Tension control method and device and cutting and stacking all-in-one machine

Abstract

The embodiment of the invention relates to a tension control method and device and a cutting and stacking all-in-one machine, through combination of a PID (Proportion Integration Differentiation) feedforward control algorithm and an acceleration tracking feedforward control algorithm, compared with an existing constant torque control algorithm, the tension control method has the characteristics of small static error, small hysteresis quality and high tension stability, and is suitable for large-scale production. And the yield of battery cell manufacturing is greatly improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of battery manufacturing equipment, and specifically to a tension control method, device and a cutting and stacking machine. Background Art

[0002] The tension of the diaphragm in a traditional stacking machine cannot be kept constant. During stacking, the positive and negative electrodes are stacked alternately, and the diaphragm is discharged in a Z-shape to isolate the positive and negative electrodes. However, there is a relative displacement between the diaphragm discharge mechanism and the stacking table, which causes the distance between the diaphragm discharge point and the stacking table to change from large to small. In order to match the speed between the diaphragm discharge mechanism and the stacking table, it is necessary to control the tension generated by the diaphragm swing when the diaphragm discharge mechanism is running, so as to avoid unevenness of the diaphragm stacked on the electrode, wrinkling of the diaphragm, or even tearing of the diaphragm, which affects the quality.

[0003] The laminating machine usually uses a floating roller motor to drive the floating roller to adjust the tension of the diaphragm roller. The existing floating roller motor usually adopts a constant torque control algorithm, that is, the floating roller motor is driven by a constant torque, and a tension sensor is used at the rear end of the floating roller motor to detect the diaphragm tension, and the tension feedback value is compared with the target tension to obtain the tension error value. According to the tension error value, the current torque is adjusted by an equal amount so that the tension feedback value approaches the target tension. However, in the above scheme, the constant torque control algorithm will have an overall deviation of about 1 to 2N, and the tension sensor has a hysteresis in detecting the diaphragm tension. If the tension of the diaphragm swing roller is adjusted according to the diaphragm tension with hysteresis, it is easy to produce large tension fluctuations, which will lead to large tension errors and affect the yield rate of battery cell production. Summary of the invention

[0004] In view of the above problems, the examples of the present invention provide a tension control method, device and cutting and stacking machine to solve the problem that the constant torque control algorithm in the prior art has an overall deviation of about 1 to 2N, and the tension sensor has a hysteresis for the diaphragm tension. When adjusting the tension, it is easy to produce large tension fluctuations and tension errors, resulting in low yield rate of battery cell production.

[0005] According to one aspect of an example of the present invention, a tension control method is provided, the method comprising: Generating a first feedforward compensation amount according to a PID super feedforward control algorithm, and continuously adjusting the servo torque output of the floating roller motor according to the first feedforward compensation amount; After the floating roller motor is started, the current acceleration value of the unwinding motor is detected in real time, and it is determined whether the current acceleration value is within a preset acceleration threshold range; If the second feedforward compensation amount is generated according to the acceleration tracking feedforward control algorithm, and the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation amount and the second feedforward compensation amount; Otherwise no processing is performed.

[0006] In some optional embodiments, the acceleration threshold includes a start trigger threshold value and an end trigger threshold value; and determining whether the current acceleration value is within a preset acceleration threshold range specifically includes: After the floating roller motor is started, determining whether the current acceleration value reaches the start trigger threshold value, and if so, adjusting the servo torque output of the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount; otherwise, continuously adjusting the servo torque output of the floating roller motor according to the first feedforward compensation amount; After executing the acceleration tracking feedforward control algorithm, the current acceleration is detected in real time to determine whether the current acceleration value reaches the end trigger threshold value. If so, the servo torque output of the floating roller motor is continuously adjusted according to the first feedforward compensation amount, and no processing is performed.

[0007] In some optional embodiments, the acceleration tracking feedforward control algorithm generates a second feedforward compensation, specifically including: According to the current acceleration value, the fluctuation time and fluctuation amplitude of the acceleration of the floating roller motor in each cam spindle cycle are obtained; A preset acceleration mapping table is queried according to the fluctuation time and the fluctuation amplitude to obtain a second feedforward compensation amount.

[0008] In some optional embodiments, the second feed-forward compensation amount includes any one or more of a torque bias setting amount, a compensation recovery cycle number, a compensation follow parameter selection, a speed tracking compensation coefficient, and an acceleration tracking compensation coefficient.

[0009] In some optional embodiments, generating the first feedforward compensation amount according to the PID super feedforward control algorithm specifically includes: Obtain the tension fluctuation curve through the constant torque control algorithm; According to the tension fluctuation curve, the proportional parameter, integral parameter and differential parameter of the PID super feedforward control algorithm are adjusted to generate a torque compensation curve; wherein the torque compensation curve is the first feedforward compensation amount.

[0010] In some optional embodiments, obtaining the tension fluctuation curve by using a constant torque control algorithm specifically includes: The floating roller motor is driven with a constant torque, and a tension feedback value is detected in real time by a tension sensor located at the rear end of the floating roller motor; Comparing the tension feedback value with the calibrated tension value to obtain a tension error value; In a preset detection period, a plurality of tension error values ​​are obtained, and a tension fluctuation curve is generated according to the plurality of tension error values.

[0011] In some optional embodiments, adjusting the proportional parameter, integral parameter and differential parameter of the PID feedforward control algorithm according to the tension fluctuation curve to generate a torque compensation curve specifically includes: Obtaining a proportional parameter according to a tension error value of the tension fluctuation curve; Obtaining an integral parameter by performing an integral operation on the tension error value of the tension fluctuation curve; Obtaining a differential parameter by performing a differential operation on the tension error value of the tension fluctuation curve; A torque compensation curve is generated based on a PID feedforward control algorithm in combination with the proportional parameter, the integral parameter and the differential parameter.

[0012] In some optional embodiments, the torque compensation curve has 10 calibrated positions, and each of the calibrated positions has 1 torque compensation value.

[0013] According to another aspect of an embodiment of the present invention, there is provided a tension control device, the device comprising: A data acquisition module is used to detect the current acceleration value of the unwinding motor in real time; an algorithm selection module, configured to determine whether the current acceleration value is within a preset acceleration threshold range, and if so, to generate a first feedforward compensation amount according to a PID super feedforward control algorithm and a second feedforward compensation amount according to an acceleration tracking feedforward control algorithm; otherwise, to generate a first feedforward compensation amount according to a PID super feedforward control algorithm; and a floating roller control module, which continuously adjusts the servo torque output of the floating roller motor according to the first feedforward compensation amount, or adjusts the servo torque output of the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount.

[0014] According to another aspect of an embodiment of the present invention, there is provided a cutting and stacking machine, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the tension control method as described above.

[0015] The present invention provides a tension control method, device and cutting and stacking machine, and its beneficial effects are: the present invention generates a first feedforward compensation amount according to a PID super feedforward control algorithm, and continuously adjusts the servo torque output of the floating roller motor according to the first feedforward compensation amount; the PID super feedforward control algorithm is used to perform tension control, which can effectively eliminate the static error of the existing constant rotation tension torque control and improve the tension stability. At the same time, when the present invention performs tension control by the PID super feedforward control algorithm, the current acceleration value of the unwinding motor is detected in real time, and the second feedforward compensation amount is generated by the acceleration tracking feedforward control algorithm according to the current acceleration value, and the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation amount and the second feedforward compensation amount. In the acceleration tracking feedforward control algorithm, the motor acceleration feedback is faster than the tension sensor feedback, which can reduce or eliminate the influence of the hysteresis of the diaphragm tension. Combined with the PID super feedforward control algorithm and the acceleration tracking feedforward control algorithm, compared with the existing constant torque control algorithm, the present invention has the characteristics of small static error, small hysteresis and high tension stability, which greatly improves the yield rate of battery cell production.

[0016] The above description is only an overview of the technical solution of the example of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, 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 example of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings: Figure 1 The present invention provides a schematic flow chart of a tension control method according to Embodiment 1; Figure 2 The present invention provides a schematic flow chart of generating a feedforward compensation amount according to an acceleration tracking feedforward control algorithm in Embodiment 1; Figure 3 The present invention provides a schematic flow chart of generating a feedforward compensation amount according to a PID super feedforward control algorithm in Embodiment 1; Figure 4 The present invention provides a schematic flow chart of obtaining a tension fluctuation curve through a constant torque control algorithm according to Embodiment 1; Figure 5 The present invention provides a schematic structural diagram of a tension control device according to Embodiment 2; Figure 6 The present invention provides a schematic structural diagram of a cutting and stacking machine according to Embodiment 3; Figure 7The present invention provides a schematic structural diagram of a tension control schematic diagram; Figure numerals: 1. floating roller motor; 2. rocker arm; 3. floating roller; 4. fixed roller; 5. sensor. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0019] Embodiment 1: Figure 1 An embodiment of a tension control method of the present invention is shown. The tension control of the present invention is a technology for automatically controlling the tension of a processed material that is continuously moving or stationary between two processing equipment. Tension control can be constant tension control or variable tension control. Variable tension control refers to a tension control technology in which the tension changes according to a predetermined rule, or changes at any time according to process requirements, or participates in the regulation as a parameter of an automatic control system. Specifically, this tension control method can be applied to the middle and front stages of lithium battery production, such as coating machines, stacking machines, winding machines, die-cutting machines, etc. Through tension control, the present invention can match the front and rear processes of the equipment to provide product stability and yield. Specifically, this method includes: 110, generating a first feedforward compensation according to the PID super feedforward control algorithm, and continuously adjusting the servo torque output of the floating roller motor according to the first feedforward compensation; in step 110, generating a first feedforward compensation according to the PID super feedforward control algorithm, specifically including: obtaining a tension fluctuation curve through a constant torque control algorithm; adjusting the proportional parameter, integral parameter and differential parameter of the PID super feedforward control algorithm according to the tension fluctuation curve, generating a torque compensation curve, and the torque compensation curve is the feedforward compensation. Generating a feedforward compensation according to the acceleration tracking feedforward control algorithm can automatically identify the time when the fluctuation occurs without manually calibrating the time point, and the acceleration tracking feedforward control algorithm performs feedforward compensation according to whether the current acceleration is within the acceleration threshold range, which can eliminate system hysteresis and is simple to operate; The PID super feedforward control algorithm has a method for effectively suppressing tension fluctuations that is not affected by system hysteresis, and generating a feedforward compensation according to the PID super feedforward control algorithm can effectively eliminate the static error of tension.

[0020] 120. After the floating roller motor is started, the current acceleration value of the unwinding motor is detected in real time, and it is determined whether the current acceleration value is within a preset acceleration threshold range. In step 120, the current acceleration value can be detected by an acceleration sensor provided in the unwinding motor; or the current speed can be detected by a speed sensor provided in the unwinding motor, and then the current speed can be differentiated; or the current acceleration value can be calculated based on the torque and moment of inertia of the unwinding motor. The acceleration threshold includes a start trigger threshold value and an end trigger threshold value. Determine whether the current acceleration value is within a preset acceleration threshold range, specifically including: after the floating roller motor is started, determine whether the current acceleration value reaches the start trigger threshold value, if so, adjust the servo torque output of the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount; otherwise, continuously adjust the servo torque output of the floating roller motor according to the first feedforward compensation amount; after executing the acceleration tracking feedforward control algorithm, detect the current acceleration in real time to determine whether the current acceleration value reaches the end trigger threshold value, if so, continuously adjust the servo torque output of the floating roller motor according to the first feedforward compensation amount, and do not process it.

[0021] 130. If the second feedforward compensation is generated according to the acceleration tracking feedforward control algorithm, and the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation and the second feedforward compensation; in step 130, the second feedforward compensation is generated according to the acceleration tracking feedforward control algorithm, including: according to the current acceleration value, obtaining the fluctuation time and fluctuation amplitude of the acceleration of the floating roller motor in each cam spindle cycle, and querying the preset acceleration mapping table according to the fluctuation time and fluctuation amplitude to obtain the second feedforward compensation.

[0022] 140, otherwise no processing is performed. In step 140, if the current acceleration value is not within the preset acceleration threshold range, the servo torque output of the floating roller motor is continuously adjusted according to the first feedforward compensation amount.

[0023] When the first feedforward compensation is generated according to the PID super feedforward control algorithm, the servo torque of the floating roller motor is output through 10 calibration positions of the torque compensation curve, and each calibration position has 1 torque compensation value, so that multiple points of the floating roller motor can be adjusted. In the generation of the second feedforward compensation by the acceleration tracking feedforward control algorithm, the working parameters of the floating roller motor can be adjusted through the torque offset setting amount, the number of compensation recovery cycles, the compensation follow parameter selection, the speed tracking compensation coefficient, and the acceleration tracking compensation coefficient, so as to achieve servo torque output for tension control. When the present invention controls the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount, the floating roller motor is first controlled according to the first feedforward compensation amount, and then the floating roller motor is adjusted according to the parameters in the second feedforward compensation amount.

[0024] like Figure 7 As shown, the tension control method is used in the device of diaphragm roller feeding, J5 is a floating roller motor 1 connected to the floating roller 3 through the swing rod 2, and the diaphragm tension between the fixed rollers 4 is adjusted by the floating roller motor 1. The tension sensor 5 is arranged at the rear end of the floating roller motor 1 to detect the diaphragm tension. The present invention continuously controls the floating roller motor by selecting the PID super feedforward control algorithm to generate the first feedforward compensation amount; and when the current acceleration value of the unwinding motor fluctuates, the acceleration tracking feedforward control algorithm and / or the PID super feedforward control algorithm are used to generate the feedforward compensation amount; according to the feedforward compensation amount, the servo torque output of the floating roller motor is adjusted. Not only in the acceleration tracking feedforward control algorithm, the motor acceleration feedback is faster than the tension sensor feedback, which can reduce or eliminate the influence of the diaphragm tension hysteresis; compared with the existing constant torque control algorithm, the present invention has the characteristics of small static error, small hysteresis, and high tension stability, which greatly improves the yield rate of battery cell production.

[0025] In step 120, the acceleration threshold includes a start trigger threshold and an end trigger threshold; determining whether the current acceleration value is within a preset acceleration threshold range specifically includes: After the floating roller motor is started, it is determined whether the current acceleration value reaches the start trigger threshold value, and if so, the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation amount and the second feedforward compensation amount; otherwise, the servo torque output of the floating roller motor is continuously adjusted according to the first feedforward compensation amount; After executing the acceleration tracking feedforward control algorithm, the current acceleration is detected in real time to determine whether the current acceleration value reaches the end trigger threshold value. If so, the servo torque output of the floating roller motor is continuously adjusted according to the first feedforward compensation amount, and no processing is performed.

[0026] In this embodiment, the unwinding motor acceleration feedback of the acceleration tracking feedforward control algorithm is faster than the tension sensor feedback, which can eliminate the hysteresis of the constant torque control algorithm to a certain extent. Compared with only using the PID super feedforward control algorithm, the acceleration tracking feedforward control algorithm can automatically identify the time when the fluctuation occurs, without the need to manually calibrate the time point. Although the floating roller motor feedback is faster, the suppression effect of instantaneous large fluctuations is not very obvious. It is necessary to set the acceleration threshold. The acceleration threshold has a start trigger threshold value and an end trigger threshold value, so that the acceleration tracking feedforward control algorithm and the PID super feedforward control algorithm are integrated within the acceleration threshold. The floating roller motor is controlled by the first feedforward compensation amount and the second feedforward compensation amount, which can achieve the characteristics of small hysteresis. Only using the PID super feedforward control algorithm outside the acceleration threshold can achieve the characteristics of stable tension. The present invention combines the acceleration tracking feedforward control algorithm and the PID super feedforward control algorithm to control the tension. Compared with the existing constant torque control algorithm, the present invention has the characteristics of small static error, small hysteresis, and high tension stability, which greatly improves the yield rate of battery cell production.

[0027] In step 130, a second feedforward compensation is generated according to the acceleration tracking feedforward control algorithm, see Figure 2 , specifically including: 210, according to the current acceleration value, obtaining the fluctuation time and fluctuation amplitude of the floating roller motor acceleration in each cam spindle cycle; 220 , query a preset acceleration mapping table according to the fluctuation time and the fluctuation amplitude to obtain a second feedforward compensation amount.

[0028] In this embodiment, the fluctuation time and fluctuation amplitude of the acceleration of the floating roller motor when it operates normally in each cam spindle cycle are recorded, and an acceleration mapping table is constructed according to the fluctuation time and fluctuation amplitude; the current acceleration value is numerically detected by an acceleration sensor arranged in the floating roller motor; or the current speed is detected by a speed sensor arranged in the floating roller motor, and then the current speed is differentiated; or the current acceleration value is calculated by the torque and moment of inertia of the floating roller motor, and then the current acceleration value of the floating roller motor is obtained, and the fluctuation time and fluctuation amplitude of the acceleration of the floating roller motor in each cam spindle cycle are obtained according to the current acceleration value, and then the preset acceleration mapping table is queried, and the fluctuation time and fluctuation amplitude corresponding to the current acceleration value are compared with the fluctuation time and fluctuation amplitude in the preset acceleration mapping table to determine the second feedforward compensation amount of the floating roller motor. In one embodiment, during the operation of a cutting and stacking machine or other equipment, an acceleration tracking feedforward control algorithm is enabled inside a driver. In order to reduce feedback lag, the acceleration fluctuation of the floating roller motor itself is detected instead of the tension sensor feedback value for feedforward control. The feedforward compensation is triggered based on the time when the floating roller motor acceleration fluctuation occurs in each cam spindle cycle and the amplitude of the fluctuation, thereby adjusting the working parameters of the floating roller motor and completing the servo torque output for tension control. The feedforward compensation amount includes any one or more of a torque offset setting amount, a compensation recovery cycle number, a compensation follow parameter selection, a speed tracking compensation coefficient, and an acceleration tracking compensation coefficient.

[0029] In step 110, a first feedforward compensation is generated according to a PID feedforward control algorithm, see Figure 3 , specifically including: 310, obtaining a tension fluctuation curve through a constant torque control algorithm; in step 310, obtaining a tension fluctuation curve through a constant torque control algorithm, specifically including: driving the floating roller motor with a constant torque, and detecting a tension feedback value in real time through a tension sensor located at the rear end of the floating roller motor; comparing the tension feedback value with a calibrated tension value to obtain a tension error value; obtaining multiple tension error values ​​within a preset detection period, and generating a tension fluctuation curve based on the multiple tension error values.

[0030] 320, according to the tension fluctuation curve, adjust the proportional parameter, integral parameter and differential parameter of the PID super feedforward control algorithm to generate a torque compensation curve; wherein the torque compensation curve is the first feedforward compensation amount. In step 320, it specifically includes: obtaining a proportional parameter according to the tension error value of the tension fluctuation curve; obtaining an integral parameter by integrating the tension error value of the tension fluctuation curve; obtaining a differential parameter by differentiating the tension error value of the tension fluctuation curve, and generating a torque compensation curve based on the PID super feedforward control algorithm in combination with the above-mentioned proportional parameter, integral parameter and differential parameter. In one embodiment, the torque compensation curve has 10 calibration positions, and each calibration position has 1 torque compensation value.

[0031] In this embodiment, the tension fluctuation curve is obtained by the constant torque control algorithm, and then the PID feedforward control proportional parameters, integral parameters, differential parameters and torque compensation curve are calculated and learned. In one embodiment, when the equipment such as the cutting and stacking machine is running, the original constant torque control is turned off in the production mode, and the PID+super feedforward control is automatically switched. The PID super feedforward control algorithm inside the processor is turned on during the operation of the equipment. Super feedforward is an effective method for suppressing tension fluctuations that is not affected by system lag. By adjusting the PID parameters, the feedforward compensation is triggered according to the time when the calibrated tension fluctuation occurs in each cam spindle cycle and the amplitude of the fluctuation, thereby suppressing the tension fluctuation, so that the tension feedback value approaches the target tension. The advance compensation feed function of the calibration time can ignore the lag, but it is necessary to plan the compensation curve measurement compensation response time in advance according to the shape of the tension fluctuation. The compensation time point and compensation amount of each cycle during operation are fixed values. For example, according to the shape of the tension feedback fluctuation curve, a torque compensation curve of up to 10 points is calibrated, and the time offset of the tension response lag is added to achieve a lag-free feedforward response.

[0032] In some optional embodiments, in step 310, a tension fluctuation curve is obtained by a constant torque control algorithm, see Figure 4 , specifically including: 410, driving the floating roller motor with a constant torque, and detecting the tension feedback value in real time through a tension sensor located at the rear end of the floating roller motor; 420, comparing the tension feedback value and the calibrated tension value to obtain a tension error value; 430, obtaining a plurality of tension error values ​​within a preset detection period, and generating a tension fluctuation curve according to the plurality of tension error values; 440, generating a torque compensation curve based on a PID feedforward control algorithm in combination with a proportional parameter, the integral parameter, and the differential parameter.

[0033] In this embodiment, the floating roller motor is driven with constant torque, and the tension feedback value is detected in real time by the tension sensor located at the rear end of the floating roller motor; the tension feedback value is compared with the calibrated tension value to obtain the tension error value, and the tension error value is adjusted by equal amount under the premise of the current torque, so that the tension feedback value approaches the calibrated tension value. In addition, the command position of the spindle and the real-time tension value of the diaphragm are collected during the constant torque control process. The command position data is collected to provide data basis for generating a torque compensation curve based on the PID super feedforward control algorithm, and the command position is used as the translation coordinate for feedforward control. The tension value is collected to generate a tension fluctuation curve in the constant torque mode during the spindle cycle, which is used for the proportional gain coefficient adjustment and PID compensation curve of the PID super feedforward control algorithm.

[0034] In some optional embodiments, in step 320, proportional parameters, integral parameters and differential parameters of the PID feedforward control algorithm are adjusted according to the tension fluctuation curve to generate a torque compensation curve.

[0035] In this embodiment, the PID feedforward control algorithm is a feedback-based control algorithm, and its working principle is to calculate the control amount to control the controlled object through the three links of proportional P, integral I and differential D according to the deviation between the given value and the actual value of the system. Specifically, the proportional link: the proportional parameter is directly calculated according to the size of the deviation. The larger the deviation, the larger the control amount, and vice versa; the output of the proportional link is proportional to the deviation, so it has a faster response speed. Integral link: by integrating the deviation, the past deviations are accumulated to obtain an integral parameter related to the duration of the deviation; the role of the integral link is to eliminate steady-state errors. Differential link: by differentiating the deviation, a differential parameter related to the rate of change of the deviation is obtained; the role of the differential link is to predict the changing trend of the deviation and give the control amount in advance to suppress the generation of the deviation.

[0036] Embodiment 2: Figure 5 FIG. 5 is a schematic diagram showing a structure of an embodiment of a tension control device 500 of the present invention, wherein the device comprises: The data acquisition module 510 is used to detect the current acceleration value of the unwinding motor in real time; specifically, it includes: the current acceleration value can be detected by an acceleration sensor set in the unwinding motor; or the current speed is detected by a speed sensor set in the unwinding motor, and then the current speed is differentiated; or the current acceleration value is calculated according to the torque and moment of inertia of the unwinding motor.

[0037] The algorithm selection module 520 is used to determine whether the current acceleration value is within the preset acceleration threshold range. If so, the first feedforward compensation is generated according to the PID super feedforward control algorithm and the second feedforward compensation is generated according to the acceleration tracking feedforward control algorithm. Otherwise, the first feedforward compensation is generated according to the PID super feedforward control algorithm. Specifically, the acceleration threshold includes a start trigger threshold value and an end trigger threshold value. Determining whether the current acceleration value is within the preset acceleration threshold range specifically includes: after the floating roller motor is started, determining whether the current acceleration value reaches the start trigger threshold value. If so, the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation amount and the second feedforward compensation amount; otherwise, the servo torque output of the floating roller motor is continuously adjusted according to the first feedforward compensation amount; after executing the acceleration tracking feedforward control algorithm, the current acceleration is detected in real time to determine whether the current acceleration value reaches the end trigger threshold value. If so, the servo torque output of the floating roller motor is continuously adjusted according to the first feedforward compensation amount, and no processing is performed. Generate a first feedforward compensation according to the PID super feedforward control algorithm, specifically including: obtain a tension fluctuation curve through a constant torque control algorithm; according to the tension fluctuation curve, adjust the proportional parameter, integral parameter and differential parameter of the PID super feedforward control algorithm to generate a torque compensation curve, which is the feedforward compensation. Generate a feedforward compensation according to the acceleration tracking feedforward control algorithm, which can automatically identify the time when the fluctuation occurs without manually calibrating the time point, and the acceleration tracking feedforward control algorithm performs feedforward compensation based on whether the current acceleration is within the acceleration threshold range, which can eliminate system hysteresis and is simple to operate; The PID super feedforward control algorithm has an effective method for suppressing tension fluctuations that is not affected by system hysteresis. Generating a feedforward compensation according to the PID super feedforward control algorithm can effectively eliminate the static error of tension. Generate a second feedforward compensation according to the acceleration tracking feedforward control algorithm, including: according to the current acceleration value, obtain the fluctuation time and fluctuation amplitude of the floating roller motor acceleration in each cam spindle cycle, query the preset acceleration mapping table according to the fluctuation time and fluctuation amplitude, and obtain the second feedforward compensation; specifically including: And the floating roller control module 530 continuously adjusts the servo torque output of the floating roller motor according to the first feedforward compensation amount, or adjusts the servo torque output of the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount. Specifically, it includes: generating the first feedforward compensation amount according to the PID super feedforward control algorithm, outputting the servo torque of the floating roller motor through 10 calibration positions of the torque compensation curve, and each calibration position has 1 torque compensation value, so that multiple points of the floating roller motor can be adjusted. In the generation of the second feedforward compensation amount by the acceleration tracking feedforward control algorithm, the working parameters of the floating roller motor can be adjusted through the torque offset setting amount, the number of compensation recovery cycles, the compensation follow parameter selection, the speed tracking compensation coefficient, and the acceleration tracking compensation coefficient, so as to achieve the servo torque output for tension control. When the present invention controls the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount, the floating roller motor is first controlled according to the first feedforward compensation amount, and then the floating roller motor is adjusted according to the parameters in the second feedforward compensation amount.

[0038] The present invention generates a first feedforward compensation according to a PID super feedforward control algorithm, and continuously adjusts the servo torque output of the floating roller motor according to the first feedforward compensation; the PID super feedforward control algorithm is used to perform tension control, which can effectively eliminate the static error of the existing constant rotation tension torque control and improve the tension stability. At the same time, when the present invention performs tension control by the PID super feedforward control algorithm, the current acceleration value of the unwinding motor is detected in real time, and the second feedforward compensation is generated by the acceleration tracking feedforward control algorithm according to the current acceleration value, and the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation and the second feedforward compensation. In the acceleration tracking feedforward control algorithm, the motor acceleration feedback is faster than the tension sensor feedback, which can reduce or eliminate the influence of the hysteresis of the diaphragm tension. Combined with the PID super feedforward control algorithm and the acceleration tracking feedforward control algorithm, compared with the existing constant torque control algorithm, the present invention has the characteristics of small static error, small hysteresis, and high tension stability, which greatly improves the yield rate of battery cell production.

[0039] Embodiment 3: Figure 6 The schematic diagram of the structure of an embodiment of the cutting and stacking machine of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the cutting and stacking machine.

[0040] like Figure 6 As shown, the cutting and laminating machine may include: a processor, a communication interface, a memory, and a communication bus.

[0041] The processor 610, the communication interface 640, and the memory 620 communicate with each other via the communication bus 630. The communication interface is used to communicate with other devices such as a client or other server network elements. The processor is used to execute the program 650, which can specifically execute the relevant steps in the above-mentioned embodiment of the vehicle-mounted key storage method.

[0042] Specifically, the program may include program code including computer executable instructions.

[0043] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the cutting and stacking machine may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0044] Memory is used to store programs. The memory may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk storage.

[0045] The program can be called by the processor to enable the cutting and laminating machine to execute Figure 1 The following steps of embodiment 1 are as follows: 110, generating a first feedforward compensation amount according to a PID super feedforward control algorithm, and continuously adjusting the servo torque output of the floating roller motor according to the first feedforward compensation amount; 120, after the floating roller motor is started, the current acceleration value of the unwinding motor is detected in real time, and it is determined whether the current acceleration value is within a preset acceleration threshold range; 130, if the second feedforward compensation amount is generated according to the acceleration tracking feedforward control algorithm, and the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation amount and the second feedforward compensation amount; 140, otherwise no processing is performed.

[0046] The present invention generates a first feedforward compensation according to a PID super feedforward control algorithm, and continuously adjusts the servo torque output of the floating roller motor according to the first feedforward compensation; the PID super feedforward control algorithm is used to perform tension control, which can effectively eliminate the static error of the existing constant rotation tension torque control and improve the tension stability. At the same time, when the present invention performs tension control by the PID super feedforward control algorithm, the current acceleration value of the unwinding motor is detected in real time, and the second feedforward compensation is generated by the acceleration tracking feedforward control algorithm according to the current acceleration value, and the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation and the second feedforward compensation. In the acceleration tracking feedforward control algorithm, the motor acceleration feedback is faster than the tension sensor feedback, which can reduce or eliminate the influence of the hysteresis of the diaphragm tension. Combined with the PID super feedforward control algorithm and the acceleration tracking feedforward control algorithm, compared with the existing constant torque control algorithm, the present invention has the characteristics of small static error, small hysteresis, and high tension stability, which greatly improves the yield rate of battery cell production.

[0047] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0048] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0049] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0050] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A tension control method, characterized in that: The method comprises: Generating a first feedforward compensation amount according to a PID super feedforward control algorithm, and continuously adjusting the servo torque output of the floating roller motor according to the first feedforward compensation amount; After the floating roller motor is started, the current acceleration value of the unwinding motor is detected in real time, and it is determined whether the current acceleration value is within a preset acceleration threshold range; If the second feedforward compensation amount is generated according to the acceleration tracking feedforward control algorithm, and the servo torque output of the floating roller motor is adjusted according to the first feedforward compensation amount and the second feedforward compensation amount; Otherwise no processing is performed.

2. The tension control method according to claim 1, characterized in that: The acceleration threshold includes a start trigger threshold and an end trigger threshold; judging whether the current acceleration value is within a preset acceleration threshold range specifically includes: After the floating roller motor is started, determining whether the current acceleration value reaches the start trigger threshold value, and if so, adjusting the servo torque output of the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount; otherwise, continuously adjusting the servo torque output of the floating roller motor according to the first feedforward compensation amount; After executing the acceleration tracking feedforward control algorithm, the current acceleration is detected in real time to determine whether the current acceleration value reaches the end trigger threshold value. If so, the servo torque output of the floating roller motor is continuously adjusted according to the first feedforward compensation amount, and no processing is performed.

3. The tension control method according to claim 2, characterized in that: The acceleration tracking feedforward control algorithm generates a second feedforward compensation, specifically including: According to the current acceleration value, the fluctuation time and fluctuation amplitude of the acceleration of the floating roller motor in each cam spindle cycle are obtained; A preset acceleration mapping table is queried according to the fluctuation time and the fluctuation amplitude to obtain a second feedforward compensation amount.

4. The tension control method according to claim 3, characterized in that: The second feedforward compensation amount includes any one or more of a torque offset setting amount, a compensation recovery cycle number, a compensation follow parameter selection, a speed tracking compensation coefficient, and an acceleration tracking compensation coefficient.

5. The tension control method according to claim 2, characterized in that: The step of generating the first feedforward compensation amount according to the PID feedforward control algorithm specifically includes: Obtain the tension fluctuation curve through the constant torque control algorithm; According to the tension fluctuation curve, the proportional parameter, integral parameter and differential parameter of the PID super feedforward control algorithm are adjusted to generate a torque compensation curve; wherein the torque compensation curve is the first feedforward compensation amount.

6. The tension control method according to claim 5, characterized in that: The method of obtaining the tension fluctuation curve by using the constant torque control algorithm specifically includes: The floating roller motor is driven with a constant torque, and a tension feedback value is detected in real time by a tension sensor located at the rear end of the floating roller motor; Comparing the tension feedback value with the calibrated tension value to obtain a tension error value; In a preset detection period, a plurality of tension error values ​​are obtained, and a tension fluctuation curve is generated according to the plurality of tension error values.

7. The tension control method according to claim 6, characterized in that: The method of adjusting the proportional parameter, integral parameter and differential parameter of the PID feedforward control algorithm according to the tension fluctuation curve to generate a torque compensation curve specifically includes: Obtaining a proportional parameter according to a tension error value of the tension fluctuation curve; Obtaining an integral parameter by performing an integral operation on the tension error value of the tension fluctuation curve; Obtaining a differential parameter by performing a differential operation on the tension error value of the tension fluctuation curve; A torque compensation curve is generated based on a PID feedforward control algorithm in combination with the proportional parameter, the integral parameter and the differential parameter.

8. The tension control method according to claim 7, characterized in that: The torque compensation curve has 10 calibrated positions, and each of the calibrated positions has 1 torque compensation value.

9. A tension control device, characterized in that: The device comprises: A data acquisition module is used to detect the current acceleration value of the unwinding motor in real time; an algorithm selection module, configured to determine whether the current acceleration value is within a preset acceleration threshold range, and if so, to generate a first feedforward compensation amount according to a PID super feedforward control algorithm and a second feedforward compensation amount according to an acceleration tracking feedforward control algorithm; otherwise, to generate a first feedforward compensation amount according to a PID super feedforward control algorithm; and a floating roller control module, which continuously adjusts the servo torque output of the floating roller motor according to the first feedforward compensation amount, or adjusts the servo torque output of the floating roller motor according to the first feedforward compensation amount and the second feedforward compensation amount.

10. A cutting and stacking machine, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the tension control method according to any one of claims 1-8.

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