Foil tension control system and method, electronic device and computer storage medium

Abstract

The invention discloses a foil tension control system, a foil tension control method, an electronic device and a computer readable storage medium. The control system comprises a winding assembly, an unwinding assembly, a speed detection assembly, a tension detection assembly and a controller. Foil is wound on the winding assembly and the unwinding assembly. The speed detection assembly is configured to detect the real-time moving speed of the foil; the tension detection assembly is configured to detect the real-time tension of the foil; the controller is configured to determine a target winding speed and a target unwinding speed according to the obtained real-time tension and the real-time moving speed; and according to the target winding speed and the target unwinding speed, the winding assembly and the unwinding assembly are controlled to rotate so as to drive the foil to move and generate tension. According to the control system, closed-loop control is conducted on the target winding speed and the target unwinding speed, so that the winding and unwinding linear speeds are stably controlled, stable control over tension is achieved, the implementation method is simple, and the implementation time cost is low.

Description

Technical Field

[0001] The present application relates to the technical field of foil materials, and more specifically, to a foil tension control system, a foil tension control method, an electronic device, and a computer-readable storage medium. Background Art

[0002] Copper foil is the negative electrode material of lithium batteries, and its quality affects the safety and service life of lithium batteries. The plate meter is a device used to detect quality problems such as foil collapse and warping. During the detection process, the foil is flattened on two rollers, and the collapse and warping data of the foil are measured under certain tension conditions. An important control condition of the plate meter is tension control. Unstable tension control will lead to inaccurate foil measurement data.

[0003] In the related art, it is difficult to achieve stable control of the line speeds on the winding side and the unwinding side, resulting in unstable control of the foil tension. Summary of the invention

[0004] Embodiments of the present application provide a foil tension control system, a foil tension control method, an electronic device, and a computer-readable storage medium.

[0005] The embodiment of the present application provides a foil tension control system, the control system comprising:

[0006] A winding assembly and an unwinding assembly, the foil material is wound on the winding assembly and the unwinding assembly;

[0007] A speed detection component, wherein the speed detection component is configured to detect a real-time moving speed of the foil;

[0008] A tension detection component, wherein the tension detection component is configured to detect the real-time tension of the foil;

[0009] A controller, wherein the controller is configured to: determine a target winding speed and a target unwinding speed according to the acquired real-time tension and the real-time moving speed; and control the rotation of the winding component and the unwinding component according to the target winding speed and the target unwinding speed to drive the foil to move and generate tension.

[0010] Thus, in the control system, control method, electronic device and computer-readable storage medium of the present application, closed-loop control is performed on the target winding speed and the target unwinding speed according to the real-time tension and real-time moving speed of the foil material, so as to stably control the linear speed of winding and unwinding, thereby achieving stable control of the tension. Moreover, the implementation method is simple and the time cost of implementation is low.

[0011] In some embodiments, the speed detection assembly includes a speed measuring roller, a speed measuring wheel and a speed measuring encoder. The speed measuring wheel is fixed on the speed measuring encoder. The speed measuring wheel and the speed measuring roller are in abutment with each other. In the vertical direction, the foil covers a side of the speed measuring roller away from the speed measuring wheel. When the foil moves, it drives the speed measuring roller to rotate, thereby driving the speed measuring wheel to rotate.

[0012] In this way, through the cooperation of the speed roller, the speed wheel and the speed encoder, the real-time moving speed can be measured.

[0013] In some embodiments, the control system also includes a carrier, the tension detection assembly includes a tension sensor, a support member and a transition roller, the support member is configured to support the transition roller, the tension sensor is arranged at the bottom of the support member and fixedly arranged on the carrier, and in the vertical direction, the foil material covers a side of the transition roller away from the tension sensor.

[0014] In this way, the real-time tension of the foil can be detected by the cooperation of the tension sensor, the support member and the transition roller.

[0015] In some embodiments, the controller is configured to determine the target winding speed and the target unwinding speed based on a speed reference value and a tension reference value, wherein the tension reference value is determined based on the real-time tension and the speed reference value is determined based on the real-time moving speed.

[0016] In this way, the tension reference value and the speed reference value are determined according to the real-time tension and the real-time moving speed, and then the target winding speed and the target unwinding speed can be determined according to the tension reference value and the speed reference value, thereby realizing speed feedback control and further realizing stable control of the tension.

[0017] In some embodiments, the controller is configured to perform proportional-integral-differential regulation on the tension difference to obtain the tension reference value, where the tension difference is the difference between the real-time tension and a preset tension value.

[0018] In this way, by performing proportional-integral-differential adjustment on the difference between the real-time moving speed and the preset speed value, a tension reference value can be obtained, so as to realize speed control according to the tension reference value, thereby realizing stable control of the tension generated by the foil.

[0019] In some embodiments, the controller is configured to perform proportional-integral-differential adjustment on the speed difference to obtain the speed reference value, and the speed difference is the difference between the real-time moving speed and a preset speed value.

[0020] In this way, by performing proportional-integral-differential adjustment on the difference between the real-time moving speed and the preset speed value, a speed reference value can be obtained to achieve speed feedback control.

[0021] In some embodiments, the controller is configured to determine the target winding speed based on the speed reference value, and determine the target unwinding speed based on the difference between the target winding speed and a target difference value, wherein the target difference value is the product of the tension reference value and a preset coefficient.

[0022] In this way, the target winding speed is determined according to the speed reference value, and the target unwinding speed is determined according to the target winding speed and the tension reference value, so that stable control of the rotation speed of the winding component and the unwinding component can be achieved, thereby achieving stable control of the tension.

[0023] The embodiment of the present application provides a method for controlling the tension of a foil material, which is used for a control system, wherein the control system comprises a winding assembly, an unwinding assembly, a speed detection assembly and a tension detection assembly, wherein the foil material is wound on the winding assembly and the unwinding assembly; the speed detection assembly is configured to detect the real-time moving speed of the foil material; the tension detection assembly is configured to detect the real-time tension of the foil material; the control method comprises:

[0024] Determining a target winding speed and a target unwinding speed according to the real-time tension and the real-time moving speed;

[0025] According to the target winding speed and the target unwinding speed, the winding assembly and the unwinding assembly are controlled to rotate to drive the foil to move and generate tension.

[0026] An embodiment of the present application provides an electronic device, which includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method in any of the above embodiments are implemented.

[0027] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 It is one of the flow charts of the control method of certain embodiments of the present application;

[0031] Figure 2is one of the schematic diagrams of a control system of certain embodiments of the present application;

[0032] Figure 3 This is the second schematic diagram of a control system of certain embodiments of the present application;

[0033] Figure 4 This is the third schematic diagram of a control system of certain embodiments of the present application;

[0034] Figure 5 This is the second flow chart of the control method of certain embodiments of the present application;

[0035] Figure 6 This is the third flow chart of the control method of certain embodiments of the present application;

[0036] Figure 7 This is the fourth flow chart of the control method of certain embodiments of the present application;

[0037] Figure 8 This is the fifth flow chart of the control method of certain embodiments of the present application. DETAILED DESCRIPTION

[0038] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0039] Copper foil is the negative electrode material of lithium batteries, and its quality affects the safety and service life of lithium batteries. The plate meter is a device used to detect quality problems such as foil collapse and warping. During the detection process, the foil is flattened on two rollers, and the collapse and warping data of the foil are measured under certain tension conditions. An important control condition of the plate meter is tension control. Unstable tension control will lead to inaccurate foil measurement data.

[0040] In the related art, it is difficult to achieve stable control of the line speeds on the winding side and the unwinding side, resulting in unstable control of the foil tension.

[0041] Based on the above unresolved issues, please refer to Figures 1 to 3 The embodiment of the present application provides a method for controlling the tension of a foil material, which is used for controlling a control system 100. The control system 100 includes a winding assembly 10, an unwinding assembly 30, a speed detection assembly 50 and a tension detection assembly 70. The foil material is wound on the winding assembly 10 and the unwinding assembly 30; the speed detection assembly 50 is configured to detect the real-time moving speed of the foil material; the tension detection assembly 70 is configured to detect the real-time tension of the foil material; the control method includes:

[0042] 01: Determine the target winding speed and target unwinding speed based on the real-time tension and real-time moving speed;

[0043] 02: According to the target winding speed and the target unwinding speed, the winding assembly 10 and the unwinding assembly 30 are controlled to rotate to drive the foil to move and generate tension.

[0044] An embodiment of the present application provides an electronic device, which includes one or more processors and a memory, wherein the memory stores a computer program, and the computer program can be executed by the processor.

[0045] The embodiment of the present application provides a control device, which includes a data receiving module, a speed processing module, a winding speed control module and an unwinding speed module. The data receiving module is used to obtain the real-time moving speed detected by the speed detection component 50 and the real-time tension detected by the tension detection component 70. The speed processing module is used to determine the target winding speed and the target unwinding speed according to the real-time tension and the real-time moving speed. The winding speed control module is used to control the rotation of the winding component 10 according to the target winding speed, and the unwinding speed control module is used to control the rotation of the unwinding component 30 according to the target unwinding speed.

[0046] In some embodiments, the control system 100 also includes a controller 90, which is configured to: determine a target winding speed and a target unwinding speed based on the acquired real-time tension and real-time moving speed; and control the winding assembly 10 and the unwinding assembly 30 to rotate based on the target winding speed and the target unwinding speed to drive the foil to move and generate tension.

[0047] Specifically, the control system 100 may include a pattern meter, which includes a winding assembly 10 and an unwinding assembly 30, and is used to detect quality problems of the foil.

[0048] See also Figure 3 The winding assembly 10 includes a winding roller 11 and a winding servo motor 13, and the unwinding assembly 30 includes an unwinding roller 31 and an unwinding servo motor 33. The winding servo motor 13 is used to drive the winding roller 11 to rotate, and the unwinding servo motor 33 is used to drive the unwinding roller 31 to rotate. The foil is wound on the winding roller 11 and the unwinding roller 31. As the winding roller 11 and the unwinding roller 31 rotate, the foil moves, and the foil on the unwinding roller 31 gradually moves to the winding roller 11. The rotation speed of the winding roller 11 is slightly greater than the rotation speed of the unwinding roller 31, so that the foil generates tension.

[0049] During the detection process, the foil is placed on the winding assembly 10 and the unwinding assembly 30, the winding speed of the winding servo motor 13 and the unwinding speed of the unwinding servo motor 33 are given, and the winding roller 11 and the unwinding roller 31 are controlled to rotate to drive the foil to move and generate tension, so as to detect the collapse and warping of the foil under certain tension conditions.

[0050] The tension stability of the plate meter has an important influence on the accuracy of foil detection. However, as the unwinding roller 31 and the winding roller 11 rotate, the diameter of the foil wound thereon changes, which makes it difficult to control the linear speed of the winding roller 11 and the unwinding roller 31, resulting in unstable tension generated by the foil. In the related art, the rotation speed of the winding roller 11 and the unwinding roller 31 is controlled by PID adjustment of the torque of the two servo motors. However, as the equipment ages, the lubrication and wear degree of the gears, bearings and other structures change, which increases the friction of this part of the mechanical structure, and finally acts on the servo motor, resulting in the torque control mode no longer meeting the tension stability requirements. Alternatively, a tension sensor, a tension controller and a magnetic powder clutch are used to feed back the collected tension data to the tension controller, and the tension controller compares and calculates the current tension with the set tension, controls the magnetic powder clutch, and finally adjusts the tension. However, the method of controlling the tension by the magnetic powder clutch has a slow response speed during the acceleration and deceleration process and the high-speed operation process, and the tension cannot be adjusted in time, the stability is poor, and the magnetic powder clutch is easily damaged and fails, and the subsequent maintenance cost is high.

[0051] The embodiment of the present application sets a tension detection component 70 and a speed detection component 50 to detect the real-time tension and real-time moving speed of the foil, and determines the target winding speed and the target unwinding speed by the real-time tension and the real-time moving speed, so as to realize feedback control of the rotation speed of the winding roller 11 and the unwinding roller 31. By directly controlling the speed of the unwinding side and the winding side, the influence of friction is avoided. At the same time, the adjustment response is fast and the stability is high.

[0052] In some embodiments, the tension detection assembly 70 and the speed detection assembly 50 are both arranged on a side close to the winding assembly 10. In some embodiments, the tension detection assembly 70 and the speed detection assembly 50 are both arranged on a side close to the unwinding assembly 30. In some embodiments, the tension detection assembly 70 is arranged on a side close to the winding assembly 10, and the speed detection assembly 50 is arranged on a side close to the unwinding assembly 30, or the tension detection assembly 70 is arranged on a side close to the unwinding assembly 30, and the speed detection assembly 50 is arranged on a side close to the winding assembly 10.

[0053] It should be noted that the real-time tension in the embodiment of the present application refers to the tension of the foil detection point at the detection moment, which is used to characterize the current tension of the foil. The real-time moving speed refers to the speed at which a specified point on the foil moves a set distance within the measurement time, which is used to characterize the current moving speed of the foil. The target winding speed is the speed at which the winding servo motor 13 is controlled to rotate, and the target unwinding speed is the speed at which the unwinding servo motor 33 is controlled to rotate. By controlling the rotation speeds of the winding servo motor 13 and the unwinding servo motor 33 according to the target winding speed and the target unwinding speed, the rotation speed control of the winding roller 11 and the unwinding roller 31 can be achieved.

[0054] In one embodiment, the real-time tension and the real-time moving speed are PID adjusted to obtain a tension reference value and a speed reference value, and the target winding speed and the target unwinding speed are determined based on the tension reference value and the speed reference value to achieve closed-loop feedback control of the speed of the winding component 10 and the speed of the unwinding component 30.

[0055] By performing feedback control on the rotation speed of the winding roller 11 and the unwinding roller 31, the moving speed of the winding roller 11 and the unwinding roller 31 can be controlled to be stable within a suitable range according to the real-time tension and the real-time moving speed, with a fast response speed, and avoiding the influence of friction, thereby improving stability.

[0056] Thus, in the control system 100, control method, electronic device and computer-readable storage medium of the present application, closed-loop control is performed on the target winding speed and target unwinding speed according to the real-time tension and real-time moving speed of the foil material, so as to stably control the linear speed of winding and unwinding, thereby achieving stable control of the tension. This avoids the phenomenon of torque control mode failure caused by increased friction due to changes in lubrication and wear of the equipment structure, and the implementation method is simple and the time cost of implementation is low.

[0057] See also Figure 4 In some embodiments, the speed detection assembly 50 includes a speed measuring roller 51, a speed measuring wheel 53 and a speed measuring encoder 55. The speed measuring wheel 53 is fixed on the speed measuring encoder 55. The speed measuring wheel 53 and the speed measuring roller 51 are in contact with each other. In the vertical direction, the foil covers the side of the speed measuring roller 51 away from the speed measuring wheel 53. When the foil moves, it drives the speed measuring roller 51 to rotate, thereby driving the speed measuring wheel 53 to rotate.

[0058] Specifically, the control system 100 further includes a stand, on which the speed measuring roller 51 is relatively fixed through a bracket, and the foil passes around one side of the speed measuring roller 51 and contacts the speed measuring roller 51. When the foil moves, the speed measuring roller 51 is driven to rotate.

[0059] The speed wheel 53 is mounted on the speed encoder 55. When the speed wheel 53 rotates, the speed encoder 55 can detect the rotation speed of the speed wheel 53. The speed wheel 53 is in close contact with the speed roller 51 and rotates with the speed roller 51. The vertical direction can be understood as a direction perpendicular to the support surface of the platform.

[0060] The speed measuring wheel 53 includes a rubber speed measuring wheel 53 , and the rubber speed measuring wheel 53 is in close contact with the speed measuring roller 51 so as to rotate along with the speed measuring roller 51 .

[0061] That is, when the foil moves, the foil drives the speed measuring roller 51 to rotate, the speed measuring roller 51 drives the speed measuring wheel 53 to rotate, and the speed measuring encoder 55 outputs the rotation speed to obtain the real-time moving speed. It should be noted that the rotation speed output by the speed measuring encoder 55 can be processed to obtain the real-time moving speed, or the measured rotation speed can be directly used as the real-time moving speed.

[0062] In one embodiment, the speed encoder 55 transmits the measured real-time speed to the controller 90 via EtherCAT (Ethernet Control Automation Technology) bus communication.

[0063] In this way, through the cooperation of the speed roller, the speed wheel and the speed encoder 55, the real-time moving speed can be measured.

[0064] See also Figure 4 In some embodiments, the control system 100 further includes a carrier 110, the tension detection assembly 70 includes a tension sensor 71, a support member 73 and a transition roller 75, the support member 73 is configured to support the transition roller 75, the tension sensor 71 is disposed at the bottom of the support member 73 and is fixedly disposed on the carrier 110, and in the vertical direction, the foil covers the side of the transition roller 75 away from the tension sensor 71.

[0065] Specifically, the bearing member 110 is used to bear a plurality of auxiliary rollers, a speed detection assembly 50 and a tension detection assembly 70 of the control system 100. The bearing member 110 may be a stand or the like.

[0066] The tension detection assembly 70 includes a tension sensor 71, a support member 73 and a transition roller 75. The tension sensor 71 is disposed at the bottom of the support member 73 and is fixed to the support member 110 together with the support member 73. The transition roller 75 is disposed on the support member 73 and is relatively fixed to the support member 110 through the support member 73. It should be noted that the bottom of the support member 73 refers to the end of the support member 73 away from the transition roller 75.

[0067] In the vertical direction, on the side of the transition roller 75 away from the tension sensor 71, the foil covers the transition roller 75, that is, the foil covers the top of the transition roller 75. When there is tension in the foil, the foil generates a force on the transition roller 75 in the direction of the tension sensor 71, and the tension sensor 71 detects the force and outputs the detection result as the real-time tension.

[0068] The tension detection component 70 also includes a tension controller. The tension controller does not directly control the tension, but only performs filtering and calibration operations on the tension data. Calibration is to improve the measurement accuracy of the tension sensor, and is generally performed when it is used for the first time. In one embodiment, during calibration, the tension data of the tension controller is first adjusted to zero, and then a 25kg weight is applied to the tension sensor 71. After stabilization, the actual pressure received by the tension sensor 71 is written into the tension controller to complete the calibration of the tension sensor 71.

[0069] The tension sensor 71 includes a pressure type tension sensor. The tension sensor 71 linearly converts the pressure it receives into a voltage signal and transmits it to the tension controller. The tension controller filters the tension signal and transmits the analog value of the tension signal to the controller through the IO communication method. The filtering process refers to filtering the voltage signal sent by the tension sensor 71 to filter out noise and improve the accuracy of the voltage signal.

[0070] In addition, the control system 100 further includes auxiliary rollers, which are arranged on both sides of the tension detection assembly 70 in the direction of foil movement and are arranged adjacent to the tension detection assembly 70. The auxiliary rollers include a first auxiliary roller and a second auxiliary roller, the first auxiliary roller is arranged on the side of the tension detection assembly 70 close to the unwinding assembly 30, the second auxiliary roller is arranged on the side of the tension detection assembly 70 close to the winding assembly 10, and the first auxiliary roller and the second auxiliary roller are symmetrically arranged relative to the tension detection assembly 70. The foil bypasses the side of the first auxiliary roller close to the support 73, bypasses the side of the transition roller 75 away from the support 73, and then bypasses the side of the second auxiliary roller close to the support 73, so that the angle between the foil on the first auxiliary roller side and the vertical direction is the same as the angle between the foil on the second auxiliary roller side and the vertical direction, so that the direction of the force exerted by the foil on the transition roller 75 is vertically downward.

[0071] Furthermore, the speed measuring roller 51 in the speed detection component 50 can be used as one of the auxiliary rollers, that is, the speed detection component 50 can be set on one side of the tension detection component 70 to achieve the reuse of the speed measuring roller 51 and reduce the structural materials of the control system 100.

[0072] In this way, the real-time tension of the foil can be detected through the cooperation between the tension sensor 71, the support member 73 and the transition roller 75.

[0073] See also Figure 5 In some embodiments, step 01, determining a target winding speed and a target unwinding speed according to the real-time tension and the real-time moving speed, comprises:

[0074] 011: Determine the tension reference value according to the real-time tension;

[0075] 012: Determine the speed reference value according to the real-time moving speed;

[0076] 013: Determine the target winding speed and target unwinding speed according to the speed reference value and the tension reference value.

[0077] In some embodiments, the processor is used to: determine a tension reference value according to the real-time tension; determine a speed reference value according to the real-time moving speed; and determine a target winding speed and a target unwinding speed according to the speed reference value and the tension reference value.

[0078] In some embodiments, the control device further comprises a tension processing module and a speed determination module. The tension processing module can be used to determine a tension reference value according to the real-time tension. The speed processing module can be used to determine a speed reference value according to the real-time moving speed. The speed determination module can be used to determine a target winding speed and a target unwinding speed according to the speed reference value and the tension reference value.

[0079] In some embodiments, the controller 90 is configured to determine the target winding speed and the target unwinding speed according to a speed reference value and a tension reference value, wherein the tension reference value is determined according to the real-time tension and the speed reference value is determined according to the real-time moving speed.

[0080] Specifically, the real-time tension is adjusted to obtain the tension reference value F ref . And adjust the real-time moving speed to obtain the speed reference value V ref . Set the speed reference value V ref The target winding speed is used to control the winding servo motor 13 to rotate. The target unwinding speed is determined according to the target winding speed and the tension reference value, and the unwinding servo motor 33 is controlled to rotate according to the target unwinding speed to achieve rotation speed control of the unwinding assembly 30 and the winding assembly 10.

[0081] In this way, the tension reference value and speed reference value are determined according to the real-time tension and real-time moving speed, and then the target winding speed and target unwinding speed can be determined according to the tension reference value and speed reference value, so as to realize the feedback control of speed and further realize the stable control of tension. At the same time, the difficulty of hardware debugging is reduced, the problem of unstable foil tension of the plate instrument is solved, and the reliability of foil detection data is improved.

[0082] See also Figure 6In some embodiments, step 012, determining a speed reference value according to the real-time moving speed, includes:

[0083] 0121: Determine the speed difference according to the difference between the real-time moving speed and the preset speed value;

[0084] 0122: Perform proportional-integral-differential adjustment on the speed difference to obtain the speed reference value.

[0085] In some embodiments, the processor is used to: determine a speed difference value according to a difference between the real-time moving speed and a preset speed value; and perform proportional-integral-differential adjustment on the speed difference value to obtain a speed reference value.

[0086] In some embodiments, the speed processing module may be used to determine a speed difference value according to a difference between the real-time moving speed and a preset speed value; and perform proportional-integral-differential adjustment on the speed difference value to obtain a speed reference value.

[0087] In some embodiments, the controller 90 is configured to perform proportional-integral-differential adjustment on the speed difference to obtain a speed reference value, where the speed difference is the difference between the real-time moving speed and the preset speed value.

[0088] Specifically, the speed difference ΔV is the difference between the real-time moving speed V2 and the preset speed V1, that is, ΔV=|V2-V1|. The speed difference can be used to represent the difference between the real-time moving speed and the preset speed.

[0089] The preset speed may be a pre-set speed value and may be set according to actual needs, and is not limited here.

[0090] By adjusting the speed difference by proportional integral differential (PID), the speed reference value V can be obtained. ref . Speed ​​reference value V ref The determination method is:

[0091]

[0092] Among them, K P1 is the first proportionality coefficient, K i1 is the first integral coefficient, K d1 is the first differential coefficient.

[0093] Furthermore, the first proportional coefficient, the first integral coefficient and the first differential coefficient are determined according to actual needs and can be set according to experience. By adjusting the first proportional coefficient, the first integral coefficient and the first differential coefficient, the target winding speed can be further stably controlled.

[0094] In this way, by performing proportional-integral-differential adjustment on the difference between the real-time moving speed and the preset speed value, a speed reference value can be obtained to achieve speed feedback control.

[0095] See also Figure 7 In some embodiments, step 011, determining a tension reference value according to real-time tension, comprises:

[0096] 0111: Determine the tension difference according to the difference between the real-time tension and the preset tension value;

[0097] 0112: Perform proportional-integral-differential adjustment on the tension difference to obtain the tension reference value.

[0098] In certain embodiments, the processor is used to: determine a tension difference value according to a difference between the real-time tension and a preset tension value; and perform proportional-integral-differential adjustment on the tension difference value to obtain a tension reference value.

[0099] In some embodiments, the tension processing module may be used to determine a tension difference value according to a difference between the real-time tension and a preset tension value; and perform proportional-integral-differential adjustment on the tension difference value to obtain a tension reference value.

[0100] In some embodiments, the controller 90 is configured to perform proportional-integral-differential regulation on the tension difference to obtain a tension reference value, where the tension difference is the difference between the real-time tension and the preset tension value.

[0101] Specifically, the tension difference ΔF is the difference between the real-time tension F2 and the preset tension F1, that is, ΔF=|F2-F1|. The tension difference can be used to characterize the difference between the real-time tension and the preset tension. Among them, the preset speed can be a pre-set speed value, which can be set according to actual needs and is not limited here.

[0102] By adjusting the tension difference by proportional integral differential (PID), the tension reference value F can be obtained. ref . Tension reference value F ref The determination method is:

[0103]

[0104] Among them, K P2 is the second proportionality coefficient, K i2 is the second integral coefficient, K d2 is the second differential coefficient.

[0105] Furthermore, the second proportional coefficient, the second integral coefficient and the second differential coefficient are determined according to actual needs and can be set according to experience. By adjusting the second proportional coefficient, the second integral coefficient and the second differential coefficient, the tension can be further stably controlled.

[0106] In this way, by performing proportional-integral-differential adjustment on the difference between the real-time moving speed and the preset speed value, a tension reference value can be obtained, so as to realize speed control according to the tension reference value, thereby realizing stable control of the tension generated by the foil.

[0107] See also Figure 8 In some embodiments, step 013, determining a target winding speed and a target unwinding speed according to a speed reference value and a tension reference value, includes:

[0108] 0131: Determine the target winding speed according to the speed reference value;

[0109] 0132: Determine the target unwinding speed based on the difference between the target winding speed and the target difference. The target difference is the product of the tension reference value and the preset coefficient.

[0110] In some embodiments, the processor can be used to: determine the target winding speed based on the speed reference value; and is also configured to determine the target unwinding speed based on the difference between the target winding speed and the target difference, where the target difference is the product of the tension reference value and a preset coefficient.

[0111] In some embodiments, the speed determination module can be used to determine the target winding speed based on the speed reference value; it is also configured to determine the target unwinding speed based on the difference between the target winding speed and the target difference, where the target difference is the product of the tension reference value and a preset coefficient.

[0112] In some embodiments, the controller 90 is configured to determine a target winding speed based on a speed reference value; and is also configured to determine a target unwinding speed based on a difference between the target winding speed and a target difference value, wherein the target difference value is the product of a tension reference value and a preset coefficient.

[0113] Specifically, the speed reference value V ref That is, the target winding speed V, that is, V = V ref

[0114] The target difference is the tension reference value F ref The target unwinding speed V is the product of the preset coefficient K and the target winding speed V ref The difference between the target difference and the target difference, that is:

[0115] V=V 收 -KF ref =V ref -KF ref

[0116] The preset coefficient K is a pre-set positive value, which can be set according to actual needs. In some embodiments, the preset coefficient is set according to an empirical value.

[0117] By determining the target unwinding speed based on the difference between the target winding speed and the target difference, and presetting the coefficient as a positive value, the target unwinding speed can be made smaller than the target winding speed, and the difference between the two is determined based on the tension reference value, thereby controlling the tension generated by the foil and stably controlling the tension.

[0118] In this way, the target winding speed is determined according to the speed reference value, and the target unwinding speed is determined according to the target winding speed and the tension reference value, so that stable control of the rotation speed of the winding component 10 and the unwinding component 30 can be achieved, thereby achieving stable control of the tension.

[0119] In some embodiments, the controller 90 is configured to determine the target unwinding speed according to the speed reference value; and is further configured to determine the target winding speed according to the difference between the target winding speed and the target difference value, wherein the target difference value is the product of the tension reference value and the preset coefficient. ref That is, the target unwinding speed V, that is, V = V ref The target difference is the tension reference value F ref The target unwinding speed V is the product of the preset coefficient K and the target winding speed V ref The difference between the target difference and the target difference, that is:

[0120] V 收 =V 放 -KF ref =V ref -KF ref

[0121] Wherein, K is a negative value, so that the target winding speed is greater than the target unwinding speed.

[0122] In this way, the target unwinding speed is determined according to the speed reference value, and the target winding speed is determined according to the target unwinding speed and the tension reference value, so that the rotation speed of the winding component 10 and the unwinding component 30 can be stably controlled, thereby achieving stable control of the tension.

[0123] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0124] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0125] In addition, the term "connection" should be understood in a broad sense, for example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0126] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0127] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0128] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A foil tension control system, characterized in that: The control system comprises: A winding assembly and an unwinding assembly, the foil material is wound on the winding assembly and the unwinding assembly; A speed detection component, wherein the speed detection component is configured to detect a real-time moving speed of the foil; A tension detection component, wherein the tension detection component is configured to detect the real-time tension of the foil; The controller is configured to: determine a target winding speed and a target unwinding speed according to the real-time tension and the real-time moving speed; and control the rotation of the winding assembly and the unwinding assembly according to the target winding speed and the target unwinding speed to drive the foil to move and generate tension.

2. The control system according to claim 1, characterized in that: The speed detection assembly includes a speed measuring roller, a speed measuring wheel and a speed measuring encoder. The speed measuring wheel is fixed on the speed measuring encoder. The speed measuring wheel and the speed measuring roller are in contact with each other. In the vertical direction, the foil covers a side of the speed measuring roller away from the speed measuring wheel. When the foil moves, it drives the speed measuring roller to rotate, thereby driving the speed measuring wheel to rotate.

3. The control system according to claim 1, characterized in that: The control system also includes a bearing member, and the tension detection assembly includes a tension sensor, a support member and a transition roller. The support member is configured to support the transition roller. The tension sensor is arranged at the bottom of the support member and fixedly arranged on the bearing member. In the vertical direction, the foil material covers a side of the transition roller away from the tension sensor.

4. The control system according to claim 1, characterized in that: The controller is configured to determine the target winding speed and the target unwinding speed according to a speed reference value and a tension reference value, wherein the tension reference value is determined according to the real-time tension, and the speed reference value is determined according to the real-time moving speed.

5. The control system according to claim 4, characterized in that: The controller is configured to perform proportional-integral-differential regulation on the tension difference to obtain the tension reference value, and the tension difference is the difference between the real-time tension and the preset tension value.

6. The control system according to claim 4, characterized in that: The controller is configured to perform proportional-integral-differential regulation on the speed difference to obtain the speed reference value, and the speed difference is the difference between the real-time moving speed and a preset speed value.

7. The control system according to claim 4, characterized in that: The controller is configured to determine the target winding speed according to the speed reference value, and determine the target unwinding speed according to the difference between the target winding speed and a target difference value, wherein the target difference value is the product of the tension reference value and a preset coefficient.

8. A method for controlling foil tension, used in a control system, characterized in that: The control system comprises a winding assembly, an unwinding assembly, a speed detection assembly and a tension detection assembly, the foil material is wound on the winding assembly and the unwinding assembly; the speed detection assembly is configured to detect the real-time moving speed of the foil material; The tension detection assembly is configured to detect the real-time tension of the foil; the control method comprises: Determining a target winding speed and a target unwinding speed according to the real-time tension and the real-time moving speed; According to the target winding speed and the target unwinding speed, the winding assembly and the unwinding assembly are controlled to rotate to drive the foil to move and generate tension.

9. An electronic device, characterized in that: The electronic device comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method according to claim 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to claim 8 are implemented.

Images