor, the roll diameter will continue to decrease; during the rewinding process of the third motor, the roll diameter will continue to increase. Based on this, the control device can obtain the real-time roll diameters of the first motor and the third motor respectively through the following calculation process:

[0047] For the first motor, the process of obtaining the real-time winding diameter is as follows:

[0048] A1. Count the number of unwound turns of the current first motor.

[0049] Each time the first motor rotates one circle, the corresponding winding roller unwinds one circle. Based on this, the control device can obtain the number of revolutions of the first motor in real time after the first motor starts running; based on this number of revolutions, the number of unwinds currently unwound by the first motor can be calculated.

[0050] A2. Calculate the real-time winding diameter of the first motor according to the initial winding diameter of the first motor, the number of unwinding turns, and the preset unwinding single layer thickness.

[0051] Considering that the mechanical system on the production line usually reels and unwinds the same type of material over a period of time, the mechanical system can first measure the single-layer thickness corresponding to the material when it is unwound through sensors or other measuring tools. For ease of distinction, the single-layer thickness can be recorded as the unwinding single-layer thickness. In addition, after the material is rolled up and before the first motor starts running, the sensor or other measuring tool can first measure the initial roll diameter of the first motor, that is, the initial roll diameter of the roller corresponding to the unwinding motor and the material wound around it. It can be understood that the initial roll diameter and the unwinding single-layer thickness can be transmitted to the control device by sensors or other measuring tools; or, they can be manually input into the control device by the manager of the mechanical system.

[0052] Each time the roller corresponding to the first motor unwinds a circle, its roll diameter will decrease by the thickness of two layers of material. Based on this, after the control device has obtained the number of unwinding circles of the current first motor, combined with its initial roll diameter and the preset unwinding single layer thickness, it can calculate the real-time roll diameter of the first motor, specifically: D t =D0-2n*d1. Where, D t is the real-time winding diameter of the first motor, D0 is the initial winding diameter of the first motor, n is the number of unwound turns, and d1 is the thickness of a single unwound layer.

[0053] This process can be understood as: each time the roller corresponding to the first motor unwinds a circle, it can t =r t-1 -d1 This formula updates the real-time radius of the first motor, where r t-1 The current radius of the roller corresponding to the first winding motor and the material wound around it, r t is the radius of the roller corresponding to the first motor and the material wound around it before unwinding one circle, and d1 is the thickness of a single layer of unwinding.

[0054] For the third motor, the process of obtaining the real-time winding diameter is as follows:

[0055] B1. Calculate the thickness of the rolled single layer.

[0056] When rewinding, the backing paper of the material is collected; that is, the thickness of the single layer during rewinding is different from the thickness during unwinding, and generally speaking, the thickness of the single layer during rewinding is thinner. Based on this, the control device can calculate the thickness of the single layer during rewinding. For ease of description, the thickness of the single layer during rewinding is referred to as the rewinding single layer thickness.

[0057] In some embodiments, the control device may first obtain the winding diameter of the third motor when it has been wound N times, and then calculate the winding single layer thickness based on the initial winding diameter of the third motor and the winding diameter of the third motor when it has been wound N times.

[0058] Among them, as for the initial winding diameter of the third motor, the method for obtaining it is the same as the method for obtaining the initial winding diameter of the first motor, which will not be described in detail here.

[0059] Regarding the diameter of the roll when the third motor has rewound N turns, the control device may trigger a sensor or other measuring tool to perform another measurement after the third motor has rewound N turns. In some examples, N may be a positive integer less than a preset threshold, which may be a small value such as 10, and is not limited here.

[0060] It can be understood that the roller corresponding to the third motor initially has no material backing paper wound around it, so the material backing paper will not be wound around the roller until the third motor has rewound it for at least one turn (i.e., the roller begins to rotate). Furthermore, because the material backing paper is relatively thin, even if the third motor's real-time reel diameter is used as the third motor's initial reel diameter when the material backing paper initially begins to wrap around the roller, it will not have much impact. For these reasons, before the third motor rewinds N turns, the control device can approximately treat the third motor's real-time reel diameter as its initial reel diameter. When the third motor rewinds N turns, the control device can calculate the thickness of the rewound single layer based on the value of N, the measured reel diameter after N turns, and the initial reel diameter, and thus begin calculating the third motor's real-time reel diameter.

[0061] B2. Count the number of winding turns of the third motor.

[0062] Similar to the first motor, each rotation of the third motor corresponds to one reel rewind. Based on this, the control device can obtain the number of revolutions of the third motor in real time after the third motor starts running. This number of revolutions can be used to calculate the number of reel rewinds currently completed by the third motor.

[0063] B3. Calculate the real-time coil diameter of the third motor based on the initial coil diameter of the third motor, the number of coils wound, and the thickness of the coiled single layer.

[0064] Each time the roller corresponding to the third motor rewinds a circle, its roll diameter will increase by the thickness of two layers of material. Based on this, after the control device has obtained the number of circles currently rewound by the third motor, combined with its initial roll diameter and the thickness of the rewound single layer, it can calculate the real-time roll diameter of the third motor, specifically: D' t =D'0+2m*d2. Where, D' t is the real-time winding diameter of the third motor, D'0 is the initial winding diameter of the third motor, m is the number of winding turns, and d2 is the thickness of a single winding layer.

[0065] This process can be understood as: each time the roller corresponding to the third motor rewinds a circle, it can be based on r' t =r' t-1+d2 This formula updates the real-time radius of the third motor, where r' t-1 is the current radius of the roller corresponding to the third motor and the material wound thereon, r' t is the radius of the roller corresponding to the third motor and the material wound around it before this winding, and d2 is the thickness of a single layer of winding.

[0066] In some embodiments, the control device also needs to consider the tension of the material when controlling the operation of the motor. Taking the material as a blue film tape as an example, excessive tension will cause the blue film to break, while too little tension will cause the blue film to wrinkle. Based on this, in order to ensure that the tension of the material can be maintained stable during the winding and unwinding process, the winding and unwinding control method may also include:

[0067] The target torque of the first motor is determined according to the real-time winding diameter of the first motor, the preset desired tension, and the transmission ratio of the mechanical structure between the first motor and the second motor.

[0068] The user can set the desired tension for the material based on its characteristics, also known as the desired tension. Similar to the desired line speed, the control device can obtain the desired tension based on the interactive function of the control device.

[0069] In addition, since the components in a mechanical system are typically fixed, the control device can also pre-acquire attribute parameters of the components in the mechanical system, such as the transmission ratio of the mechanical structure between the first motor and the second motor. It will be appreciated that this transmission ratio can be determined based on the specific selection of the mechanical structure between the first motor and the second motor.

[0070] The control device can obtain the real-time radius of the first motor based on the real-time winding diameter of the first motor; after multiplying the real-time radius by the preset desired tension and then dividing it by the transmission ratio, the torque required to be output by the first motor can be obtained, which is the target torque. This calculation process can be expressed by the following formula: T = r t *N / i. Among them, r t is the real-time radius of the first motor, N is the desired tension, i is the transmission ratio, and T is the target torque.

[0071] The control device can thus indirectly control material tension based on the target torque. This control method is suitable for controlling high tension at relatively low speeds, and the winding and unwinding of blue-film tape is a typical application. In other words, combined with the aforementioned requirement for linear speed stability, the control device can ultimately control the operation of the first motor based on its target angular velocity and target torque.

[0072] In some embodiments, to prevent wrinkling of the base material, the linear speed of the third motor during rewinding can be slightly greater than the linear speed of the first motor during unwinding. This prevents disruption to the rewinding and unwinding rhythm and ensures that the base material remains stretched and straightened. Based on this, the control device can calculate the target angular velocity of the third motor and then slightly adjust it, so that the adjusted target angular velocity is slightly greater than the unadjusted target angular velocity. The control device then controls the operation of the third motor based on the adjusted target angular velocity.

[0073] In some embodiments, as described above, due to external factors such as resistance in actual application scenarios, the outermost linear speed of the material wound on the reel corresponding to the reel motor may fluctuate around the desired linear speed. In order to ensure that the reeling linear speed of the third motor and the unwinding linear speed of the first motor can still remain synchronized when the linear speed fluctuates, the control device can also determine the actual linear speed of the material unwinding in real time during the reeling and unwinding process, that is, the actual linear speed of the first motor (the outermost linear speed of the material wound on the reel corresponding to the first motor). Based on this actual linear speed, the control device can calibrate the target angular velocity of the third motor. For example, when the actual linear speed is greater than the desired linear speed, the target angular velocity of the third motor can be increased accordingly to achieve calibration; when the actual linear speed is less than the desired linear speed, the target angular velocity of the third motor can be reduced accordingly to achieve calibration. In this way, the first motor and the third motor can achieve linear speed synchronization based on the actual linear speed of the material unwinding.

[0074] Preliminary testing of the rewinding and unwinding control method proposed in this application's embodiments yielded the following conclusions: The mechanical system's rewinding and unwinding cycle can reach a stable 40 PPM. Furthermore, the system's tension control remains stable, with fluctuations of less than 5% in steady state and less than 15% in dynamic conditions such as rapid acceleration and deceleration. Furthermore, by utilizing a common bus, the efficiency of each component in the mechanical system can reach 90-95%, resulting in energy savings of approximately 40%.

[0075] As can be seen from the above, in the embodiments of the present application, the real-time reel diameter of the reel motor is first acquired during reeling and unreeling. Since variations in the reel diameter lead to instabilities in the reel linear velocity, the target angular velocity of the reel motor is determined using this real-time reel diameter and a preset desired linear velocity. This allows the reel motor to be controlled based on this target angular velocity, maintaining the reel linear velocity near the desired linear velocity. This allows synchronization of the reel and unreel, reduces downtime during the reeling and unreeling operation, and improves reeling and unreeling efficiency.

[0076] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0077] Corresponding to the reeling and unwinding control method provided above, an embodiment of the present application further provides a reeling and unwinding control device. The reeling and unwinding control device is integrated into a control device of a mechanical system, and the mechanical system also includes a reeling and unwinding motor, which has been described in detail above and will not be repeated here. Referring to FIG. 2 , the reeling and unwinding control device 2 in the embodiment of the present application includes:

[0078] An acquisition module 201 is used to acquire the real-time winding diameter of the rewinding and unwinding motor;

[0079] The first determination module 202 is used to determine the target angular velocity of the rewinding and unwinding motor according to the real-time coil diameter and the preset desired linear velocity;

[0080] The control module 203 is used to control the operation of the rewinding and unwinding motor based on the target angular velocity.

[0081] In some embodiments, the rewinding and unwinding motor includes: a first motor for unwinding the material; an acquisition module 201 including:

[0082] A first statistical unit is used to count the number of unwound turns of the current first motor;

[0083] The first calculation unit is used to calculate the real-time winding diameter of the first motor according to the initial winding diameter of the first motor, the number of unwound turns and the preset unwound single layer thickness.

[0084] In some embodiments, the mechanical system further includes: a second motor for pulling and cutting the material; the rewinding and unwinding control device 2 further includes:

[0085] a second determining module, configured to determine a target torque of the first motor according to a real-time winding diameter of the first motor, a preset desired tension, and a transmission ratio of a mechanical structure between the first motor and the second motor;

[0086] Accordingly, the control module 203 includes:

[0087] The first control unit is configured to control the operation of the first motor based on a target angular velocity and a target torque of the first motor.

[0088] In some embodiments, the rewinding and unwinding motor includes: a third motor for rewinding the base paper of the material; the acquisition module 201 includes:

[0089] The second calculation unit is used to calculate the thickness of a single layer of winding;

[0090] The second statistical unit is used to count the number of winding turns of the third motor;

[0091] The third calculation unit is used to calculate the real-time winding diameter of the third motor according to the initial winding diameter of the third motor, the number of winding turns and the thickness of the winding single layer.

[0092] In some embodiments, the second computing unit includes:

[0093] An acquisition subunit, used for acquiring the diameter of the coil when the third motor has wound N turns;

[0094] The calculation subunit is used to calculate the thickness of a single layer of winding according to the initial winding diameter of the third motor and the winding diameter of the third motor after winding N turns.

[0095] In some embodiments, the control module 203 includes:

[0096] an adjusting unit, configured to adjust the target angular velocity, wherein the adjusted target angular velocity is greater than the target angular velocity before the adjustment;

[0097] The second control unit is configured to control the operation of the third motor based on the adjusted target angular velocity of the third motor.

[0098] In some embodiments, the rewinding and unrewinding control device 2 further includes:

[0099] The third determination module is used to determine the actual linear speed of the material unwinding;

[0100] The calibration module is used to calibrate the target angular velocity of the third motor according to the actual linear velocity.

[0101] As can be seen from the above, in the embodiments of the present application, the real-time reel diameter of the reel motor is first acquired during reeling and unreeling. Since variations in the reel diameter lead to instabilities in the reel linear velocity, the target angular velocity of the reel motor is determined using this real-time reel diameter and a preset desired linear velocity. This allows the reel motor to be controlled based on this target angular velocity, maintaining the reel linear velocity near the desired linear velocity. This allows synchronization of the reel and unreel, reduces downtime during the reeling and unreeling operation, and improves reeling and unreeling efficiency.

[0102] Corresponding to the reeling and unreeling control method provided above, an embodiment of the present application further provides a control device. Referring to FIG3 , the control device 3 in the embodiment of the present application includes: a memory 301, one or more processors 302 (only one is shown in FIG3 ) and a computer program stored in the memory 301 and executable on the processor. Among them: the memory 301 is used to store software programs and modules, and the processor 302 executes various functional applications and data processing by running the software programs and units stored in the memory 301 to obtain the resources corresponding to the above-mentioned preset events. Specifically, the processor 302 implements the following steps when running the above-mentioned computer program stored in the memory 301:

[0103] Get the real-time coil diameter of the rewinding and unwinding motor;

[0104] Determine the target angular velocity of the rewinding and unwinding motor based on the real-time roll diameter and the preset desired linear speed;

[0105] The operation of the rewinding and unwinding motors is controlled based on the target angular velocity.

[0106] Assuming that the above is the first possible implementation, in a second possible implementation provided based on the first possible implementation, the rewinding and unwinding motor includes: a first motor for unwinding the material; obtaining the real-time reel diameter of the rewinding and unwinding motor includes:

[0107] Count the number of unwound turns of the current first motor;

[0108] The real-time winding diameter of the first motor is calculated according to the initial winding diameter of the first motor, the number of unwinding turns and the preset unwinding single layer thickness.

[0109] In a third possible implementation provided based on the second possible implementation, the mechanical system further includes: a second motor for pulling and cutting the material; and the reeling and unreeling control method further includes:

[0110] Determine the target torque of the first motor according to the real-time winding diameter of the first motor, the preset desired tension, and the transmission ratio of the mechanical structure between the first motor and the second motor;

[0111] Accordingly, the operation of the rewinding and unwinding motor is controlled based on the target angular velocity, including:

[0112] The operation of the first motor is controlled based on the target angular velocity and target torque of the first motor.

[0113] In a fourth possible implementation provided based on the first possible implementation, the reeling and unreeling motor includes: a third motor for reeling the base paper of the material; and obtaining the real-time reel diameter of the reeling and unreeling motor includes:

[0114] Calculate the thickness of a single layer of winding;

[0115] Count the number of winding turns of the third motor currently;

[0116] The real-time winding diameter of the third motor is calculated according to the initial winding diameter of the third motor, the number of winding turns and the thickness of the winding single layer.

[0117] In a fifth possible implementation provided on the basis of the fourth possible implementation, calculating the thickness of a single layer of the rolled product includes:

[0118] Obtain the winding diameter of the third motor after winding N turns;

[0119] The thickness of a single layer of winding is calculated based on the initial winding diameter of the third motor and the winding diameter of the third motor after winding N turns.

[0120] In a sixth possible implementation provided on the basis of the fourth possible implementation, controlling the operation of the rewinding and unwinding motor based on the target angular velocity includes:

[0121] The target angular velocity is adjusted, wherein the adjusted target angular velocity is greater than the target angular velocity before the adjustment;

[0122] The third motor is controlled to operate based on the adjusted target angular velocity of the third motor.

[0123] In a seventh possible implementation provided based on the fourth possible implementation, the fifth possible implementation, or the sixth possible implementation, after controlling the operation of the reeling and unreeling motor based on the target angular velocity, the processor 302 implements the following steps by executing the computer program stored in the memory 301:

[0124] Determine the actual linear speed of material unwinding;

[0125] According to the actual linear velocity, the target angular velocity of the third motor is calibrated.

[0126] It should be understood that in the embodiment of the present application, the processor 302 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0127] The memory 301 may include a read-only memory and a random access memory, and provides instructions and data to the processor 302. A portion or all of the memory 301 may also include a non-volatile random access memory. For example, the memory 301 may also store device type information.

[0128] As can be seen from the above, in the embodiments of the present application, the real-time reel diameter of the reel motor is first acquired during reeling and unreeling. Since variations in the reel diameter lead to instabilities in the reel linear velocity, the target angular velocity of the reel motor is determined using this real-time reel diameter and a preset desired linear velocity. This allows the reel motor to be controlled based on this target angular velocity, maintaining the reel linear velocity near the desired linear velocity. This allows synchronization of the reel and unreel, reduces downtime during the reeling and unreeling operation, and improves reeling and unreeling efficiency.

[0129] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0130] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0131] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of external device software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0132] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0133] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0134] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the associated hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The above-mentioned computer-readable storage medium may include: any entity or device that can carry the above-mentioned computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer-readable memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable storage media does not include electrical carrier signals and telecommunication signals.

[0135] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A reeling and unreeling control method, characterized in that: The reeling and unwinding control method is applied to a control device in a mechanical system, wherein the mechanical system further comprises a reeling and unwinding motor; the reeling and unwinding control method comprises: Obtaining the real-time winding diameter of the rewinding and unwinding motor; Determining the target angular velocity of the rewinding and unwinding motor according to the real-time reel diameter and the preset desired linear velocity; The operation of the rewinding and unwinding motor is controlled based on the target angular velocity.

2. The rewinding and unwinding control method according to claim 1, characterized in that: The reeling and unwinding motor comprises: a first motor for unwinding a material; and obtaining the real-time reel diameter of the reeling and unwinding motor comprises: Counting the number of unwinding turns of the first motor at present; The real-time winding diameter of the first motor is calculated according to the initial winding diameter of the first motor, the number of unwinding turns and the preset unwinding single layer thickness.

3. The rewinding and unwinding control method according to claim 2, characterized in that: The mechanical system further includes: a second motor for material pulling and cutting; the reeling and unreeling control method further includes: Determine the target torque of the first motor according to the real-time winding diameter of the first motor, the preset desired tension and the transmission ratio of the mechanical structure between the first motor and the second motor; Accordingly, controlling the operation of the retracting and unreeling motor based on the target angular velocity includes: The first motor is controlled to operate based on the target angular velocity and the target torque of the first motor.

4. The rewinding and unwinding control method according to claim 1, characterized in that: The reeling and unwinding motor includes: a third motor for rewinding the base paper of the material; the obtaining of the real-time reel diameter of the reeling and unwinding motor includes: Calculate the thickness of the single layer of the roll; Counting the number of winding turns of the third motor currently; The real-time winding diameter of the third motor is calculated according to the initial winding diameter of the third motor, the number of winding turns and the winding single layer thickness.

5. The rewinding and unwinding control method according to claim 4, characterized in that: The calculation of the single-layer thickness of the coiled product includes: Obtaining a winding diameter of the third motor when the winding has been wound N turns; The winding single layer thickness is calculated according to the initial winding diameter of the third motor and the winding diameter of the third motor after winding N turns.

6. The rewinding and unwinding control method according to claim 4, characterized in that: The step of controlling the operation of the rewinding and unwinding motor based on the target angular velocity includes: Adjusting the target angular velocity of the third motor, wherein the adjusted target angular velocity is greater than the target angular velocity before the adjustment; The third motor is controlled to operate based on the adjusted target angular velocity of the third motor.

7. The rewinding and unwinding control method according to any one of claims 4 to 6, characterized in that: After controlling the operation of the rewinding and unwinding motor based on the target angular velocity, the control method further includes: Determine the actual linear speed of material unwinding; The target angular velocity of the third motor is calibrated according to the actual linear velocity.

8. A reeling and unreeling control device, characterized in that: The reeling and unwinding control device is applied to a control device in a mechanical system, and the mechanical system also includes a reeling and unwinding motor; the reeling and unwinding control device includes: An acquisition module, used for acquiring the real-time winding diameter of the rewinding and unwinding motor; A first determination module, used to determine the target angular velocity of the rewinding and unwinding motor according to the real-time reel diameter and a preset desired linear velocity; A control module is used to control the operation of the rewinding and unwinding motor based on the target angular velocity.

9. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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