Virtual debugging method, device, equipment, medium and product for battery production equipment

Abstract

The present application provides a method, device, equipment, medium and product for virtual debugging of battery production equipment, which belongs to the field of batteries. The virtual debugging method of battery production equipment includes: obtaining three-dimensional simulation model data of battery production equipment, and constructing a three-dimensional simulation model of battery production equipment in a virtual environment according to the three-dimensional simulation model data; determining the virtual debugging mapping relationship according to the message type and mapping relationship library of the virtual debugging control message sent by the controller; the mapping relationship library includes multiple mapping relationships corresponding to different message types, and the mapping relationship is used to indicate the corresponding function of each bit in the message of the corresponding type in the virtual environment; performing virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship. The virtual debugging method of the present application can be compatible with multiple different types of messages, without the need to repeatedly produce logic blocks, thereby improving the efficiency of virtual debugging.

Description

Technical Field

[0001] The present application relates to the field of battery technology, and in particular to a virtual debugging method, device, equipment, medium and product for battery production equipment. Background Art

[0002] Energy conservation and emission reduction are the key to the sustainable development of the automobile industry. Electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages in energy conservation and environmental protection. For electric vehicles, battery technology is an important factor in their development.

[0003] During the battery production process, the production equipment involved may contain multiple moving parts at the same time. Using virtual debugging to debug the moving parts of battery production equipment can save debugging time. However, due to the barriers between virtual and reality, there are many restrictions on the debugging objects and debugging projects, which leads to a longer debugging cycle and insufficient debugging reliability. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems in the background technology. To this end, one object of the present application is to provide a virtual commissioning method, device, equipment, medium and product for pool production equipment to improve the efficiency and reliability of virtual commissioning.

[0005] An embodiment of the first aspect of the present application provides a virtual debugging method for battery production equipment, comprising: obtaining three-dimensional simulation model data of the battery production equipment, and constructing a three-dimensional simulation model of the battery production equipment in a virtual environment according to the three-dimensional simulation model data; the battery production equipment comprises a controller and at least one moving component; the controller and the at least one moving component are connected in the virtual environment through a virtual debugging control message signal; a virtual debugging mapping relationship is determined according to a message type of the virtual debugging control message sent by the controller and a mapping relationship library; the mapping relationship library comprises a plurality of mapping relationships corresponding to different message types, the mapping relationship being used to indicate a function corresponding to each bit in a message of a corresponding type in the virtual environment, and the virtual debugging mapping relationship being a mapping relationship corresponding to the message type of the virtual debugging control message among a plurality of mapping relationships; and virtual debugging is performed on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship.

[0006] In the technical solution of the embodiment of the present application, by determining the corresponding virtual debugging mapping relationship for the message type during the virtual debugging process, the virtual debugging environment can be adapted to a variety of different message types without the need to re-produce the servo logic block, thereby improving the efficiency of virtual debugging and the reliability of debugging, and enhancing the versatility of the model.

[0007] In some embodiments, determining the virtual debugging mapping relationship according to the message type of the virtual debugging control message sent by the controller and the pre-built mapping relationship library includes: constructing a mapping relationship library according to the three-dimensional simulation model data of the battery production equipment, the three-dimensional simulation model data of the battery production equipment includes the message types that the controller and at least one moving part can adapt to respectively; obtaining the message type of the virtual debugging control message; in response to the inconsistency between the message type and the message type corresponding to the virtual debugging mapping relationship, re-determining the mapping relationship corresponding to the message type of the virtual debugging control message in the mapping relationship library as the virtual debugging mapping relationship. By adjusting the virtual debugging mapping relationship, the parsing requirements of different message types can be better matched, the rapid conversion of message types can be achieved, the scope of application can be expanded, and the efficiency of debugging can be improved.

[0008] In some embodiments, the virtual debugging method further includes: controlling at least one moving component in the three-dimensional simulation model to execute a virtual debugging project, and updating the state parameters of the battery production equipment and outputting a feedback signal. By controlling the moving component to perform actions according to the virtual debugging project determined by the virtual debugging instruction message and timely feeding back the state parameters, it is beneficial to evaluate the debugging results and achieve reliable virtual debugging.

[0009] In some embodiments, before performing virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship, it also includes: performing inertia identification on at least one moving part according to the three-dimensional simulation model data of the battery production equipment to obtain the inertia parameter of at least one moving part. By performing inertia identification on the moving parts in the virtual environment, the inertia parameters of the moving parts in the virtual environment can be determined, thereby improving the control accuracy of the moving parts in subsequent debugging, truly restoring the motion characteristics of the moving parts in the virtual environment, and improving the accuracy and reliability of virtual debugging.

[0010] In some embodiments, according to the three-dimensional simulation model data of the battery production equipment, at least one moving part is identified for inertia, and the inertia parameters of the at least one moving part are obtained, including: applying an excitation signal to the at least one moving part; collecting response data of the at least one moving part; and determining the inertia parameters of the at least one moving part according to the response data. By applying a pre-designed corresponding excitation signal to at least one part and collecting response data according to the sensor model, the inertia parameters of the moving part in the virtual environment can be accurately obtained, which is conducive to the performance evaluation of the moving part in the virtual environment.

[0011] In some embodiments, before performing virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship, it also includes: setting the speed loop parameters of at least one moving part in the virtual environment according to the three-dimensional simulation model data of the battery production equipment. By setting the speed loop parameters, the control accuracy and dynamic response of the moving part can be improved during virtual debugging, so that the performance of the moving part in the real world can be better simulated, so that the result of virtual debugging is closer to the actual working situation, and the accuracy and reliability of virtual debugging are improved.

[0012] In some embodiments, the speed loop parameters include speed loop gain; and wherein, according to the three-dimensional simulation model data of the battery production equipment, setting the speed loop parameters of at least one moving part in the virtual environment includes: obtaining the moment of inertia and proportional gain of at least one moving part; and determining the speed loop gain according to the moment of inertia and proportional gain. Reasonable setting of the speed loop gain can optimize the response characteristics of the system, help to achieve accurate speed control under various working conditions, thereby truly restoring the actual characteristics of the moving parts in the virtual environment and improving the accuracy and reliability of virtual debugging.

[0013] In some embodiments, the virtual debugging method further includes: in response to receiving a state parameter adjustment instruction, adjusting the state parameters of the battery production equipment in the virtual environment according to external input or virtual debugging results. In this way, effective management of the internal parameters of the servo logic block can be achieved. Timely updating and adjusting the state parameters in the servo logic block can make the control logic of the moving parts of the battery production equipment consistent with the latest parameter requirements, and can also be customized and adjusted according to specific application requirements, thereby improving the scope of application and debugging efficiency of virtual debugging.

[0014] An embodiment of the second aspect of the present application provides a virtual debugging device for battery production equipment, the virtual debugging device comprising a first module, a second module and a third module; the first module is used to obtain three-dimensional simulation model data of the battery production equipment; the battery production equipment comprises a controller and at least one moving component, the controller and the at least one moving component are connected in a virtual environment through a virtual debugging control message signal; the second module is used to determine a virtual debugging mapping relationship according to a message type of a virtual debugging control message sent by the controller and a mapping relationship library, the mapping relationship library comprising a plurality of mapping relationships corresponding to different message types respectively, the mapping relationship being used to indicate a function corresponding to each bit in a message of a corresponding type in the virtual environment, the virtual debugging mapping relationship being a mapping relationship corresponding to the message type of the virtual debugging control message in a plurality of mapping relationships; the third module is used to perform virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship.

[0015] An embodiment of the third aspect of the present application provides a computing device, which includes: at least one processor; and at least one memory communicatively connected to the at least one processor, the at least one memory storing instructions, which, when executed individually or collectively by the at least one processor, enable the computing device to execute the method described in the above embodiment.

[0016] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium storing instructions, which, when executed individually or collectively by one or more processors of a computing device, cause the computing device to execute the method described in the above embodiment.

[0017] An embodiment of the fifth aspect of the present application provides a computer program product, comprising instructions, which, when executed individually or collectively by one or more processors of a computing device, cause the computing device to execute the method described in the above embodiment.

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0020] Figure 1 A schematic diagram of virtual commissioning of battery production equipment provided in some embodiments of the present application;

[0021] Figure 2 A flowchart of a virtual debugging method for battery production equipment provided in some embodiments of the present application;

[0022] Figure 3 A schematic diagram of an interface of a servo logic block in some embodiments of the present application;

[0023] Figure 4 A structural block diagram of a virtual debugging device for battery production equipment provided in some embodiments of the present application;

[0024] Figure 5 Schematic diagram of virtual commissioning of battery production equipment provided in some other embodiments of the present application.

[0025] Description of reference numerals:

[0026] A virtual debugging method 100 ; a virtual debugging device 200 , a first module 210 , a second module 220 , and a third module 230 . DETAILED DESCRIPTION

[0027] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field 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" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0029] In the description of the embodiments of the present application, the technical terms "first", "second", etc. 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. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0032] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0033] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0034] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0035] At present, from the perspective of market development, the application of batteries is becoming more and more extensive. Batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but also widely used in electric vehicles such as electric bicycles, electric motorcycles, electric cars, as well as military equipment and aerospace and other fields. With the continuous expansion of battery application areas, its market demand is also constantly expanding.

[0036] Virtual debugging is a debugging process performed in a computer simulation environment, which allows engineers to test and verify the control logic, system performance and fault response of the automation system without the involvement of actual hardware. The battery production process requires multiple processes, and each process involves a wide variety of automated equipment. For example, in the battery module boxing station, the battery production equipment involves multiple functions such as grasping, transporting, and clamping. Multiple servo axes may need to cooperate with each other to complete the corresponding functions. In order to save debugging costs, a three-dimensional simulation model of the battery production equipment can be obtained through three-dimensional modeling in a virtual environment, and virtual debugging can be performed based on the three-dimensional simulation model to debug and verify the functions, control accuracy and control strategies of the battery production equipment.

[0037] However, due to the barriers between virtual and reality, the communication protocols used between different moving parts and controllers in reality may be different, which means that the message types of control instructions may involve multiple different message types, while the message types available in the virtual environment are single, which limits the object and scope of virtual debugging, and even requires multiple re-production of logic blocks that meet the requirements, which increases the debugging cycle and reduces the reliability of virtual debugging.

[0038] Based on the above considerations, in order to improve the efficiency and versatility of virtual debugging, the present application proposes a virtual debugging method for battery production equipment, including: obtaining three-dimensional simulation model data of the battery production equipment, and constructing a three-dimensional simulation model of the battery production equipment in a virtual environment according to the three-dimensional simulation model data; the battery production equipment includes a controller and at least one moving part; the virtual debugging mapping relationship is determined according to the message type of the virtual debugging control message sent by the controller and the mapping relationship library; the mapping relationship library includes multiple mapping relationships corresponding to different message types, each mapping relationship is used to indicate the function corresponding to each bit in the virtual debugging control message in the virtual environment, and the virtual debugging mapping relationship is a mapping relationship corresponding to the message type of the virtual debugging control message in multiple mapping relationships; virtual debugging is performed on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship. The virtual debugging method of the present application can be compatible with multiple different types of messages, without the need to repeatedly make logic blocks, thereby improving the efficiency of virtual debugging.

[0039] The battery production equipment disclosed in the embodiments of the present application can be an automated equipment in any process of the battery production process, especially an automated equipment including one or more servo axes. This can improve the debugging efficiency of the equipment, save debugging time, and improve the reliability of virtual debugging results.

[0040] Please refer to Figure 1-Figure 3 , Figure 1 A schematic diagram of virtual commissioning of battery production equipment provided in some embodiments of the present application, Figure 2 A flowchart of a virtual debugging method for battery production equipment provided in some embodiments of the present application, Figure 3 This is a schematic diagram of the interface of the servo logic block of some embodiments of the present application.

[0041] The embodiment of the present application provides a virtual debugging method 100 for battery production equipment, the method 100 comprising:

[0042] S110: Acquire three-dimensional simulation model data of a battery production equipment, and construct a three-dimensional simulation model of the battery production equipment in a virtual environment according to the three-dimensional simulation model data; the battery production equipment includes a controller and at least one moving component, and the controller and the at least one moving component are connected in the virtual environment through a virtual debugging control message signal.

[0043] S120: determining a virtual debugging mapping relationship according to a message type of a virtual debugging control message sent by a controller and a mapping relationship library; wherein the mapping relationship library includes a plurality of mapping relationships corresponding to different message types, each of the plurality of mapping relationships being used to indicate a function corresponding to each bit in a message of a corresponding type in a virtual environment, and the virtual debugging mapping relationship being a mapping relationship corresponding to the message type of the virtual debugging control message among the plurality of mapping relationships.

[0044] S130: Perform virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship.

[0045] The 3D simulation model is the object and basis of virtual commissioning. Before virtual commissioning, it is necessary to establish a 3D simulation model of the battery production equipment in a virtual environment, and to establish the 3D simulation model, it is necessary to obtain the 3D simulation model data of the battery production equipment. The 3D simulation model data of the battery production equipment includes the structure type, design size, material properties, connection relationship, interface, etc.

[0046] In some embodiments, a three-dimensional simulation model of a battery production equipment can be established in a virtual debugging environment of the Process_Simulate platform, wherein the three-dimensional simulation model should include a mechanical structure model and an electrical model. The mechanical structure model is a key component in the three-dimensional simulation, which includes all mechanical parts and components, such as shafts, gears, sliders, couplings, bearings, etc. This model needs to accurately reflect the design of the actual mechanical system, including the size, shape, position and relationship of each component. In addition, the mechanical structure model should also include material properties, mass, moment of inertia, elasticity and other physical properties in order to accurately simulate mechanical behavior and dynamic response in the simulation. The electrical model is another important component, which covers all electrical and electronic components in the system, such as motors, sensors, controllers, actuators, wires and interfaces. The electrical model needs to simulate the working principle of the electrical system, including signal transmission, processing and control logic.

[0047] like Figure 1As shown, the three-dimensional simulation model of the battery production equipment in the embodiment of the present application includes at least one moving part, and the moving part can be a servo axis that performs the battery module boxing process. The moving part can also integrate sensors to detect the state parameters of the moving component. The three-dimensional simulation model of the battery production equipment also includes a driver and a servo logic block; the driver is a device for controlling a specific type of moving part (such as a motor). In order to realize the command control in the virtual debugging, it is also necessary to build a servo logic block in the virtual environment. The servo logic block is used to receive the control instructions of the controller or other control unit (such as the upper control system), and generate a control signal according to the input control instruction to send it to the driver, which is used to drive the moving parts of the battery production equipment model in the virtual environment, simulate the behavior of the actual driver to indicate the actions that the moving parts should perform, such as starting, stopping, speed and position setting, etc., to realize the virtual debugging of the battery production equipment.

[0048] The controller is the decision-making center in the automation system, responsible for executing control strategies and managing the operation of the entire system. The controller can be a real external controller, such as a programmable logic controller (PLC), or a controller model built based on PLCSIM advanced. The servo logic block can be a part of the program module inside the controller. In the virtual environment, the servo logic block can communicate with the controller through a virtual communication network (such as simulated industrial Ethernet, PROFIBUS, PROFINET, etc.).

[0049] Step S110 may also construct a three-dimensional simulation model of the battery production equipment by directly loading.

[0050] The virtual debugging control message in step S120 may be a control instruction message sent by the controller, and the message type of the virtual debugging control message may correspond to the communication protocol adopted by the real moving parts. The virtual debugging control message may include a control message of a single message type, or may include multiple different types of control messages at the same time, for example, multiple different types of control messages for multiple moving parts at the same time. The message type may be one or more of 1 message, 3 messages, 5 messages, 7 messages, 9 messages, 105 messages, 110 messages, and 111 messages.

[0051] The mapping relationship library can be constructed in advance, and the mapping relationship library includes multiple mapping relationships for different message types, each of which is used to indicate the corresponding function of each bit in the message of the corresponding type in the virtual environment. The virtual debugging mapping relationship is a mapping relationship in the mapping relationship library corresponding to the message type of the virtual debugging control message.

[0052] The virtual debugging mapping relationship refers to the currently determined mapping relationship, which is used to map each field in the received control message to the corresponding variable or register in the servo logic block or control system. This mapping relationship defines how to interpret the data in the message and convert it into executable control commands or readable status information. Taking the 111 message as an example, this type of message contains a total of 12 words, each word has 16 bits, a total of 192 bits, and each bit has its own corresponding function, including parking, pulse enable, fault reset, jog control, return to original state and other functions.

[0053] Different types of control messages have different structures, and their applicable objects and functions may differ. In the related art, the messages used for virtual debugging are only of a single type. This may result in the inability to achieve the intended debugging purpose due to message type mismatch when the debugging object involves multiple moving parts. In addition, when changes are made to related moving parts, the applicable message type may also change, which in turn causes the currently used virtual debugging mapping relationship to be unable to adapt. At this time, the servo logic block needs to be remade or rewritten, which greatly reduces the debugging efficiency and affects the versatility of the model. In this embodiment, a program module that can meet the parsing requirements of a variety of different message types can be set in advance in the servo logic block, so that the corresponding virtual debugging mapping relationship can be determined according to the actual message type, so that the information contained in the virtual debugging control message can be accurately parsed.

[0054] In step S130, through the virtual debugging mapping relationship corresponding to the message type, the information in the virtual debugging control message is converted into a combination that can be recognized in the virtual debugging according to the action logic, the virtual debugging project to be executed of the three-dimensional simulation model of the battery production equipment is obtained, and the virtual debugging is performed on the three-dimensional simulation model.

[0055] In some embodiments, Figure 3As shown in the figure, the servo logic block includes five parts: input, output, variables, constants, and actions. The input can be a control instruction from the controller, such as start, stop, speed setting, etc. These instructions are transmitted to the servo logic block in the form of messages. Taking the 111 message as an example, the input is 12 words sent by the controller, including jog control STW1 and STW2, positioning control EposSTW1 and EposSTW2, enable control OverrideA and OverrideD, position Position_Q, speed Velocity_Q, and reserve Reserve_Q. The servo logic block receives this information as input and generates corresponding output signals according to the preset control logic, such as the instruction to start the motor, the speed control signal, etc. The variables include the servo logic block for storing various temporary calculation results, intermediate state information, configuration parameters, etc., which are read, modified, and updated as needed in the servo logic block during operation, such as 32 bits of control words and status words, intermediate conversion variables, wheelbase sensor signals, etc. Constants include various symbolic constants used by the servo logic block, such as system preset limit values ​​and constants used for control algorithm calculations. Actions are specific operations performed by the servo logic block based on input signals and internal logic processing, such as starting the motor, adjusting the speed, etc. Actions also include updating the status information of the servo system, such as updating the values ​​of variables such as position and speed. Outputs include outputting the current status information of the moving parts to the control area, such as status words ZSW1 and ZSW2, basic positioning EposZSW1 and EposZSW2, error alarm ErrNr, alarm WarnNr, reserve Reserve_I, absolute position Position_I, speed Velocity_I, etc. This information is used for closed-loop control and system monitoring.

[0056] By determining the corresponding virtual debugging mapping relationship for the message type during the virtual debugging process, the virtual debugging environment can adapt to a variety of different message types without remaking the servo logic block, thereby improving the efficiency of virtual debugging and the reliability of debugging, and enhancing the versatility of the model.

[0057] According to some embodiments of the present application, step S120 includes: constructing a mapping relationship library based on three-dimensional simulation model data of battery production equipment, the three-dimensional simulation model data of the battery production equipment including message types that can be adapted by a controller and at least one moving component; obtaining the message type of a virtual debugging control message; in response to the inconsistency between the message type and the message type corresponding to the virtual debugging mapping relationship, redefining the mapping relationship corresponding to the message type of the virtual debugging control message in the mapping relationship library as a virtual debugging mapping relationship.

[0058] The three-dimensional simulation model data of the battery production equipment also includes all message types that the controller and the moving parts are compatible or applicable to, and is not limited to the message types that have been determined between the current controller and the moving parts. In some embodiments, the corresponding mapping relationships can be predefined in advance according to all message types involved in the moving parts of the battery production equipment to obtain a mapping relationship library. When the servo logic block receives a virtual debugging control message, it can call the corresponding mapping relationship according to its message type. Specifically, it can be judged by whether the message type of the virtual debugging control message is consistent with the message type corresponding to the currently used virtual debugging mapping relationship. If they are consistent, no adjustment is required, and the content of the message is directly parsed; if they are inconsistent, the mapping relationship corresponding to the message type of the virtual debugging control message is found from the predefined multiple mapping relationships, and it is re-determined as a virtual debugging mapping relationship.

[0059] It is understandable that the operation of re-determining the virtual debugging mapping relationship can be performed manually, for example, according to the communication message type set by the moving part in the debugging object, the corresponding mapping relationship is manually screened out and the current virtual debugging mapping relationship file is overwritten. In other embodiments, the operation of re-determining the virtual debugging mapping relationship can be completely completed automatically by the program, that is, the program is set to automatically search for the correct mapping relationship in the predefined mapping relationship library when a message type difference is detected and import it as a new virtual debugging mapping relationship.

[0060] By adjusting the virtual debugging mapping relationship, the parsing requirements of different message types can be better matched, the rapid conversion of message types can be achieved, the scope of application can be expanded, and the debugging efficiency can be improved.

[0061] According to some embodiments of the present application, the method 100 further includes: controlling at least one moving component in the three-dimensional simulation model to execute a virtual debugging project, and updating state parameters of the battery production equipment and outputting a feedback signal.

[0062] The specific content of the virtual debugging project to be executed is determined based on the message analysis. At the same time, based on the state parameters of the moving parts, such as position, stroke, speed, etc., the action part of the servo logic block controls the moving parts in the battery production equipment to perform corresponding actions according to the determined action logic. The state parameters in the servo logic block are updated according to the real-time parameters detected by the sensors in the moving parts, and the relevant parameters are output to the controller as feedback signals.

[0063] By controlling the moving parts to perform actions according to the virtual debugging items determined by the virtual debugging instruction message and timely feeding back the status parameters, it is beneficial to evaluate the debugging results and achieve reliable virtual debugging.

[0064] According to some embodiments of the present application, before step S130, the method further includes: performing inertia identification on at least one moving component according to three-dimensional simulation model data of the battery production equipment to obtain inertia parameters of the at least one moving component.

[0065] For some moving parts, such as servo axes, they are actually controlled and driven by factors such as speed loops, position loops, and current loops. However, since there are only some moving pairs and intelligent components in the virtual debugging environment based on the Process_Simulate platform, there are no process object control functions or device configurations commonly used in servo drive-specific simulation software, so input and output cannot be directly realized.

[0066] Inertia identification refers to the process of determining the inertia parameters of an object or system (such as mass, center of mass position, moment of inertia, etc.). Through inertia identification, the inertia parameters of moving parts in a virtual environment can be obtained. In this way, on the one hand, the inertia parameters can be obtained for subsequent debugging. On the other hand, the model parameters can be optimized by the difference between the inertia parameters obtained by inertia identification and the actual inertia parameters of the device.

[0067] By performing inertia identification on the moving parts in the virtual environment, the inertia parameters of the moving parts in the virtual environment can be determined, thereby improving the control accuracy of the moving parts in subsequent debugging, truly restoring the motion characteristics of the moving parts in the virtual environment, and improving the accuracy and reliability of virtual debugging.

[0068] According to some embodiments of the present application, inertia identification is performed on at least one moving component based on three-dimensional simulation model data of a battery production equipment, and obtaining the inertia parameters of the at least one moving component includes: applying an excitation signal to the at least one moving component; collecting response data of the at least one moving component; and determining the inertia parameters of the at least one moving component based on the response data.

[0069] In some embodiments, inertia identification can be performed on one of the moving parts alone or on multiple moving parts at the same time. The excitation signal can be designed according to the type and requirements of the specific moving part, and the excitation signal can be applied to the moving part model through a virtual excitation device, such as rotation or vibration.

[0070] The response data may include displacement, velocity, acceleration, etc. The response data may be collected using a sensor model in a virtual environment. Based on the collected data, an inverse problem solving method may be used to estimate the inertial parameters of the moving parts, such as the least squares method, maximum likelihood estimation, etc.

[0071] In some embodiments, the above steps may further include: applying the calculated inertial parameters to the moving component model and observing whether its response is consistent with the actual observed data. If not, the model needs to be adjusted or re-identified.

[0072] By applying a pre-designed corresponding excitation signal to at least one part and collecting response data according to the sensor model, the inertial parameters of the moving component in the virtual environment can be accurately obtained, which is conducive to the performance evaluation of the moving component in the virtual environment.

[0073] According to some embodiments of the present application, before step S130, the method further includes: setting a speed loop parameter of at least one moving component in a virtual environment according to three-dimensional simulation model data of the battery production equipment.

[0074] The speed loop parameters are a key component in the servo control system, which is responsible for controlling and adjusting the speed of the motor. Due to the lack of process object control functions in dedicated servo drive simulation software (such as Botu software) in the virtual environment, it is necessary to simulate the input and output of the actual servo drive through function conversion and signal decomposition processing. The speed loop parameters directly affect the control accuracy and dynamic response of the moving parts. Setting the speed loop parameters in the virtual environment can simulate the response of the servo system to the control instructions, so as to evaluate the performance of the system in virtual debugging.

[0075] In addition, servo systems usually use closed-loop control, and the speed loop is an important part of the closed-loop control system. Setting the speed loop parameters in a virtual environment can simulate the effects of closed-loop control, including the stability and anti-interference ability of the system.

[0076] By setting the speed loop parameters, the control accuracy and dynamic response of the moving parts can be improved during virtual debugging, so as to better simulate the performance of the moving parts in the real world, make the results of virtual debugging closer to the actual working conditions, and improve the accuracy and reliability of virtual debugging.

[0077] According to some embodiments of the present application, the speed loop parameters include a speed loop gain; and wherein, based on the three-dimensional simulation model data of the battery production equipment, setting the speed loop parameters of at least one moving component in a virtual environment includes: obtaining the moment of inertia and proportional gain of at least one moving component; determining the speed loop gain based on the moment of inertia and the proportional gain.

[0078] The speed loop gain is a parameter used to adjust the speed loop response in a servo control system. It defines the system's response strength to speed deviations. Specifically, the speed loop gain is a proportional control parameter that determines the torque or current generated by a moving part (such as a servo motor) in the face of a speed error.

[0079] The moment of inertia can be obtained by directly reading the set parameters, or by performing inertia identification on the moving parts. The proportional gain can be obtained from the parameter table of the moving parts. In some embodiments, the speed loop gain The calculation formula is: ;in, is the moment of inertia, is the proportional gain of the moving part.

[0080] Reasonable setting of the speed loop gain can optimize the response characteristics of the system and help achieve precise speed control under various working conditions, thereby truly restoring the actual characteristics of the moving parts in the virtual environment and improving the accuracy and reliability of virtual debugging.

[0081] According to some embodiments of the present application, the method 100 further includes: in response to receiving a state parameter adjustment instruction, adjusting the state parameters of the battery production equipment in the virtual environment according to external input or virtual debugging results.

[0082] During the debugging process, for the encapsulated servo logic block, this embodiment can adjust the internal parameters of the servo logic block through a secondary development plug-in to the NX software background. The secondary development plug-in can be developed based on C#. Through secondary development, the parameter monitoring and modification functions can be integrated into the NX software to more effectively manage and adjust the internal parameters of the servo logic block.

[0083] In some embodiments, the state parameter adjustment instruction can be input externally or can be actively triggered by the servo logic block according to the debugging result. The state parameters include the parameters of the three-dimensional simulation model of the moving parts of the battery production equipment in the virtual environment and the data related to the state.

[0084] After receiving the state parameter adjustment instruction, the state parameters in the servo logic block are displayed on the display interface of the secondary development plug-in. The user can enter new parameter values ​​through the interface of the secondary development plug-in, or import parameter values ​​obtained from other systems or tests. These new parameter values ​​will be used to update the internal settings of the servo logic block.

[0085] This embodiment can realize the effective management of the internal parameters of the servo logic block. Timely updating and adjusting the status parameters in the servo logic block can make the control logic of the moving parts of the battery production equipment consistent with the latest parameter requirements. It can also be customized and adjusted according to specific application needs, thereby improving the scope of application and debugging efficiency of virtual debugging.

[0086] See also Figure 4 , Figure 4 A structural block diagram of a virtual debugging device for battery production equipment provided in some embodiments of the present application.

[0087] The embodiment of the present application provides a virtual debugging device 200 for battery production equipment, and the virtual debugging device 200 includes a first module 210, a second module 220 and a third module 230; the first module 210 is used to obtain three-dimensional simulation model data of the battery production equipment; the battery production equipment includes a controller and at least one moving part; the second module 220 is used to determine the virtual debugging mapping relationship according to the message type of the virtual debugging control message sent by the controller and a mapping relationship library, the mapping relationship library includes multiple mapping relationships corresponding to different message types, the mapping relationship is used to indicate the function corresponding to each bit in the message of the corresponding type in the virtual environment, and the virtual debugging mapping relationship is a mapping relationship corresponding to the message type of the virtual debugging control message in multiple mapping relationships; the third module 230 is used to perform virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship.

[0088] The virtual debugging device 200 may be a computer device, and the virtual debugging device 200 may implement the debugging method 100 of the battery production equipment in the above embodiment. The first module 210 may construct a three-dimensional simulation model according to the three-dimensional simulation model data of the battery production equipment, and the three-dimensional simulation model includes a servo logic block, a driver, and multiple moving parts.

[0089] The second module 220 can adjust and determine the virtual debugging mapping relationship according to the input message type, so that fast switching can be achieved to adapt to different message types. The third module 230 is used to parse the virtual debugging control message, generate a control instruction and send it to the driver for virtual debugging.

[0090] The second module is provided to realize fast switching of virtual debugging mapping relationships, thereby achieving compatibility with multiple message types, improving virtual debugging efficiency and reliability of debugging results.

[0091] An embodiment of the present application provides a computing device, which includes: at least one processor; and at least one memory in communication with the at least one processor, wherein the at least one memory stores instructions, which, when executed individually or collectively by the at least one processor, enable the computing device to execute the virtual debugging method 100 described in the above embodiment.

[0092] Various embodiments of the systems and techniques described above in this application can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general programmable processor, which can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0093] An embodiment of the present application provides a computer-readable storage medium storing instructions, which, when executed individually or collectively by one or more processors of a computing device, enable the computing device to execute the virtual debugging method 100 described in the above embodiment.

[0094] Computer readable media may be tangible media that may contain or store programs for use by or in conjunction with an instruction execution system, device, or equipment. Machine readable media may be machine readable signal media or machine readable storage media. Machine readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. More specific examples of machine readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0095] An embodiment of the present application provides a computer program product, including instructions, which, when executed individually or collectively by one or more processors of a computing device, enable the computing device to execute the virtual debugging method 100 described in the above embodiment.

[0096] The technical solution of the present application is further described below in conjunction with a specific embodiment.

[0097] See also Figure 5 , Figure 5 Schematic diagram of virtual commissioning of battery production equipment provided in some other embodiments of the present application. The virtual commissioning method of battery production equipment includes:

[0098] Acquire the three-dimensional simulation model data of the battery production equipment, and construct a three-dimensional simulation model of the battery production equipment in a virtual environment according to the three-dimensional simulation model data.

[0099] A mapping relationship library is constructed based on the three-dimensional simulation model data of the battery production equipment. The mapping relationship library includes multiple mapping relationships corresponding to different message types, and the mapping relationship is used to indicate the corresponding function of each bit in the message of the corresponding type in the virtual environment.

[0100] Obtain a message type of a virtual debugging control message sent by a controller for one or more of at least one moving component; in response to the message type being inconsistent with the message type corresponding to the virtual debugging mapping relationship, redefine the mapping relationship corresponding to the message type of the virtual debugging control message in the mapping relationship library as the virtual debugging mapping relationship.

[0101] According to the three-dimensional simulation model data of the battery production equipment, inertia identification is performed on at least one moving component to obtain the inertia parameters of the at least one moving component; the inertia identification includes: applying a pre-designed excitation signal to the at least one moving component; collecting response data of the at least one moving component; and determining the inertia parameters of the at least one moving component according to the response data.

[0102] According to the three-dimensional simulation model data of the battery production equipment, the speed loop parameters of at least one moving component in the virtual environment are set. The speed loop parameters include speed loop gain, which specifically includes: obtaining the moment of inertia and proportional gain of at least one moving component; and determining the speed loop gain according to the moment of inertia and proportional gain.

[0103] The virtual debugging project to be executed by the three-dimensional simulation model is determined according to the virtual debugging control message and the virtual debugging mapping relationship, at least one moving part in the three-dimensional simulation model is controlled to execute the virtual debugging project, the state parameters of the three-dimensional simulation model of the battery production equipment are updated and a feedback signal is output.

[0104] In response to receiving the state parameter adjustment instruction, the state parameters of the battery production equipment in the virtual environment are adjusted according to external input or virtual debugging results.

[0105] Finally, it should be noted that 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 replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A virtual debugging method for battery production equipment, characterized in that: include: Acquire three-dimensional simulation model data of a battery production device, and construct a three-dimensional simulation model of the battery production device in a virtual environment according to the three-dimensional simulation model data; the battery production device includes a controller and at least one moving component, and the controller and the at least one moving component are connected in the virtual environment through a virtual debugging control message signal; the message type of the virtual debugging control message corresponds to the communication protocol adopted by the real moving component; Determining a virtual debugging mapping relationship according to a message type of a virtual debugging control message sent by the controller and a mapping relationship library includes: Constructing the mapping relationship library according to the three-dimensional simulation model data of the battery production equipment; Obtaining the message type of the virtual debugging control message; In response to the inconsistency between the message type and the message type corresponding to the virtual debugging mapping relationship, the mapping relationship corresponding to the message type of the virtual debugging control message in the mapping relationship library is re-determined as the virtual debugging mapping relationship; wherein the three-dimensional simulation model data of the battery production equipment includes message types that the controller and the at least one moving component can adapt to respectively; the mapping relationship library includes a plurality of mapping relationships corresponding to different message types, each of the plurality of mapping relationships is used to indicate the function corresponding to each bit in the message of the corresponding type in the virtual environment, and the virtual debugging mapping relationship is a mapping relationship corresponding to the message type of the virtual debugging control message in the plurality of mapping relationships; Perform virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship.

2. The virtual debugging method according to claim 1, characterized in that: Also includes: Controlling at least one moving component in the three-dimensional simulation model to execute a virtual debugging project; as well as The state parameters of the three-dimensional simulation model of the battery production equipment are updated and a feedback signal is output.

3. The virtual debugging method according to claim 1 or 2, characterized in that: Before performing virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship, the method further includes: According to the three-dimensional simulation model data of the battery production equipment, inertia identification is performed on the at least one moving component to obtain the inertia parameters of the at least one moving component.

4. The virtual debugging method according to claim 3, characterized in that: The step of performing inertia identification on the at least one moving component according to the three-dimensional simulation model data of the battery production equipment to obtain the inertia parameters of the at least one moving component includes: applying an excitation signal to the at least one moving component; collecting response data of the at least one moving component; and Inertial parameters of the at least one moving component are determined based on the response data.

5. The virtual debugging method according to claim 1 or 2, characterized in that: Before performing virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship, the method further includes: According to the three-dimensional simulation model data of the battery production equipment, the speed loop parameters of the at least one moving component in the virtual environment are set.

6. The virtual debugging method according to claim 5, characterized in that: The speed loop parameters include speed loop gain; and wherein, The step of setting the speed loop parameters of the at least one moving component in the virtual environment according to the three-dimensional simulation model data of the battery production equipment comprises: Obtaining the moment of inertia and proportional gain of the at least one moving component; The speed loop gain is determined according to the moment of inertia and the proportional gain.

7. The virtual debugging method according to claim 1 or 2, characterized in that: Also includes: In response to receiving the state parameter adjustment instruction, the state parameters of the battery production equipment in the virtual environment are adjusted according to external input or virtual debugging results.

8. A virtual debugging device for battery production equipment, characterized in that: include: The first module is used to obtain three-dimensional simulation model data of a battery production device, and to construct a three-dimensional simulation model of the battery production device in a virtual environment according to the three-dimensional simulation model data; the battery production device includes a controller and at least one moving component, and the controller and the at least one moving component are connected in the virtual environment through a virtual debugging control message signal; the message type of the virtual debugging control message corresponds to the communication protocol adopted by the real moving component; The second module is used to determine the virtual debugging mapping relationship according to the message type of the virtual debugging control message sent by the controller and the mapping relationship library, including: constructing the mapping relationship library according to the three-dimensional simulation model data of the battery production equipment; obtaining the message type of the virtual debugging control message; in response to the inconsistency between the message type and the message type corresponding to the virtual debugging mapping relationship, re-determining the mapping relationship corresponding to the message type of the virtual debugging control message in the mapping relationship library as the virtual debugging mapping relationship; wherein the three-dimensional simulation model data of the battery production equipment includes message types that can be adapted by the controller and the at least one moving part respectively; the mapping relationship library includes a plurality of mapping relationships corresponding to different message types, each of the plurality of mapping relationships is used to indicate the function corresponding to each bit in the message of the corresponding type in the virtual environment, and the virtual debugging mapping relationship is a mapping relationship corresponding to the message type of the virtual debugging control message in the plurality of mapping relationships; The third module is used to perform virtual debugging on the three-dimensional simulation model according to the virtual debugging control message and the virtual debugging mapping relationship.

9. A computing device, characterized in that include: at least one processor; as well as At least one memory is communicatively connected to the at least one processor, the at least one memory stores instructions, and when the instructions are executed by the at least one processor individually or collectively, the computing device performs the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Instructions are stored, which, when executed individually or collectively by one or more processors of a computing device, cause the computing device to perform the method of any one of claims 1 to 7.

11. A computer program product, characterized in that The method comprises instructions which, when executed individually or collectively by one or more processors of a computing device, cause the computing device to perform the method of any one of claims 1 to 7.

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