Unreeling system, unreeling tension control method and device and storage medium

Abstract

The invention discloses an unwinding system, an unwinding tension control method and device and a storage medium. The system comprises an unwinding module, a swing arm cache module, a tension detection module, a main driving module, a winding module and a control module. The swing arm cache module, the tension detection module and the main driving module are sequentially arranged between the unwinding module and the winding module; the tension detection module comprises a first tension detection module and a second tension detection module which are respectively used for detecting a first tension value and a second tension value of the material belt; the control module is used for calculating a first difference value between the first tension value and a material belt tension standard value, and when it is judged that the first difference value exceeds a preset range, the swing arm cache module is controlled to conduct first tensioning treatment; and the control module is also used for calculating a second difference value between the second tension value and the material belt tension standard value, and controlling the main driving module to carry out second tensioning processing when the second difference value is judged to exceed a preset range. According to the winding device, the problem that the material belt is too loose or is tensioned and deformed in the winding process can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of winding mechanisms, and in particular to an unwinding system, an unwinding tension control method, a device and a storage medium. Background Art

[0002] Material winding and unwinding is a common production process in the lithium battery manufacturing industry. In the winding process, winding and unwinding is an indispensable part. For example, in a winding machine, different material strips need to be composited and unwound when compounding material strips, and the material strips also need to be wound and unwound during material strip slitting. In the process of unwinding the material strip, the tensioning control method in the prior art has extreme problems, which causes the material strip to be too tight after tensioning, affecting product quality, and even causing the material strip to deform and collapse due to excessive tension. Summary of the invention

[0003] The present application provides an unwinding system, an unwinding tension control method, a device and a storage medium, which are used to improve the extreme problems of the existing tensioning control method, which causes the material strip to be too tense after tensioning, affecting the product quality, or even causing the material strip to deform and collapse due to excessive tension.

[0004] In view of this, the first aspect of the present application provides an unwinding system, comprising: an unwinding module, a swing arm buffer module, a tension detection module, a main drive module, a winding module and a control module; the swing arm buffer module and the main drive module are sequentially arranged between the unwinding module and the winding module; the tension detection module is arranged between the swing arm buffer module and the main drive module; the tension detection module comprises a first tension detection module and a second tension detection module;

[0005] The first tension detection module is used to detect a first tension value of the material belt on one side of the swing arm buffer module;

[0006] The second tension detection module is used to detect a second tension value of the material belt on one side of the main driving module;

[0007] The control module is used to calculate a first difference between the first tension value and a standard value of the material belt tension, and determine whether the first difference exceeds a preset range. If so, control the swing arm buffer module to perform a first tensioning process;

[0008] The control module is further used to calculate a second difference between the second tension value and the standard value of the material strip tension, and determine whether the second difference exceeds the preset range. If so, control the main drive module to perform a second tensioning process.

[0009] Optionally, the swing arm buffer module includes a swing arm buffer assembly, the main drive module includes a main drive roller, and the winding diameter of the swing arm buffer assembly is greater than the winding diameter of the main drive roller.

[0010] Optionally, when the control module controls the swing arm buffer module to perform the first tensioning process, the control module specifically includes:

[0011] The control module is used to select a first compensation mode, determine a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and a current acceleration of the material belt; and perform open-loop control on the torque of the swing arm in the swing arm buffer module through the first torque percentage open-loop compensation value;

[0012] Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0013] If not, closed-loop control is not performed on the torque of the swing arm in the swing arm buffer module;

[0014] If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the swing arm in the swing arm cache module is closed-loop controlled by the first torque percentage closed-loop compensation value.

[0015] Optionally, when the control module controls the swing arm buffer module to perform the first tensioning process, the control module specifically includes:

[0016] The control module is used to select a first compensation mode, and determine a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and a current acceleration of the material strip;

[0017] Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0018] If not, performing open-loop control on the torque of the swing arm in the swing arm buffer module through the first torque percentage open-loop compensation value;

[0019] If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the swing arm torque percentage is calculated based on the first torque percentage open-loop compensation value, the first torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the swing arm in the swing arm cache module is controlled by the swing arm torque percentage.

[0020] Optionally, when the control module controls the main driving module to perform the second tensioning process, the control module specifically includes:

[0021] A control module, configured to select a second compensation mode, determine a second torque percentage open-loop compensation value according to a compensation coefficient corresponding to the second compensation mode and a current acceleration of the material belt; and perform open-loop control on the torque of the main drive shaft in the main drive module by using the second torque percentage open-loop compensation value;

[0022] Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0023] If not, no closed-loop control is performed on the torque of the main drive shaft;

[0024] If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the main drive shaft is closed-loop controlled by the second torque percentage closed-loop compensation value.

[0025] Optionally, when the control module controls the main driving module to perform the second tensioning process, the control module specifically includes:

[0026] The control module is used to select the second compensation mode and determine the second torque percentage open-loop compensation value according to the compensation coefficient corresponding to the second compensation mode and the current acceleration of the material strip;

[0027] Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0028] If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the micro-tension torque percentage of the main drive shaft is calculated by the second torque percentage open-loop compensation value, the second torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the main drive shaft is controlled by the micro-tension torque percentage.

[0029] Optionally, the control module is further used to control the closed-loop response speed through a proportional constant and an integral constant;

[0030] And / or, tension adjustment is performed based on a preset time period.

[0031] Optionally, the system further comprises an image detection module, which is used to collect an image of the wound material strip, determine whether the wound material strip has bulges or wrinkles by detecting the image of the material strip, and send the detection result to the control module;

[0032] The control module is also used to increase the micro-tension torque percentage of the main drive shaft when the detection result shows that the wound material strip is wrinkled;

[0033] When the detection result shows that the wound material strip has bulges, the micro-tension torque percentage of the main drive shaft is reduced.

[0034] A second aspect of the present application provides a method for controlling unwinding tension, which is applied to any unwinding system described in the first aspect, and the method comprises:

[0035] Acquire a first tension value detected by the first tension detection module and a second tension value detected by the second tension detection module;

[0036] Calculating a first difference between the first tension value and a standard value of the material belt tension, determining whether the first difference exceeds a preset range, and if so, controlling the swing arm buffer module to perform a first tensioning process;

[0037] A second difference between the second tension value and the standard value of the material strip tension is calculated to determine whether the second difference exceeds the preset range; if so, the main driving module is controlled to perform a second tensioning process.

[0038] A third aspect of the present application provides an electronic device, the device comprising a processor and a memory;

[0039] The memory is used to store program code and transmit the program code to the processor;

[0040] The processor is used to execute the unwinding tension control method described in the second aspect according to the instructions in the program code.

[0041] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store program codes, and when the program codes are executed by a processor, the unwinding tension control method described in the second aspect is implemented.

[0042] It can be seen from the above technical solutions that this application has the following advantages:

[0043] The unwinding system provided in the present application obtains a first tension value of the material strip near the swing arm buffer module through a first tension detection module, calculates a deviation between the first tension value and the standard value of the material strip tension, and controls the swing arm buffer module to perform a first tensioning treatment through the deviation, so as to avoid the problem of the material strip being too loose or being deformed during the winding process; the present application also detects a second tension value of the material strip near the main drive module, and when there is still a certain deviation between the second tension value and the standard value of the material strip tension, further controls the main drive module to perform a second tensioning treatment on the material roll that is smaller than the tensioning amplitude of the swing arm buffer module, so as to more accurately adjust the tension of the material strip and further ensure the subsequent winding quality.

[0044] Furthermore, the present application controls the tensioning process by setting a time period so that the tension can be in a periodic stable state, thereby avoiding large-scale jitter of the material belt during the adjustment process, thereby affecting the winding or alignment effect of the material belt; by controlling the closed-loop response speed, the problem of tension oscillation caused by overshoot is avoided.

[0045] Furthermore, after the tension control is completed, the present application confirms the actual effect after winding. When the material strip is bulging or wrinkled, the second micro-tension torque percentage of the main drive shaft is further adjusted to ensure the subsequent winding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A structural schematic diagram of an unwinding system provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of the upper diaphragm tape transport of the unwinding system provided in an embodiment of the present application;

[0049] Figure 3 A schematic flow chart of a method for controlling unwinding tension provided in an embodiment of the present application;

[0050] Wherein, the accompanying drawings are marked as follows:

[0051] 1. Unwinding module; 2. Swing arm buffer module; 3. First tension detection module; 4. Correction module; 5. Length measuring roller; 6. Second tension detection module; 7. Main drive module; 8. Rewinding module. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] Material winding and unwinding is a common production process in the lithium battery manufacturing industry. In the winding process, winding and unwinding is an indispensable part. For example, in a winding machine, different material strips need to be composited and unwound when compounding material strips, and material strips also need to be wound and unwound when slitting material strips. However, the existing technology has the following problems in the material strip unwinding process:

[0054] (1) During the unwinding process, the tape becomes wrinkled or loose due to the long distance of the tape, causing the tape to deform during rewinding and the ends of the roll to be unable to align, affecting the rewinding effect;

[0055] (2) The tension control method in the prior art has extreme problems, which causes the material belt to be too tight after tensioning, affecting the product quality, or even causing the material belt to deform and break due to excessive tension;

[0056] (3) In the prior art, during the unwinding process, the tension of the material belt fluctuates, causing the material belt to deviate from the predetermined trajectory during the belt running process, requiring deviation correction, which increases production time.

[0057] To improve the above problems, please refer to Figure 1 and Figure 2 The embodiment of the present application provides an unwinding system, comprising: an unwinding module 1, a swing arm buffer module 2, a tension detection module, a main drive module 7, a rewinding module 8 and a control module; the swing arm buffer module 2 and the main drive module 7 are sequentially arranged between the unwinding module 1 and the rewinding module 8; the tension detection module is arranged between the swing arm buffer module 2 and the main drive module 7; the tension detection module comprises a first tension detection module 3 and a second tension detection module 6;

[0058] A first tension detection module 3, used to detect a first tension value of the material belt on one side of the swing arm buffer module 2;

[0059] A second tension detection module 6, used to detect a second tension value of the material strip on one side of the main driving module 7;

[0060] A control module, used for calculating a first difference between a first tension value and a standard value of the material belt tension, and determining whether the first difference exceeds a preset range. If so, the control module 2 is used for controlling the swing arm buffer module 2 to perform a first tensioning process;

[0061] The control module is also used to calculate the second difference between the second tension value and the standard value of the material strip tension, and determine whether the second difference exceeds a preset range. If so, the main driving module 7 is controlled to perform a second tensioning process.

[0062] Please refer to Figure 1 The unwinding system in the present application also includes a correction module 4 and a length measuring roller 5. The correction module 4 is arranged between the swing arm buffer module 2 and the main drive module 7, and the length measuring roller 5 is arranged between the correction module 4 and the main drive module 7. The position of the swing arm buffer module 2 is closer to the unwinding module 1 than the position of the main drive module 7, and the position of the main drive module 7 is closer to the winding module 8 than the position of the swing arm buffer module 2. Among them, the main drive module 7 and the winding module 8 are synchronously controlled. The first tension detection module 3 and the second tension detection module 6 in the present application are both arranged between the swing arm buffer module 2 and the main drive module 7, and the position of the first tension detection module 3 is closer to the swing arm buffer module 2 than the position of the second tension detection module 6, that is, the position of the second tension detection module 6 is closer to the main drive module 7 than the position of the first tension detection module 3. The specific installation positions of the first tension detection module 3 and the second tension detection module 6 can be referred to. Figure 1 In the schematic diagram given, the first tension detection module 3 is preferably arranged between the swing arm buffer module 2 and the deviation correction module 4, and the second tension detection module 6 is preferably arranged between the length measuring roller 5 and the main drive module 7. The first tension detection module 3 is used to detect the first tension value F1 of the material belt near the swing arm buffer module side, and the second tension detection module 6 is used to detect the second tension value F2 of the material belt near the main drive module side. Both the first tension detection module 3 and the second tension detection module 6 can be tension sensors.

[0063] Furthermore, the swing arm buffer module 2 includes a swing arm buffer assembly, and the main drive module 7 includes a main drive roller. The winding diameter D1 of the swing arm buffer assembly is adjustable, and the winding diameter D2 of the main drive roller is fixed. The winding diameter D1 of the swing arm buffer assembly is larger than the winding diameter D2 of the main drive roller. If the winding diameter D2 of the main drive roller is larger than or equal to the winding diameter D1 of the swing arm buffer assembly, the tension cannot be adjusted.

[0064] The swing arm buffer module 2 can realize a bidirectional first tensioning process on its upstream material belt or its downstream material belt; the main drive module 7 drives the material belt, and at the same time can perform a second tensioning process on the material roll through the rotation of the main drive roller itself, which is smaller than the tensioning amplitude of the swing arm buffer component, and the second tensioning process can only be tensioned in the same direction as the unwinding material belt.

[0065] Control Module ( Figure 1The tension detection module transmits the detected tension value (including the first tension value F1 and the second tension value F2) to the control module, and the control module calculates the first difference between the first tension value F1 and the standard value F0 of the material belt tension. , ; Among them, the standard value F0 of the material tension is determined according to the material of the current material, and the standard value F0 of the material tension ensures that the material is in the elastic stability zone of its material. The control module determines the first difference Is it within the preset range (such as [-2, +2], which can be set according to actual conditions)? If the first difference is judged If the system is within the preset range, the current system parameters will be saved and the system will continue to run. If the first difference exceeds the preset range, the swing arm buffer module 2 is controlled to perform the first tensioning process. is greater than the maximum value in the preset range, the swing arm output torque is reduced to reduce the tension; if the first difference If it is less than the minimum value in the preset range, the swing arm output torque is increased to increase the tensioning force.

[0066] In one embodiment, when the control module controls the swing arm buffer module 2 to perform the first tensioning process, the control module specifically includes:

[0067] A control module, used for selecting a first compensation mode, determining a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and a current acceleration of the material belt; and performing open-loop control on the torque of the swing arm in the swing arm buffer module 2 by using the first torque percentage open-loop compensation value;

[0068] Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0069] If not, closed-loop control is not performed on the torque of the swing arm in the swing arm buffer module 2;

[0070] If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the swing arm in the swing arm cache module 2 is closed-loop controlled by the first torque percentage closed-loop compensation value.

[0071] When the control module performs the first tensioning process, it first selects the first compensation mode. The first compensation mode of the swing arm buffer module 2 includes three modes: acceleration mode, uniform speed mode, and deceleration mode. The acceleration mode, uniform speed mode, and deceleration mode respectively correspond to the compensation coefficients K1, K2, and K3 to adjust the first torque percentage open-loop compensation value Ten1_1 of the first compensation mode. After selecting the first compensation mode, the control module obtains the compensation coefficient K (K1, K2 or K3) corresponding to the first compensation mode, and then compensates the current acceleration C of the material belt through the compensation coefficient K (the current acceleration C of the material belt can be obtained through the main drive module) to obtain the first torque percentage open-loop compensation value Ten1_1, that is, Ten1_1=C*K; then the first torque percentage open-loop compensation value Ten1_1 is used to perform open-loop control on the torque of the swing arm in the swing arm buffer module 2, that is, the first torque percentage open-loop compensation value Ten1_1 is summed with the torque percentage setting value S, and finally the sum result Ten1_1+S is used to perform open-loop control on the torque of the swing arm in the swing arm buffer module 2. The material belt corresponding to the open-loop control Figure 1 The tape threading method ①. Among them, K1, K2, and K3 can be selected according to the adjustment requirements. The current acceleration C of the tape is controlled by the main drive shaft. Different compensation modes correspond to different current acceleration C of the tape.

[0072] Furthermore, in order to ensure that the tension can be in a periodic stable state during the tension adjustment process, so as to avoid large-scale jitter of the material belt during the adjustment process, thereby affecting the winding or alignment effect of the material belt, a time period (i.e., a preset time period) can be set for the adjustment period, and the control module controls the first tensioning process according to the preset time period.

[0073] Furthermore, if the closed-loop response speed is too fast, it will cause overshoot and cause the tension to oscillate. In order to improve this problem, the control module can use the tension closed-loop function to adjust the tension. The closed-loop response speed can be changed according to the selected proportional constant Kp and integral constant Ki to avoid the closed-loop response speed being too fast.

[0074] Finally, the control module converts the first tension value F1 into a torque percentage, obtains the first torque percentage measurement value P1, and then calculates the difference P1-S between the first torque percentage measurement value P1 and the torque percentage setting value S; determines whether the difference P1-S exceeds the preset parameter adjustment dead zone (the preset parameter adjustment dead zone is a numerical range, and the parameter adjustment dead zone can be set according to production requirements). If the difference P1-S does not exceed the preset parameter adjustment dead zone, the torque of the swing arm in the swing arm buffer module 2 is not closed-loop controlled; if the difference P1-S exceeds the preset parameter, the torque of the swing arm in the swing arm buffer module 2 is not closed-loop controlled. To adjust the dead zone, closed-loop control is required. Specifically, the first torque percentage closed-loop compensation value Ten1_2 is calculated by the integral adjustment coefficient L, the compensation coefficient K and the difference P1-S, and then the torque of the swing arm in the swing arm buffer module 2 is closed-loop controlled by the first torque percentage closed-loop compensation value Ten1_2, that is, the first torque percentage closed-loop compensation value Ten1_2 is summed with the torque percentage setting value S, and finally the sum result Ten1_2+S is used to close the torque of the swing arm in the swing arm buffer module 2. During closed-loop control, the material belt corresponds to Figure 1 ② (i.e., the dotted line part) in the tape threading method. Where, Ten1_2=(P1-S)*K+L, L=0, or, L=L'+(P1-S)*Ki, L' is the current integral adjustment coefficient, L is the integral adjustment coefficient after adjusting the current integral adjustment coefficient L' by the difference P1-S and the integral constant Ki, and the initial value of L can be set according to the actual situation (L≥0).

[0075] In another embodiment, when the control module controls the swing arm buffer module 2 to perform the first tensioning process, the control module specifically includes:

[0076] A control module, used for selecting a first compensation mode, and determining a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and a current acceleration of the material strip;

[0077] Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0078] If not, open-loop control is performed on the torque of the swing arm in the swing arm buffer module 2 through the first torque percentage open-loop compensation value;

[0079] If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the swing arm torque percentage is calculated by the first torque percentage open-loop compensation value, the first torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the swing arm in the swing arm cache module 2 is controlled by the swing arm torque percentage.

[0080] In this embodiment, in order to further improve the tension adjustment effect and maintain constant tension, open-loop control and closed-loop control can be performed simultaneously. After the first torque percentage open-loop compensation value Ten1_1 and the first torque percentage closed-loop compensation value Ten1_2 are calculated through the above process, the first torque percentage open-loop compensation value Ten1_1, the first torque percentage closed-loop compensation value Ten1_2 and the torque percentage setting value S are summed to obtain the swing arm torque percentage T1, and then the torque of the swing arm is controlled by the swing arm torque percentage T1.

[0081] The control module is also used to calculate the second difference between the second tension value F2 and the standard value F0 of the material tension , determine the second difference Is it within the preset range? If the second difference is determined If the system is within the preset range, the current system parameters will be saved and the system will continue to run. If the second difference exceeds the preset range, the main drive module 7 is controlled to perform the second tensioning process. If the second difference is greater than the maximum value in the preset range, the output torque of the main drive shaft is reduced to reduce the tension; If it is less than the minimum value in the preset range, the output torque of the main drive shaft is increased to increase the tensioning force.

[0082] In one embodiment, when the control module controls the main driving module 7 to perform the second tensioning process, the control module specifically includes:

[0083] A control module is used to select a second compensation mode, determine a second torque percentage open-loop compensation value according to a compensation coefficient corresponding to the second compensation mode and a current acceleration of the material belt; and perform open-loop control on the torque of the main drive shaft in the main drive module through the second torque percentage open-loop compensation value;

[0084] Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0085] If not, closed-loop control is not performed on the torque of the main drive shaft in the main drive module 7;

[0086] If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the main drive shaft in the main drive module 7 is closed-loop controlled by the second torque percentage closed-loop compensation value.

[0087] When the control module performs the second tensioning process, it first selects the second compensation mode. The second compensation mode of the main drive module 7 has two modes: acceleration mode and deceleration mode. The acceleration mode and deceleration mode correspond to the compensation coefficients K4 and K5, respectively, to adjust the second torque percentage open-loop compensation value Ten2_1 of the second compensation mode. After selecting the second compensation mode, the control module obtains the compensation coefficient K (K4 or K5) corresponding to the second compensation mode, and then compensates the current acceleration C of the material belt by the compensation coefficient K to obtain the second torque percentage open-loop compensation value Ten2_1, that is, Ten2_1=C*K; then the second torque percentage open-loop compensation value Ten2_1 is used to perform open-loop control on the torque of the main drive shaft in the main drive module 7, that is, the second torque percentage open-loop compensation value Ten2_1 is summed with the torque percentage setting value S, and finally the sum result Ten2_1+S is used to perform open-loop control on the torque of the main drive shaft in the main drive module 7. The material belt during open-loop control corresponds to Figure 1 The belt threading method in ①. Among them, K4 and K5 can be selected according to adjustment needs.

[0088] Furthermore, in order to ensure that the tension can be in a periodic stable state during the tension adjustment process, so as to avoid large-scale jitter of the material belt during the adjustment process, thereby affecting the winding or alignment effect of the material belt, a time period (i.e., a preset time period) can be set for the adjustment period, and the control module controls the second tensioning process according to the preset time period.

[0089] Furthermore, if the closed-loop response speed is too fast, it will cause overshoot and cause tension oscillation. In order to improve this problem, the control module can use the tension closed-loop function to adjust the tension. The closed-loop response speed can be changed according to the selected proportional constant Kp and integral constant Ki to avoid the closed-loop response speed being too fast.

[0090] Finally, the control module converts the second tension value F1 into a torque percentage, obtains the second torque percentage measurement value P2, and then calculates the difference P2-S between the second torque percentage measurement value P2 and the torque percentage setting value S; determines whether the difference P2-S exceeds the preset parameter adjustment dead zone. If the difference P2-S does not exceed the preset parameter adjustment dead zone, the torque of the main drive shaft in the main drive module 7 is not closed-loop controlled; if the difference P2-S exceeds the preset parameter adjustment dead zone, tension closed-loop control is required, specifically The second torque percentage closed-loop compensation value Ten2_2 is calculated by the integral adjustment coefficient L, the compensation coefficient K (K4 or K5) and the difference P2-S, and then the torque of the main drive shaft in the main drive module 7 is closed-loop controlled by the second torque percentage closed-loop compensation value Ten2_2, that is, the second torque percentage closed-loop compensation value Ten2_2 is summed with the torque percentage setting value S, and finally the torque of the main drive shaft in the main drive module 7 is closed-loop controlled by the sum result Ten2_2+S. During the closed-loop control, the material belt corresponds to Figure 1 Belt threading method ② (i.e., the dotted part passing through the second tension detection module 6). Wherein, Ten2_2=(P2-S)*K+L, L=0, or, L=L'+(P2-S)*Ki, L' is the current integral adjustment coefficient, L is the integral adjustment coefficient after adjusting the current integral adjustment coefficient L' by the difference P2-S and the integral constant Ki, and the initial value of L can be set according to the actual situation (L≥0).

[0091] In another embodiment, when the control module controls the main driving module 7 to perform the second tensioning process, the control module specifically includes:

[0092] A control module, used for selecting a second compensation mode, and determining a second torque percentage open-loop compensation value according to a compensation coefficient corresponding to the second compensation mode and a current acceleration of the material strip;

[0093] Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0094] If not, then the torque of the main drive shaft in the main drive module 7 is open-loop controlled by the second torque percentage open-loop compensation value;

[0095] If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the micro-tension torque percentage of the main drive shaft is calculated by the second torque percentage open-loop compensation value, the second torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the main drive shaft in the main drive module 7 is controlled by the micro-tension torque percentage.

[0096] In this embodiment, in order to further improve the tension adjustment effect and maintain constant tension, open-loop control and closed-loop control can be performed simultaneously. After the second torque percentage open-loop compensation value Ten2_1 and the second torque percentage closed-loop compensation value Ten2_2 are calculated through the above process, the second torque percentage open-loop compensation value Ten2_1, the second torque percentage closed-loop compensation value Ten2_2 and the torque percentage setting value S are summed to obtain the micro-tension torque percentage T2 of the main drive shaft, and then the torque of the main drive shaft is controlled by the micro-tension torque percentage T2.

[0097] Furthermore, the system also includes an image detection module for collecting an image of the wound material strip, determining whether the wound material strip has bulges or wrinkles by detecting the image of the material strip, and sending the detection result to the control module;

[0098] The control module is also used to increase the micro-tension torque percentage of the main drive shaft when the detection result shows that the wound material strip is wrinkled;

[0099] When the detection result shows that the wound material strip has bulges, the micro-tension torque percentage of the main drive shaft is reduced.

[0100] The image detection module can be installed near the winding module 8, for example, at a position at a preset distance from the winding module 8, so as to collect the image of the wound material strip. The image detection module can process the material strip image by a traditional image processing method or a deep learning model to determine whether the wound material strip is convex or wrinkled, and send the detection result to the control module. After receiving the detection result sent by the image detection module, the control module performs corresponding processing according to the detection result.

[0101] The present application obtains the first tension value of the material strip near the swing arm buffer module 2 through the first tension detection module 3, calculates the deviation between the first tension value and the standard value of the material strip tension, and controls the swing arm buffer module 2 to perform the first tensioning treatment through the deviation, so as to avoid the problem of the material strip being too loose or being tensioned and deformed during the winding process; the present application also detects the second tension value of the material strip near the main drive module 7 through the second tension detection module 6, and when there is still a certain deviation between the second tension value and the standard value of the material strip tension, further controls the main drive module 7 to perform a second tensioning treatment on the material roll with a smaller tensioning amplitude than the swing arm buffer module 2, so as to more accurately adjust the tension of the material strip and further ensure the subsequent winding quality.

[0102] Furthermore, the present application controls the tensioning process by setting a time period so that the tension can be in a periodic stable state, thereby avoiding large-scale jitter of the material belt during the adjustment process, thereby affecting the winding or alignment effect of the material belt; by controlling the closed-loop response speed, the problem of tension oscillation caused by overshoot is avoided.

[0103] Furthermore, after the tension control is completed, the present application confirms the actual effect after winding. When the material strip is bulging or wrinkled, the second micro-tension torque percentage of the main drive shaft is further adjusted to ensure the subsequent winding quality.

[0104] The above is an embodiment of an unwinding system provided by the present application, and the following is an unwinding tension control method provided by the present application.

[0105] Please refer to Figure 3 The unwinding tension control method provided in the embodiment of the present application is applied to the above-mentioned unwinding system, and the method includes:

[0106] S1, obtaining a first tension value detected by a first tension detection module and a second tension value detected by a second tension detection module;

[0107] S2, calculating a first difference between the first tension value and the standard value of the material belt tension, and determining whether the first difference exceeds a preset range, and if so, controlling the swing arm buffer module to perform a first tensioning process;

[0108] S3, calculating the second difference between the second tension value and the standard value of the material strip tension, and determining whether the second difference exceeds a preset range. If so, controlling the main drive module to perform a second tensioning process.

[0109] The first tension value F1 of the first tension detection module 2 and the second tension value F2 of the second tension detection module 6 are obtained in real time. The first difference between the first tension value F1 and the standard value F0 of the material tension is calculated. , ; Among them, the standard value F0 of the material belt tension is determined according to the material of the current material belt, and the standard value F0 of the material belt tension ensures that the material belt is in the elastic stability zone of its material. Determine the first difference Is it within the preset range? If the first difference is determined If the system is within the preset range, the current system parameters will be saved and the system will continue to run. If the first difference exceeds the preset range, the swing arm buffer module 2 is controlled to perform the first tensioning process. is greater than the maximum value in the preset range, the swing arm output torque is reduced to reduce the tension; if the first difference If it is less than the minimum value in the preset range, the swing arm output torque is increased to increase the tensioning force.

[0110] In one embodiment, controlling the swing arm buffer module 2 to perform the first tensioning process specifically includes:

[0111] Selecting a first compensation mode, determining a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and the current acceleration of the material belt; performing open-loop control on the torque of the swing arm in the swing arm buffer module 2 by using the first torque percentage open-loop compensation value;

[0112] Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0113] If not, closed-loop control is not performed on the torque of the swing arm in the swing arm buffer module 2;

[0114] If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the swing arm in the swing arm cache module 2 is closed-loop controlled by the first torque percentage closed-loop compensation value.

[0115] In another embodiment, controlling the swing arm buffer module 2 to perform the first tensioning process specifically includes:

[0116] Selecting a first compensation mode, and determining a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and a current acceleration of the material strip;

[0117] Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0118] If not, open-loop control is performed on the torque of the swing arm in the swing arm buffer module 2 through the first torque percentage open-loop compensation value;

[0119] If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the swing arm torque percentage is calculated by the first torque percentage open-loop compensation value, the first torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the swing arm in the swing arm cache module 2 is controlled by the swing arm torque percentage.

[0120] After obtaining the second tension value F2, calculate the second difference between the second tension value F2 and the standard value F0 of the material tension , determine the second difference Is it within the preset range? If the second difference is determined If the system is within the preset range, the current system parameters will be saved and the system will continue to run. If the second difference exceeds the preset range, the main drive module 7 is controlled to perform the second tensioning process. If the second difference is greater than the maximum value in the preset range, the output torque of the main drive shaft is reduced to reduce the tension; If it is less than the minimum value in the preset range, the output torque of the main drive shaft is increased to increase the tensioning force.

[0121] In one embodiment, controlling the main driving module 7 to perform the second tensioning process specifically includes:

[0122] Select the second compensation mode, determine the second torque percentage open-loop compensation value according to the compensation coefficient corresponding to the second compensation mode and the current acceleration of the material belt; perform open-loop control on the torque of the main drive shaft in the main drive module 7 through the second torque percentage open-loop compensation value;

[0123] Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0124] If not, closed-loop control is not performed on the torque of the main drive shaft in the main drive module 7;

[0125] If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the main drive shaft in the main drive module 7 is closed-loop controlled by the second torque percentage closed-loop compensation value.

[0126] In another embodiment, controlling the main driving module 7 to perform the second tensioning process specifically includes:

[0127] Select the second compensation mode, and determine the second torque percentage open-loop compensation value according to the compensation coefficient corresponding to the second compensation mode and the current acceleration of the material strip;

[0128] Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone;

[0129] If not, then the torque of the main drive shaft in the main drive module 7 is open-loop controlled by the second torque percentage open-loop compensation value;

[0130] If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the micro-tension torque percentage of the main drive shaft is calculated by the second torque percentage open-loop compensation value, the second torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the main drive shaft in the main drive module 7 is controlled by the micro-tension torque percentage.

[0131] Furthermore, when performing the first tensioning process or the second tensioning process, in order to ensure that the tension can be in a periodic stable state during the tension adjustment process, so as to avoid large-scale jitter of the material belt during the adjustment process, thereby affecting the winding or alignment effect of the material belt, a time period (i.e., a preset time period) can be set for the adjustment period, and the first or second tensioning process can be controlled according to the preset time period.

[0132] Furthermore, when performing the first tensioning process or the second tensioning process, if the closed-loop response speed is too fast, it will cause overshoot and cause tension oscillation. In order to improve this problem, the tension closed-loop function can be used to adjust the tension. The closed-loop response speed can be changed according to the selected proportional constant Kp and integral constant Ki to avoid the closed-loop response speed being too fast.

[0133] It should be noted that if the first tension value and the second tension value are obtained at the same time, step S2 and step S3 can be executed simultaneously.

[0134] In another embodiment, step S3 further includes:

[0135] Step S4, confirming the effect of the wound tape.

[0136] The image of the wound material strip is collected, and whether the wound material strip is convex or wrinkled is determined by detecting the image of the material strip; the image of the material strip can be processed by a traditional image processing method or a deep learning model to detect whether the wound material strip is convex or wrinkled. If the wound material strip is detected to be wrinkled, the micro-tension torque percentage T2 of the main drive shaft is increased; if the wound material strip is detected to be convex, the micro-tension torque percentage T2 of the main drive shaft is reduced.

[0137] The present application obtains a first tension value of the material strip near one side of the swing arm buffer module 2, calculates a deviation between the first tension value and the standard value of the material strip tension, and controls the swing arm buffer module 2 to perform a first tensioning process through the deviation, so as to avoid the problem of the material strip being too loose or being deformed during the winding process; the present application also detects a second tension value of the material strip near one side of the main drive module 7, and when there is still a certain deviation between the second tension value and the standard value of the material strip tension, further controls the main drive module 7 to perform a second tensioning process on the material roll with a smaller tensioning amplitude than the swing arm buffer module 2, so as to more accurately adjust the tension of the material strip and further ensure the subsequent winding quality.

[0138] Furthermore, the present application controls the tensioning process by setting a time period so that the tension can be in a periodic stable state, thereby avoiding large-scale jitter of the material belt during the adjustment process, thereby affecting the winding or alignment effect of the material belt; by controlling the closed-loop response speed, the problem of tension oscillation caused by overshoot is avoided.

[0139] Furthermore, after the tension control is completed, the present application confirms the actual effect after winding. When the material strip is bulging or wrinkled, the second micro-tension torque percentage of the main driving shaft of the material strip is further adjusted to ensure the subsequent winding quality.

[0140] The embodiment of the present application also provides an electronic device, the device comprising a processor and a memory;

[0141] The memory is used to store the program code and transmit the program code to the processor;

[0142] The processor is used to execute the unwinding tension control method in the aforementioned method embodiment according to the instructions in the program code.

[0143] The embodiment of the present application further provides a computer-readable storage medium, which is used to store program codes. When the program codes are executed by a processor, the unwinding tension control method in the aforementioned method embodiment is implemented.

[0144] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific process of the method described above can refer to the corresponding process in the aforementioned device embodiment, and will not be repeated here.

[0145] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0146] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0147] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0148] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0149] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0150] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions for executing all or part of the steps of the method described in each embodiment of the present application through a computer device (which can be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (full name in English: Read-Only Memory, English abbreviation: ROM), random access memory (full name in English: Random Access Memory, English abbreviation: RAM), disk or optical disk and other media that can store program codes.

[0151] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A reeling system, characterized in that: include: An unwinding module, a swing arm buffer module, a tension detection module, a main drive module, a winding module and a control module; the swing arm buffer module and the main drive module are sequentially arranged between the unwinding module and the winding module; the tension detection module is arranged between the swing arm buffer module and the main drive module; the tension detection module includes a first tension detection module and a second tension detection module; The first tension detection module is used to detect a first tension value of the material belt on one side of the swing arm buffer module; The second tension detection module is used to detect a second tension value of the material belt on one side of the main driving module; The control module is used to calculate a first difference between the first tension value and a standard value of the material belt tension, determine whether the first difference exceeds a preset range, and if so, control the swing arm buffer module to perform a first tensioning process; The control module is further used to calculate a second difference between the second tension value and the standard value of the material strip tension, and determine whether the second difference exceeds the preset range. If so, control the main drive module to perform a second tensioning process.

2. The unwinding system according to claim 1, characterized in that: The swing arm buffer module includes a swing arm buffer component, the main drive module includes a main drive roller, and the winding diameter of the swing arm buffer component is greater than the winding diameter of the main drive roller.

3. The unwinding system according to claim 1, characterized in that: When the control module controls the swing arm buffer module to perform the first tensioning process, the control module specifically includes: The control module is used to select a first compensation mode, determine a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and a current acceleration of the material belt; and perform open-loop control on the torque of the swing arm in the swing arm buffer module through the first torque percentage open-loop compensation value; Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone; If not, closed-loop control is not performed on the torque of the swing arm in the swing arm buffer module; If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the swing arm in the swing arm cache module is closed-loop controlled by the first torque percentage closed-loop compensation value.

4. The unwinding system according to claim 1, characterized in that: When the control module controls the swing arm buffer module to perform the first tensioning process, the control module specifically includes: The control module is used to select a first compensation mode, and determine a first torque percentage open-loop compensation value according to a compensation coefficient corresponding to the first compensation mode and a current acceleration of the material strip; Obtaining a first torque percentage measurement value according to the first tension value, and determining whether a difference between the first torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone; If not, performing open-loop control on the torque of the swing arm in the swing arm buffer module through the first torque percentage open-loop compensation value; If so, the first torque percentage closed-loop compensation value is calculated based on the difference between the first torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the swing arm torque percentage is calculated based on the first torque percentage open-loop compensation value, the first torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the swing arm in the swing arm cache module is controlled by the swing arm torque percentage.

5. The unwinding system according to claim 1, characterized in that: When the control module controls the main driving module to perform the second tensioning process, the control module specifically includes: A control module, configured to select a second compensation mode, determine a second torque percentage open-loop compensation value according to a compensation coefficient corresponding to the second compensation mode and a current acceleration of the material belt; and perform open-loop control on the torque of the main drive shaft in the main drive module by using the second torque percentage open-loop compensation value; Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone; If not, no closed-loop control is performed on the torque of the main drive shaft; If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the torque of the main drive shaft is closed-loop controlled by the second torque percentage closed-loop compensation value.

6. The unwinding system according to claim 1, characterized in that: When the control module controls the main driving module to perform the second tensioning process, the control module specifically includes: The control module is used to select the second compensation mode and determine the second torque percentage open-loop compensation value according to the compensation coefficient corresponding to the second compensation mode and the current acceleration of the material strip; Obtaining a second torque percentage measurement value according to the second tension value, and determining whether a difference between the second torque percentage measurement value and the torque percentage setting value exceeds a preset parameter adjustment dead zone; If so, the second torque percentage closed-loop compensation value is calculated based on the difference between the second torque percentage measurement value and the torque percentage setting value, the compensation coefficient and the integral adjustment coefficient; the micro-tension torque percentage of the main drive shaft is calculated by the second torque percentage open-loop compensation value, the second torque percentage closed-loop compensation value and the torque percentage setting value, and the torque of the main drive shaft is controlled by the micro-tension torque percentage.

7. The unwinding system according to any one of claims 3 to 6, characterized in that: The control module is also used to control the closed-loop response speed through a proportional constant and an integral constant; And / or, tension adjustment is performed based on a preset time period.

8. The unwinding system according to claim 5 or 6, characterized in that: The system further comprises an image detection module for collecting an image of the wound material strip, determining whether the wound material strip is convex or wrinkled by detecting the image of the material strip, and sending the detection result to the control module; The control module is also used to increase the micro-tension torque percentage of the main drive shaft when the detection result shows that the wound material strip is wrinkled; When the detection result shows that the wound material strip has bulges, the micro-tension torque percentage of the main drive shaft is reduced.

9. A method for controlling unwinding tension, characterized in that: Applied to the unwinding system according to any one of claims 1 to 8, the method comprising: Acquire a first tension value detected by the first tension detection module and a second tension value detected by the second tension detection module; Calculating a first difference between the first tension value and a standard value of the material belt tension, determining whether the first difference exceeds a preset range, and if so, controlling the swing arm buffer module to perform a first tensioning process; A second difference between the second tension value and the standard value of the material strip tension is calculated to determine whether the second difference exceeds the preset range; if so, the main driving module is controlled to perform a second tensioning process.

10. An electronic device, characterized in that: The device comprises a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the unwinding tension control method according to claim 9 according to the instructions in the program code.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program codes, and when the program codes are executed by a processor, the unwinding tension control method according to claim 9 is implemented.

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