Winding machine full electronic cam trajectory planning method, device and related equipment

Abstract

The present application relates to a method, device, electronic device and storage medium for planning a fully electronic cam trajectory of a winding machine, the method comprising: determining the target acceleration of each winding stage based on the material length of the coil and the winding time required for each winding stage; determining the speed trajectory planning curve for the entire winding process based on the target acceleration and the required winding time for each winding stage; determining the full position operation trajectory during the winding process based on the speed trajectory planning curve for the entire winding process; discretizing the full position operation trajectory to obtain a time electronic cam for characterizing the relationship between the time axis and the encoder axis movement. Based on this, the solution of the present application only needs to input the material length and the production time required for winding in each winding stage to achieve the desired production efficiency, greatly improving the intelligence and ease of operation of the equipment, while reducing the fluctuations in speed and tension, eliminating the problem of diaphragm misalignment, and making the winding process smoother.

Description

Technical Field

[0001] The present application relates to the field of lithium battery technology, and in particular to a method, device and related equipment for planning a fully electronic cam trajectory of a winding machine. Background Art

[0002] With the continuous development and progress of lithium battery winding machine technology, the requirements for the quality and efficiency of battery cells are getting higher and higher. This requires improving the efficiency of the winding machine while ensuring the smoothness of the winding process, that is, the speed fluctuation and tension fluctuation should be small, the equipment should be highly intelligent, and the operation should be more convenient.

[0003] However, the disadvantage of existing winding equipment is that the speed-up or efficiency adjustment process of the equipment is complicated. For example, to achieve a certain PPM (output per minute) requirement, it is necessary to adjust parameters such as speed, acceleration, and jerk, and then see whether the requirements are met. If not, further adjustments are required, which is time-consuming and cumbersome.

[0004] Furthermore, during high-speed operation, tension and speed fluctuate significantly, affecting operational stability and cell quality. During station transitions in the reversing section, high-speed reversing can lead to drastic changes in rewinding speed, placing extremely high demands on the tracking quality of rewinding and unwinding, which can easily cause diaphragm misalignment. Summary of the Invention

[0005] This application provides a fully electronic cam trajectory planning method, device, electronic device, and storage medium for a winding machine to address the technical issues of large speed and tension fluctuations and diaphragm misalignment during high-speed winding of lithium batteries. The technical solution of this application is as follows:

[0006] According to the first aspect of an embodiment of the present application, a full-electronic cam trajectory planning method for a winding machine is provided, the method comprising: determining a target acceleration for each winding stage based on the material length of the coil and the winding time required for each winding stage, wherein the winding stage comprises an acceleration section, a uniform speed section, and a deceleration section; determining a speed trajectory planning curve for the entire winding process based on the target acceleration and the required winding time for each winding stage; determining a full-position operation trajectory during the winding process based on the speed trajectory planning curve for the entire winding process; and discretizing the full-position operation trajectory to obtain a time electronic cam for characterizing the motion relationship between the time axis and the encoder axis.

[0007] Furthermore, determining the speed trajectory planning curve for the entire winding process based on the target acceleration and the required winding time of each winding stage includes: determining the speed running trajectory of each winding stage based on the target acceleration and the required winding time of each winding stage; and synthesizing the speed running trajectory of each winding stage based on the end time of each winding stage and the start time of the next winding stage to obtain the speed trajectory planning curve for the entire winding process.

[0008] Furthermore, the determining of the speed trajectory of each winding stage based on the target jerk and the required winding time of each winding stage includes: based on the required winding time of each winding stage, performing a time integration of the target jerk of each winding stage for the corresponding winding stage to obtain the acceleration trajectory of the corresponding winding stage; based on the required winding time of each winding stage, performing a time integration of the acceleration trajectory of each winding stage for the corresponding winding stage to obtain the speed trajectory of the corresponding winding stage.

[0009] Furthermore, the speed trajectory of each winding stage is synthesized based on the end time of each winding stage and the start time of the next winding stage to obtain the speed trajectory planning curve for the entire winding process, including: based on the end time of each winding stage and the start time of the next winding stage, the speed trajectory of the acceleration section, the uniform speed section and the deceleration section are synthesized to obtain the speed trajectory planning curve for the entire winding process, wherein the speed of the uniform speed section is equal to the end speed value of the acceleration section.

[0010] Furthermore, determining the overall position trajectory during the winding process based on the speed trajectory planning curve of the entire winding process includes: integrating the speed trajectory planning curve with the total winding time based on the winding time required for all winding stages to obtain the overall position trajectory during the winding process.

[0011] According to the second aspect of the embodiment of the present application, a full-electronic cam trajectory planning device for a winding machine is provided, the device comprising: a target jerk determination module for determining the target jerk of each winding stage based on the material length of the coil and the winding time required for each winding stage, wherein the winding stage comprises an acceleration section, a uniform speed section and a deceleration section; a speed trajectory planning curve determination module for determining the speed trajectory planning curve for the entire winding process based on the target jerk and the required winding time for each winding stage; a full-position operation trajectory determination module for determining the full-position operation trajectory during the winding process according to the speed trajectory planning curve for the entire winding process; a time electronic cam determination module for discretizing the full-position operation trajectory to obtain a time electronic cam for characterizing the motion relationship between the time axis and the encoder axis.

[0012] Furthermore, the speed trajectory planning curve determination module includes: a speed operation trajectory determination submodule, which is used to determine the speed operation trajectory of each winding stage based on the target acceleration and the required winding time of each winding stage; and a trajectory synthesis submodule, which is used to synthesize the speed operation trajectory of each winding stage based on the end time of each winding stage and the start time of the next winding stage to obtain the speed trajectory planning curve of the entire winding process.

[0013] Furthermore, the speed trajectory determination submodule includes: an acceleration trajectory determination unit, which is used to perform a time integration of the target acceleration of each winding stage based on the winding time required for each winding stage, and obtain the acceleration trajectory of the corresponding winding stage; a speed trajectory determination unit, which is used to perform a time integration of the acceleration trajectory of each winding stage based on the winding time required for each winding stage, and obtain the speed trajectory of the corresponding winding stage.

[0014] According to the third aspect of the embodiments of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the winding machine full electronic cam trajectory planning method described in any one of the first aspects of the embodiments of the present application.

[0015] According to the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, characterized in that when the instructions in the storage medium are executed by the processor of an electronic device, the electronic device is enabled to execute the winding machine full electronic cam trajectory planning method described in any one of the first aspects of the embodiments of the present application.

[0016] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0017] In an embodiment of the present application, a full electronic cam trajectory planning method for a winding machine is provided, the method comprising: determining the target acceleration of each winding stage based on the material length of the coil and the winding time required for each winding stage, wherein the winding stage includes an acceleration section, a uniform speed section, and a deceleration section; determining the speed trajectory planning curve for the entire winding process based on the target acceleration and the required winding time of each winding stage; determining the full position operation trajectory during the winding process based on the speed trajectory planning curve for the entire winding process; discretizing the full position operation trajectory to obtain a time electronic cam for characterizing the relationship between the time axis and the encoder axis motion. Through the embodiment of the present application, only the material length and the production time required for winding in each winding stage need to be input to automatically complete the full planning, thereby achieving the desired production efficiency, greatly improving the intelligence and operational convenience of the equipment, while reducing the fluctuations in speed and tension, eliminating the problem of diaphragm misalignment, and making the winding process smoother.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0020] Figure 1 This is a flow chart of a method for planning a full electronic cam trajectory for a winding machine provided in an embodiment of the present application;

[0021] Figure 2 This is a schematic flow chart of determining a speed trajectory planning curve for the entire winding process in a full electronic cam trajectory planning method for a winding machine provided in an embodiment of the present application;

[0022] Figure 3 This is a flow chart of determining the speed trajectory of each winding stage in a full electronic cam trajectory planning method for a winding machine provided in an embodiment of the present application;

[0023] Figure 4 Schematic diagram for representing the relationship among the time axis, encoder axis, and winding needle rotation angle, provided in an embodiment of the present application;

[0024] Figure 5 Schematic diagram of the structure of a winding machine with three-station winding needles provided in an embodiment of the present application;

[0025] Figure 6 This is a structural diagram of a fully electronic cam trajectory planning device for a winding machine provided in an embodiment of the present application;

[0026] Figure 7 It is a block diagram of an electronic device that executes the full electronic cam trajectory planning method for a winding machine provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable ordinary people in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0028] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0029] The present application provides a method for planning a fully electronic cam trajectory of a winding machine, the method comprising:

[0030] S101: Determine a target jerk for each winding stage based on the length of the coil and the winding time required for each winding stage, wherein the winding stage includes an acceleration stage, a constant speed stage, and a deceleration stage;

[0031] In the embodiment of the present application, the winding stage may include an acceleration section, a constant speed section, and a deceleration section, and the time required for each winding stage is the production time required for the product to be wound in each winding stage.

[0032] In the embodiments of the present application, the target speed, target acceleration, and target jerk for each winding stage can be calculated based on the length of the coil and the winding time required for each winding stage. Specifically, based on the length of the coil and the winding time required for each winding stage, the target speed, target acceleration, and target jerk for each winding stage can be derived from an empirical table or calculated using an existing intelligent recommendation algorithm. Since this is not the core of the present application, this application does not provide a detailed description of this.

[0033] S103: Determine a speed trajectory planning curve for the entire winding process based on the target jerk and the required winding time in each winding stage;

[0034] In the embodiment of the present application, the speed trajectory planning curve includes the speed running trajectory of each winding stage.

[0035] In the embodiment of the present application, determining the velocity trajectory planning curve for the entire winding process based on the target jerk and the required winding time in each winding stage (i.e., step S103) may include:

[0036] S201: Determine a speed trajectory for each winding stage based on the target jerk and the required winding time for each winding stage;

[0037] In an embodiment of the present application, the target acceleration of each winding stage may be integrated twice based on the start time and end time of the winding time required for each winding stage to determine the speed trajectory of each winding stage.

[0038] In the embodiment of the present application, determining the speed trajectory of each winding stage based on the target jerk and the required winding time of each winding stage (i.e., step S201) may include:

[0039] S301: Based on the winding time required for each winding stage, the target jerk of each winding stage is time-integrated over the corresponding winding stage to obtain an acceleration running trajectory of the corresponding winding stage;

[0040] Specifically, the formula is derived as follows:

[0041]

[0042] Where Acc(t) is the calculation formula for the acceleration of each winding stage, Jerk is the target jerk of each winding stage, and t start is the start time of each winding stage, t end The end time of each winding phase.

[0043] S303: Based on the winding time required for each winding stage, the acceleration running trajectory of each winding stage is time-integrated for the corresponding winding stage to obtain the speed running trajectory of the corresponding winding stage.

[0044] Specifically, the formula is derived as follows:

[0045]

[0046] Where Acc(t) is the acceleration of each winding stage, V(t) is the calculation formula of the speed of each winding stage, Jerk is the target jerk of each winding stage, t start is the start time of each winding stage, t end The end time of each winding phase.

[0047] S203: Based on the end time of each winding stage and the start time of the next winding stage, the speed running trajectory of each winding stage is synthesized to obtain a speed trajectory planning curve for the entire winding process.

[0048] In the embodiment of the present application, the speed trajectory of each winding stage can be synthesized according to the start time and end time of each winding stage to obtain a speed trajectory planning curve for the entire winding process.

[0049] For example, the end time of the first winding stage is the start time of the second winding stage. Therefore, the speed running trajectory of the first winding stage and the speed running trajectory of the second winding stage can be synthesized according to the end time of the first winding stage and the start time of the second winding stage to obtain a speed trajectory planning curve including the speed running trajectory of the first winding stage and the speed running trajectory of the second winding stage.

[0050] In the embodiment of the present application, synthesizing the speed trajectory of each winding stage based on the end time of each winding stage and the start time of the next winding stage to obtain the speed trajectory planning curve for the entire winding process (i.e., step S203) may include:

[0051] Based on the end time of each winding stage and the start time of the next winding stage, the speed running trajectories of the acceleration section, the uniform speed section and the deceleration section are synthesized to obtain a speed trajectory planning curve for the entire winding process, wherein the speed of the uniform speed section is equal to the end speed value of the acceleration section. In this embodiment of the application, if three winding stages are included, namely, the acceleration section, the uniform speed section and the deceleration section, then a speed trajectory planning curve including the acceleration section, the uniform speed section and the deceleration section can be obtained.

[0052] Among them, for the uniform speed segment, the Jerk value and acceleration are both 0. According to the characteristics of velocity continuity, the speed of the uniform speed segment is the end speed value of the previous segment, that is, the speed of the uniform speed segment V(s)=V(t end ).

[0053] By synthesizing the speed running trajectories of the three winding stages, namely the acceleration stage, the uniform speed stage and the deceleration stage, the speed trajectory planning curve including the three winding stages, namely the acceleration stage, the uniform speed stage and the deceleration stage, can be obtained.

[0054] S105: Determine the full position trajectory during the winding process based on the speed trajectory planning curve of the entire winding process;

[0055] In the embodiment of the present application, determining the full position trajectory during the winding process (i.e., step S105) based on the speed trajectory planning curve of the full winding process may include:

[0056] Based on the winding time required for all winding stages, the speed trajectory planning curve is integrated with the total winding time to obtain the full position operation trajectory during the winding process.

[0057] Specifically, the formula is derived as follows:

[0058]

[0059] Among them, S(t) is the calculated full position trajectory, V total (t) is the velocity trajectory planning curve, t total is the total winding time required for all winding stages.

[0060] S107: Discretize the entire position running trajectory to obtain a time electronic cam for representing the motion relationship between the time axis and the encoder axis.

[0061] In an embodiment of the present application, the full-position running trajectory is discretized, that is, the continuous full-position running trajectory is converted into discrete data. Specifically, the existing data discretization processing method can be adopted, which is not specifically described in this application.

[0062] After discretization, a time electronic cam can be obtained to characterize the relationship between the time axis and the encoder axis motion. Specifically, Figure 4 As shown, the main axis of the time electronic cam is the time axis, that is, the winding time, and the slave axis of the time electronic cam is the encoder axis, that is, the material length of the coil. The main axis of the winding cam is the material length of the coil, and the slave axis is the rotation angle of the winding needle.

[0063] At this point, the movement relationship between the time axis and the winding needle rotation angle is established. Only the material length and the production time required for winding the material in each winding stage need to be input to automatically complete the entire process planning, thereby realizing the control of the winding needle, replacing the previous method of frequently adjusting the parameters of each stage when changing production efficiency requirements.

[0064] In practical applications, the method of the embodiment of the present application can be applied to winding machine equipment, or other control occasions that pursue high efficiency, high intelligence, high operating quality and convenient operation. Figure 5 As shown, the method of the embodiment of the present application can be applied to a winding machine with three-station winding needles. Its general working process is as follows: the four-layer structure consisting of positive electrode sheet-diaphragm-negative electrode sheet-diaphragm is wound at winding needle A, and the winding is completed after undergoing a process of acceleration-constant speed-deceleration. The positive and negative electrode sheets are then cut (the separator is not cut), the turret is flipped, and the battery cell on winding needle A is rotated to the position of winding needle B. The separator is then cut, and the original winding needle C is rotated to the position of winding needle A to continue winding the next battery cell.

[0065] In the embodiment of the present application, the entire process planning can be automatically completed by simply inputting the material length and the production time required for winding in each winding stage, which greatly improves the intelligence and operational convenience of the equipment, while reducing the fluctuations in speed and tension, eliminating the problem of diaphragm misalignment, and making the winding process smoother.

[0066] The embodiment of the present application also provides a winding machine full electronic cam trajectory planning device, such as Figure 6 As shown, the device may include:

[0067] A target jerk determination module 610 is configured to determine a target jerk for each winding stage based on the length of the coil and the winding time required for each winding stage, wherein the winding stage includes an acceleration stage, a constant speed stage, and a deceleration stage;

[0068] A speed trajectory planning curve determining module 620 is configured to determine a speed trajectory planning curve for the entire winding process based on the target jerk and the required winding time in each winding stage;

[0069] The full-process position trajectory determination module 630 determines the full-process position trajectory during the winding process based on the speed trajectory planning curve of the full winding process;

[0070] The time electronic cam determination module 640 is used to discretize the entire position operation trajectory to obtain a time electronic cam for characterizing the relationship between the time axis and the encoder axis movement.

[0071] In an embodiment of the present application, the speed trajectory planning curve determination module may include:

[0072] a speed trajectory determination submodule, configured to determine a speed trajectory for each winding stage based on the target jerk and the required winding time for each winding stage;

[0073] The trajectory synthesis submodule is used to synthesize the speed running trajectory of each winding stage based on the end time of each winding stage and the start time of the next winding stage to obtain the speed trajectory planning curve of the entire winding process.

[0074] In an embodiment of the present application, the speed trajectory determination submodule may include:

[0075] an acceleration running trajectory determining unit, configured to perform a time integration of the target jerk of each winding stage based on the winding time required for each winding stage to obtain an acceleration running trajectory of the corresponding winding stage;

[0076] The speed running track determining unit is used to perform a time integration of the acceleration running track of each winding stage based on the winding time required for each winding stage to obtain the speed running track of the corresponding winding stage.

[0077] In an embodiment of the present application, the trajectory synthesis submodule may include:

[0078] The synthesis unit is used to synthesize the speed running trajectories of the acceleration section, the uniform speed section and the deceleration section based on the end time of each winding stage and the start time of the next winding stage to obtain a speed trajectory planning curve for the entire winding process, wherein the speed of the uniform speed section is equal to the end speed value of the acceleration section.

[0079] In an embodiment of the present application, the full-position running trajectory determination module may include:

[0080] The full-position operation trajectory determination submodule is used to integrate the speed trajectory planning curve with the total winding time based on the winding time required for all winding stages to obtain the full-position operation trajectory during the winding process.

[0081] The composition and specific working mode of the full electronic cam trajectory planning device for the winding machine in the embodiment of the present application have been described in detail in the embodiment of the full electronic cam trajectory planning method for the winding machine mentioned above, and will not be elaborated here.

[0082] Figure 7 This is a block diagram of an electronic device for the winding machine full electronic cam trajectory planning method provided by the embodiment of the present application. The electronic device can be a terminal, and its internal structure diagram can be as shown in FIG. Figure 7 As shown. The electronic device includes a processor, a memory, a model interface, a display screen and an input device connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The model interface of the electronic device is used to communicate with an external terminal through a model connection. When the computer program is executed by the processor, the method in the embodiment of the present application is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0083] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0084] In an exemplary embodiment, an electronic device is further provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method as in the embodiment of the present application.

[0085] In an exemplary embodiment, a computer-readable storage medium is further provided. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the embodiment of the present application.

[0086] In an exemplary embodiment, a computer program product including instructions is also provided. When the computer program product is run on a computer, the computer is caused to perform the method in the embodiment of the present application.

[0087] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, which can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0088] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0089] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A fully electronic cam trajectory planning method for a winding machine, characterized in that: The method comprises: Determining a target jerk for each winding stage based on the length of the coil and the winding time required for each winding stage, wherein the winding stage includes an acceleration stage, a constant speed stage, and a deceleration stage; Determining a speed trajectory planning curve for the entire winding process based on the target jerk and the required winding time of each winding stage, including: determining a speed running trajectory for each winding stage based on the target jerk and the required winding time of each winding stage; synthesizing the speed running trajectories of each winding stage based on the end time of each winding stage and the start time of the next winding stage to obtain a speed trajectory planning curve for the entire winding process; According to the speed trajectory planning curve of the entire winding process, the entire position running trajectory of the winding process is determined; The entire position running trajectory is discretized to obtain a time electronic cam for characterizing the motion relationship between the time axis and the encoder axis.

2. The method for planning the full electronic cam trajectory of a winding machine according to claim 1, characterized in that: Determining the speed trajectory of each winding stage based on the target jerk and the required winding time of each winding stage includes: Based on the winding time required for each winding stage, the target jerk of each winding stage is time-integrated over the corresponding winding stage to obtain the acceleration running trajectory of the corresponding winding stage; Based on the winding time required for each winding stage, the acceleration running trajectory of each winding stage is time-integrated for the corresponding winding stage to obtain the speed running trajectory of the corresponding winding stage.

3. The method for planning the full electronic cam trajectory of a winding machine according to claim 1, characterized in that: The speed trajectory planning curve for the entire winding process is obtained by synthesizing the speed trajectory of each winding stage based on the end time of each winding stage and the start time of the next winding stage. Based on the end time of each winding stage and the start time of the next winding stage, the speed running trajectories of the acceleration section, the uniform speed section and the deceleration section are synthesized to obtain a speed trajectory planning curve for the entire winding process, wherein the speed of the uniform speed section is equal to the end speed value of the acceleration section.

4. The method for planning the full electronic cam trajectory of a winding machine according to claim 1, characterized in that: The method of planning the speed trajectory curve of the entire winding process and determining the entire position trajectory of the winding process includes: Based on the winding time required for all winding stages, the speed trajectory planning curve is integrated with the total winding time to obtain the full position operation trajectory during the winding process.

5. A fully electronic cam trajectory planning device for a winding machine, characterized in that: The device comprises: a target jerk determination module, configured to determine a target jerk for each winding stage based on the length of the coil and the winding time required for each winding stage, wherein the winding stage includes an acceleration stage, a constant speed stage, and a deceleration stage; a speed trajectory planning curve determination module, configured to determine a speed trajectory planning curve for the entire winding process based on the target jerk and the required winding time of each winding stage, the speed trajectory planning curve determination module comprising: a speed running trajectory determination submodule, configured to determine a speed running trajectory for each winding stage based on the target jerk and the required winding time of each winding stage; and a trajectory synthesis submodule, configured to synthesize the speed running trajectory of each winding stage based on the end time of each winding stage and the start time of the next winding stage to obtain a speed trajectory planning curve for the entire winding process; The full-process position trajectory determination module determines the full-process position trajectory during the winding process based on the speed trajectory planning curve of the entire winding process; The time electronic cam determination module is used to discretize the entire position running trajectory to obtain a time electronic cam for characterizing the motion relationship between the time axis and the encoder axis.

6. The fully electronic cam trajectory planning device for a winding machine according to claim 5, characterized in that: The speed running trajectory determination submodule includes: an acceleration running trajectory determining unit, configured to perform a time integration of the target jerk of each winding stage based on the winding time required for each winding stage to obtain an acceleration running trajectory of the corresponding winding stage; The speed running track determining unit is used to perform a time integration of the acceleration running track of each winding stage based on the winding time required for each winding stage to obtain the speed running track of the corresponding winding stage.

7. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the full electronic cam trajectory planning method for a winding machine as claimed in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the full electronic cam trajectory planning method for a winding machine according to any one of claims 1 to 4.

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