Stacking table continuous unwinding control method, system and equipment and storage medium
By constructing a position cam relationship table between cache virtual axis and laminated virtual axis, multi-axis coupling control of unwinding equipment is realized, and the problems of loosening and jitter of material tape are solved, ensuring the continuity and accuracy of lamination process.
Patent Information
- Application Number
- CN202510392872.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-06-20
AI Technical Summary
During the rolling process of rolling, the tape is prone to loosening, wrinkling and shaking, which makes it difficult to align the sheets during rolling, and the front and rear stages cannot achieve continuous and uniform rolling speed.
By constructing a position cam relationship table between cached virtual axis and stacked virtual axis, using electronic gear synchronization relationship, the displacement and angular velocity between the unwinding solid axis and the virtual axis is controlled, and multi-axis coupling is achieved to ensure the continuity and tension of the material belt.
Effectively avoid wrinkling and loosening of the material tape, realize the problem of sheet alignment, and ensure the continuity and accuracy of the lamination process.
Smart Images
Figure CN120184401A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of unwinding control, and in particular to a stacked continuous unwinding control method, system, device and storage medium. Background Art
[0002] During the production of batteries, materials need to be processed in multiple processes using winding and unwinding. The lamination process is a key process in the production of lithium batteries. This process requires the compounding, cutting and stacking of materials such as pole pieces and diaphragms to form a battery cell. Lithium batteries are usually produced by lamination. The front stage uses multiple unwinding sections to unwind each material strip, and then different materials are staggered and composited according to the battery design requirements. The existing technology has the following problems in the lamination unwinding process:
[0003] 1. During the unwinding process, the material belt is long and passes through several rotating shafts, causing the material belt to loosen or be pulled, making the material belt wrinkled and loose, making it difficult to align the materials during stacking.
[0004] 2. The front section of the lamination process is unwinding, and the back section needs to be staggered and stacked, that is, different material strips need to be switched between the stationary and dynamic states due to process requirements. When the front and back sections of the process are connected for uninterrupted production, there is a problem of being unable to unwind continuously at a uniform speed.
[0005] 3. During the tape running process, wrinkles or looseness may cause tape running jitter, which in turn causes problems with stacking accuracy. Summary of the invention
[0006] The present application provides a stacking table continuous unwinding control method, system, device and storage medium, which are used to improve the technical problem of difficulty in aligning the sheets during stacking caused by wrinkling and loosening of the material belt.
[0007] In view of this, the first aspect of the present application provides a stacked continuous unwinding control method, comprising:
[0008] Constructing a position cam relationship table between the cache virtual axis and the stack virtual axis; wherein the stack real axis and the stack virtual axis are in an electronic gear synchronization relationship;
[0009] When the unwinding device is started, the speed of the unwinding virtual axis is obtained, and the displacement of the unwinding virtual axis is obtained through the speed of the unwinding virtual axis;
[0010] Obtaining a cache virtual axis displacement through the position cam relationship table, calculating a cache real axis displacement through the cache virtual axis displacement and the unwinding virtual axis displacement, and controlling the cache real axis movement based on the cache real axis displacement;
[0011] The unwinding real axis angular velocity is calculated by the unwinding virtual axis velocity, and the rotation speed of the unwinding roller is controlled by the unwinding real axis angular velocity.
[0012] Optionally, constructing a position cam relationship table for the buffer virtual axis and the lamination virtual axis includes:
[0013] Obtain the spacing parameters among the unwinding mechanism, the buffer mechanism, the main drive mechanism, the tensioning mechanism, and the stacking table positioning movement mechanism in the unwinding device, and obtain the position cam relationship table for the buffer virtual axis and the lamination virtual axis through the spacing parameters.
[0014] Optionally, constructing a position cam relationship table for the buffer virtual axis and the lamination virtual axis includes:
[0015] Control the transfer shaft of the stacking table positioning movement mechanism to move the material tape back and forth between the starting end and the terminal end on the stacking table, and output the position information of the tension swing rod corresponding to each time the transfer shaft moves a preset distance;
[0016] By controlling the movement of the buffer virtual axis, make the tension swing rod return to the preset position interval, and output the displacement information of the buffer virtual axis;
[0017] Generate a position cam relationship table according to the correspondence between each time the transfer shaft moves a preset distance and the displacement information of the buffer virtual axis.
[0018] Optionally, obtaining the unwinding virtual axis linear velocity includes:
[0019] Calculate the unwinding virtual axis linear velocity through the length of a single diaphragm sheet, the buffer roller multiple, and the single sheet beat time.
[0020] Optionally, calculating the unwinding real axis angular velocity through the unwinding virtual axis linear velocity includes:
[0021] Calculate the unwinding real axis linear velocity through the unwinding virtual axis linear velocity and the buffer roller multiple;
[0022] Calculate the unwinding real axis angular velocity through the unwinding real axis linear velocity, the unwinding diameter, and the tension swing rod angular velocity.
[0023] Optionally, the process of obtaining the tension swing rod angular velocity is:
[0024] Calculate the difference between the current position and the set position of the tension swing rod, and compensate the difference through a compensation coefficient to obtain the tension swing rod angular velocity.
[0025] Optionally, the method further includes:
[0026] Control the lamination real axis to follow the lamination virtual axis to run. After the lamination virtual axis moves a preset length, clear the position of the lamination virtual axis, and control the lamination real axis to follow the lamination virtual axis to run in the opposite direction.
[0027] The second aspect of the present application provides a stacking table continuous unwinding control system, including:
[0028] A relationship table construction module is used to construct a position cam relationship table between a cache virtual axis and a lamination virtual axis; wherein, the lamination real axis and the lamination virtual axis are in an electronic gear synchronous relationship;
[0029] A displacement acquisition module is used to acquire the linear velocity of the unwinding virtual axis when the unwinding device is started, and acquire the displacement of the unwinding virtual axis through the linear velocity of the unwinding virtual axis;
[0030] A cache real axis control module is used to acquire the displacement of the cache virtual axis through the position cam relationship table, calculate the displacement of the cache real axis through the displacement of the cache virtual axis and the displacement of the unwinding virtual axis, and control the movement of the cache real axis based on the displacement of the cache real axis;
[0031] An unwinding real axis control module is used to calculate the angular velocity of the unwinding real axis through the linear velocity of the unwinding virtual axis, and control the rotation speed of the unwinding roller through the angular velocity of the unwinding real axis.
[0032] A third aspect of the present application provides an electronic device, which includes a processor and a memory;
[0033] The memory is used to store program codes and transmit the program codes to the processor;
[0034] The processor is used to execute any one of the lamination continuous unwinding control methods in the first aspect according to the instructions in the program codes.
[0035] A fourth aspect of the present application provides a computer-readable storage medium, which is used to store program codes, and when the program codes are executed by a processor, any one of the lamination continuous unwinding control methods in the first aspect is implemented.
[0036] From the above technical solutions, it can be seen that the present application has the following advantages:
[0037] The lamination continuous unwinding control method provided by the present application realizes the connection between the main shaft and the slave shaft through the position cam relationship table, realizes the multi-axis coupling between the conveying shafts through the speed parameters, connects the continuous action unwinding and the intermittent lamination action into one body, and realizes the effect of rapid lamination; adopts multi-axis coupling, takes the virtual axis control as the reference line, and uses the position cam relationship table and the relative position relationship to realize the alignment control of the real axis to the virtual axis, and completes the rhythmic tensioning to avoid the problems of the material belt wrinkling and loosening, which makes it difficult to align the material sheets during lamination. Description of the Drawings
[0038] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0039] Figure 1 It is a schematic flowchart of a method for controlling continuous unwinding of stacked tables provided by an embodiment of the present application;
[0040] Figure 2 It is another schematic flowchart of a method for controlling continuous unwinding of stacked tables provided by an embodiment of the present application;
[0041] Figure 3 It is a schematic structural diagram of a system for controlling continuous unwinding of stacked tables provided by an embodiment of the present application. Detailed implementation manners
[0042] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.
[0043] For ease of understanding, please refer to Figure 1 and Figure 2 An embodiment of the present application provides a method for controlling continuous unwinding of stacked tables, including:
[0044] Step 110: Construct a position cam relationship table between the buffer virtual axis and the lamination virtual axis;
[0045] In one embodiment, a traditional model can be selected to obtain the position cam relationship table between the buffer virtual axis and the lamination virtual axis.
[0046] Specifically, the spacing parameters between components such as the unwinding mechanism, buffer mechanism, main drive mechanism, tensioning mechanism, and stacked table positioning movement mechanism in the unwinding device can be obtained, and the spacing parameters are input into the traditional model to output the position cam relationship table between the buffer virtual axis and the lamination virtual axis; among them, the spacing parameters include upper height, lower height, left center distance, right center distance, left margin, right margin, cutter pressing distance, etc.
[0047] In another embodiment, the position cam relationship table between the buffer virtual axis and the lamination virtual axis can be obtained through a self-learning mode.
[0048] Specifically, first, control the transfer shaft of the stacking table positioning motion mechanism to move the strip slowly back and forth between the starting end and the terminal end on the stacking table (usually horizontally back and forth), and output the position information of the tension swing rod corresponding to each preset distance of the transfer shaft movement. For the convenience of subsequent calculations, it can be controlled that the transfer shaft outputs the position information of the tension swing rod every time it moves a unit distance (such as 1 mm).
[0049] Secondly, by controlling the movement of the buffer virtual shaft, the tension swing rod is returned to the preset position range, and the displacement information of the buffer virtual shaft is output; after obtaining the position information of the tension swing rod, at this time, the position of the tension swing rod can be corrected through the buffer real shaft control module and the unwinding real shaft control module. By controlling the movement of the buffer virtual shaft until the position of the tension swing rod returns to the preset position range, this preset position range is near the midpoint position, and specifically can be set to [-0.1, +0.1]. After the tension swing rod returns to the preset position range, output the displacement information of the buffer virtual shaft at this time (such as the moving distance). During this process, the unwinding virtual shaft control module and the buffer shaft control module are synchronized by gears and cycle until the transfer shaft completes a complete round-trip movement process (that is, moves from the starting end to the terminal end and from the terminal end to the starting end). For example, when the transfer shaft moves 1 mm from the starting end to the terminal end, at this time the tension swing rod moves 0.5 mm. The position of the tension swing rod is corrected through the buffer real shaft control module and the unwinding real shaft control module, so that the position of the tension swing rod returns to [-0.1, +0.1]. At this time, the buffer virtual shaft moves 2 mm; then control the transfer shaft to move 1 mm, and obtain the moving distance of the buffer virtual shaft after correcting the position of the tension swing rod at this time, and so on until the transfer shaft completes a complete round-trip movement process. Save the moving distance corresponding to the buffer virtual shaft every time the transfer shaft moves 1 mm during this process. It should be noted that the moving direction can be represented by + and - during the movement process.
[0050] Finally, generate a position cam relationship table according to the corresponding relationship between each preset distance of the transfer shaft movement and the displacement information of the buffer virtual shaft. Save the moving distance corresponding to the buffer virtual shaft every time the transfer shaft moves a preset distance, so as to obtain the position relationship data of the master and slave shafts, and then generate a position cam relationship table. At this time, the stacking virtual shaft is the master shaft, and the buffer virtual shaft is the slave shaft. During the unwinding control process, the master shaft is the dominant operation control, and the slave shaft is controlled according to the master shaft.
[0051] Step 120: When the unwinding device is started, obtain the unwinding virtual axis linear velocity, and obtain the unwinding virtual axis displacement through the unwinding virtual axis linear velocity;
[0052] When the unwinding device starts, calculate the current virtual axis unwinding speed V1 through the diaphragm single-piece length L, the buffer roller multiple M (i.e., the number of layers the material tape is wound around, usually 2 or 4), and the single-piece beat time CT (i.e., the interval time between the previous lamination being placed on the stacking table and the next lamination being placed on the stacking table). Among them, V1 = L / M / CT. After calculating the current virtual axis unwinding speed V1, the current virtual axis displacement P1 of the unwinding can be determined.
[0053] It should be noted that the lamination real axis and the lamination virtual axis are in an electronic gear synchronization relationship. The lamination real axis follows the lamination virtual axis. After the lamination virtual axis moves a preset length (i.e., the stacking table length), the position of the lamination virtual axis is cleared, and the lamination real axis is controlled to follow the lamination virtual axis in the reverse direction.
[0054] Step 130: Obtain the buffer virtual axis displacement through the position cam relationship table, calculate the buffer real axis displacement based on the buffer virtual axis displacement and the unwinding virtual axis displacement, and control the movement of the buffer real axis based on the buffer real axis displacement;
[0055] Obtain the displacement of the transfer axis of the current stacking table positioning motion mechanism. Through the position cam relationship table, the displacement information of the current buffer virtual axis can be obtained, so as to obtain the current buffer virtual axis displacement P2. Calculate the difference between the current buffer virtual axis displacement P2 and the current unwinding virtual axis displacement P1 to obtain the current buffer real axis displacement P = P2 - P1. Then, the movement displacement P of the buffer real axis can be controlled through instructions. At this time, the buffer virtual axis is the main axis and the buffer real axis is the slave axis.
[0056] Step 140: Calculate the unwinding real axis angular velocity through the unwinding virtual axis speed, and control the rotation speed of the unwinding roller through the unwinding real axis angular velocity;
[0057] Calculate the unwinding real axis speed V2 through the unwinding virtual axis speed V1 and the buffer roller multiple M, where V2 = V1 * M; calculate the unwinding real axis angular velocity V3 through the unwinding real axis speed V2, the unwinding diameter R, and the tension pendulum angular velocity V0. Among them, V3 = [(V2 * 360) / π / R] + V0. The process of obtaining the tension pendulum angular velocity V0 is as follows: Calculate the difference between the current position PV of the tension pendulum and the set position SV, and compensate the difference through the compensation coefficient K to obtain the tension pendulum angular velocity V0, that is, V0 = (PV - SV) * K.
[0058] After calculating the current unwinding real axis angular velocity V3, control the rotation speed of the unwinding roller in the unwinding mechanism according to the unwinding real axis angular velocity V3. At this time, the unwinding virtual axis is the main axis and the unwinding real axis is the slave axis.
[0059] The continuous unwinding control method for the stacked table provided by this application realizes the connection between the main shaft and the slave shaft through the position cam relationship table, realizes the multi-axis coupling between the conveying shafts through the speed parameters, connects the continuous-action unwinding with the intermittent stacking action into one, and achieves the effect of rapid stacking; adopts multi-axis coupling, takes the virtual axis control as the reference line, and uses the position cam relationship table and the relative position relationship to realize the alignment control of the real axis to the virtual axis, and completes the rhythmic tensioning to avoid problems such as the material tape wrinkling and loosening, which makes it difficult to align the material pieces during stacking.
[0060] Please refer to Figure 3 , this application also provides a continuous unwinding control system for the stacked table, including:
[0061] A relationship table construction module 310 for constructing a position cam relationship table between the cached virtual axis and the stacking virtual axis; wherein, the stacking real axis and the stacking virtual axis are in an electronic gear synchronization relationship;
[0062] A displacement acquisition module 320 for acquiring the linear velocity of the unwinding virtual axis when the unwinding device is started, and acquiring the displacement of the unwinding virtual axis through the linear velocity of the unwinding virtual axis;
[0063] A cached real axis control module 330 for acquiring the displacement of the cached virtual axis through the position cam relationship table, calculating the displacement of the cached real axis through the displacement of the cached virtual axis and the displacement of the unwinding virtual axis, and controlling the movement of the cached real axis based on the displacement of the cached real axis;
[0064] An unwinding real axis control module 340 for calculating the angular velocity of the unwinding real axis through the linear velocity of the unwinding virtual axis, and controlling the rotation speed of the unwinding roller through the angular velocity of the unwinding real axis.
[0065] As a further improvement, the relationship table construction module 310 is specifically used for:
[0066] Obtaining the spacing parameters between the unwinding mechanism, the caching mechanism, the main driving mechanism, the tensioning mechanism and the stacked table positioning movement mechanism in the unwinding device, and obtaining the position cam relationship table between the cached virtual axis and the stacking virtual axis through the spacing parameters;
[0067] Or,
[0068] Controlling the transfer shaft of the stacked table positioning movement mechanism to move the material tape back and forth between the starting end and the terminal end on the stacked table, and outputting the position information of the tension swing rod corresponding to each time the transfer shaft moves a preset distance;
[0069] By controlling the movement of the cached virtual axis, the tension swing rod is returned to the preset position interval, and the displacement information of the cached virtual axis is output;
[0070] Generating a position cam relationship table according to the corresponding relationship between each time the transfer shaft moves a preset distance and the displacement information of the cached virtual axis.
[0071] As a further improvement, the displacement acquisition module 320 is specifically configured to:
[0072] When the unwinding device is started, calculate the virtual axis unwinding speed through the length of a single diaphragm sheet, the multiple of the buffer roller, and the single sheet beat time; obtain the virtual axis displacement of the unwinding through the virtual axis unwinding speed.
[0073] As a further improvement, the unwinding real axis control module 340 is specifically configured to:
[0074] Calculate the real axis unwinding speed through the virtual axis unwinding speed and the multiple of the buffer roller;
[0075] Calculate the real axis angular velocity of the unwinding through the real axis unwinding speed, the unwinding diameter, and the angular velocity of the tension swing rod;
[0076] Control the rotation speed of the unwinding roller through the real axis angular velocity of the unwinding.
[0077] Among them, the process of obtaining the angular velocity of the tension swing rod is as follows:
[0078] Calculate the difference between the current position and the set position of the tension swing rod, and compensate the difference through the compensation coefficient to obtain the angular velocity of the tension swing rod.
[0079] As a further improvement, the system further includes a lamination real axis control module, which is used to control the lamination real axis to follow the lamination virtual axis. After the lamination virtual axis moves a preset length, clear the position of the lamination virtual axis, and control the lamination real axis to follow the lamination virtual axis in the reverse direction.
[0080] This application realizes the connection between the main shaft and the slave shaft through the position cam relationship table, realizes the multi-axis coupling between the conveying shafts through the speed parameters, connects the continuous unwinding action with the intermittent lamination action into one body, and realizes the effect of rapid lamination; adopts multi-axis coupling, with the virtual axis control as the reference line, and uses the position cam relationship table and the relative position relationship to realize the alignment control of the real axis to the virtual axis, and complete the rhythmic tensioning to avoid the problems of the material tape wrinkling and loosening, which makes it difficult to align the material sheets during lamination.
[0081] The embodiment of this application also provides an electronic device, which includes a processor and a memory;
[0082] The memory is used to store program codes and transmit the program codes to the processor;
[0083] The processor is used to execute the lamination continuous unwinding control method in the foregoing method embodiment according to the instructions in the program code.
[0084] The embodiment of this application also provides a computer-readable storage medium, which is used to store program codes. When the program codes are executed by a processor, the lamination continuous unwinding control method in the foregoing method embodiment is realized.
[0085] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.
[0086] 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 do not necessarily need to describe a specific order or sequence. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.
[0087] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist simultaneously. Here, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or similar expressions refer to any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (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.
[0088] In several embodiments provided in this 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 merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.
[0089] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0090] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, may exist physically alone for each unit, 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 a software functional unit.
[0091] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (English full name: Read-Only Memory, English abbreviation: ROM), random access memories (English full name: Random Access Memory, English abbreviation: RAM), magnetic disks, or optical discs and other various media that can store program codes.
[0092] As described above, the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of various embodiments of the present application.
Claims
1. A stacked continuous unwinding control method, characterized in that: include: Constructing a position cam relationship table between the cache virtual axis and the stack virtual axis; wherein the stack real axis and the stack virtual axis are in an electronic gear synchronization relationship; When the unwinding device is started, the speed of the unwinding virtual axis is obtained, and the displacement of the unwinding virtual axis is obtained through the speed of the unwinding virtual axis; Obtaining a cache virtual axis displacement through the position cam relationship table, calculating a cache real axis displacement through the cache virtual axis displacement and the unwinding virtual axis displacement, and controlling the cache real axis movement based on the cache real axis displacement; The unwinding real axis angular velocity is calculated by the unwinding virtual axis velocity, and the rotation speed of the unwinding roller is controlled by the unwinding real axis angular velocity.
2. The stacked continuous unwinding control method according to claim 1, characterized in that: The step of constructing a position cam relationship table between the cache virtual axis and the lamination virtual axis includes: The spacing parameters between the unwinding mechanism, the cache mechanism, the main drive mechanism, the tensioning mechanism and the stacking table positioning motion mechanism in the unwinding device are obtained, and the position cam relationship table of the cache virtual axis and the stacking virtual axis is obtained through the spacing parameters.
3. The stacked continuous unwinding control method according to claim 1, characterized in that: The step of constructing a position cam relationship table between the cache virtual axis and the lamination virtual axis includes: Controlling the transfer shaft of the stacking table positioning motion mechanism to move the material strip back and forth between the starting end and the terminal end on the stacking table, and outputting the position information of the tension swing rod corresponding to each movement of the transfer shaft by a preset distance; By controlling the movement of the cache virtual axis, the tension swing rod is returned to the preset position interval, and the displacement information of the cache virtual axis is output; A position cam relationship table is generated according to the correspondence between the preset distance moved by the transfer axis and the displacement information of the cache virtual axis.
4. The stacked continuous unwinding control method according to claim 1, characterized in that: The obtaining of the unwinding virtual axis speed comprises: The unwinding virtual axis speed is calculated by the length of the single diaphragm sheet, the buffer roller multiple and the single sheet tact time.
5. The stacked continuous unwinding control method according to claim 1, characterized in that: The calculating the unwinding real axis angular velocity by the unwinding virtual axis velocity comprises: Calculate the unwinding real axis speed by the unwinding virtual axis speed and the buffer roller multiple; The unwinding real axis angular velocity is calculated by the unwinding real axis velocity, the unwinding diameter and the tension swing rod angular velocity.
6. The stacked continuous unwinding control method according to claim 5, characterized in that: The process of obtaining the angular velocity of the tension pendulum is as follows: The difference between the current position and the set position of the tension swing rod is calculated, and the difference is compensated by a compensation coefficient to obtain the angular velocity of the tension swing rod.
7. The stacked continuous unwinding control method according to claim 1, characterized in that: The method further comprises: The lamination real axis is controlled to follow the lamination virtual axis to run, after the lamination virtual axis moves a preset length, the position of the lamination virtual axis is cleared, and the lamination real axis is controlled to follow the lamination virtual axis to run in the opposite direction.
8. A stacked continuous unwinding control system, characterized in that: include: A relationship table building module is used to build a position cam relationship table between the cache virtual axis and the laminate virtual axis; wherein the laminate real axis and the laminate virtual axis are in an electronic gear synchronization relationship; A displacement acquisition module, used to acquire the speed of the unwinding virtual axis when the unwinding device is started, and acquire the unwinding virtual axis displacement through the speed of the unwinding virtual axis; A cache real axis control module, used to obtain a cache virtual axis displacement through the position cam relationship table, calculate a cache real axis displacement through the cache virtual axis displacement and the unwinding virtual axis displacement, and control the cache real axis movement based on the cache real axis displacement; The unwinding real axis control module is used to calculate the unwinding real axis angular velocity through the unwinding virtual axis velocity, and control the rotation speed of the unwinding roller through the unwinding real axis angular velocity.
9. An electronic device, characterized in that: The device comprises a processor and a memory; The memory is used to store program codes and transmit the program codes to the processor; The processor is used to execute the stacked continuous unwinding control method described in any one of claims 1-7 according to the instructions in the program code.
10. 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 stacking continuous unwinding control method according to any one of claims 1 to 7 is implemented.