Z-shaped lamination stacker lamination stack tension control method based on active disturbance rejection control

Abstract

The application discloses a kind of based on self-disturbance control's lithium battery laminating machine Z-shaped laminating section tension control method, comprising the following steps: analysis lithium battery Z-shaped laminating machine laminating section tension fluctuation generation mechanism and each mechanism working principle, establish lithium battery Z-shaped laminating machine laminating section tension nonlinear model;Linearization and simplification are carried out to the nonlinear model established, deduce the integral series type model of lithium battery Z-shaped laminating machine laminating section tension;According to the simplified integral series type model, design based on self-disturbance control's lithium battery Z-shaped laminating machine laminating section tension control method;According to the model established and the control method designed, corresponding simulation model is built to simulate.The application can effectively compensate the tension disturbance of lithium battery Z-shaped laminating machine laminating section, solve the accurate tension control problem of lithium battery Z-shaped laminating machine laminating section.

Description

Technical Field

[0001] This invention relates to the field of lithium battery production control, and in particular to a method for controlling the tension of stacking segments in a lithium battery Z-shaped stacking machine based on active disturbance rejection control. Background Technology

[0002] With the global energy transition and the explosive growth of new energy vehicles, the demand for lithium batteries, as a core power source, continues to rise. Stacking, a core step in power battery manufacturing, is gradually replacing traditional winding processes and becoming the mainstream technology due to its ability to improve battery energy density and cycle life. The Z-shaped lithium battery stacking machine forms a cell by alternately stacking positive electrode sheets, negative electrode sheets, and separators; the precision of tension control directly affects battery performance and yield.

[0003] As the final step in the lithium battery cell stacking process, the tension control of the separator in the Z-shaped lithium battery stacking machine is crucial for achieving high-quality production of stacked lithium batteries. The Z-shaped lithium battery stacking machine involves numerous mechanical movements and is subject to many interfering factors, making tension control in this section challenging.

[0004] Therefore, designing a tension control method with high precision and strong robustness is of great research and application value. Summary of the Invention

[0005] To address the problem of excessive tension fluctuations in the stacking segments of lithium battery Z-shaped stacking machines, this invention provides a tension control method for stacking segments in lithium battery Z-shaped stacking machines based on active disturbance rejection control. This invention can estimate and compensate for disturbances in the system, exhibiting strong anti-interference capabilities and enabling precise tension control.

[0006] This invention is achieved through the following technical solution:

[0007] A method for controlling the tension of stacking segments in a lithium battery Z-shaped stacking machine based on active disturbance rejection control includes the following steps:

[0008] S1: Based on the properties of each mechanism in the stacking segment of the lithium battery Z-shaped stacking machine, establish a tension nonlinear model for the stacking segment of the lithium battery Z-shaped stacking machine;

[0009] S2: Transform the tension nonlinear model by linearizing the part of the tension nonlinear model that contains the control target, and treating the part of the tension nonlinear model other than the control target and the input as the total internal and external disturbances, thereby transforming the system into an integral cascade model;

[0010] S3: For the simplified integral cascade model, design an extended state observer and error feedback control law, complete the design of the active disturbance rejection controller, and combine it with PID control to complete the tension controller design of the stacking segment of the lithium battery Z-shaped stacking machine.

[0011] S4: Based on the established tension nonlinear model and the designed controller, build a simulation model and simulate the equipment operation process.

[0012] In step S1, the tension nonlinear model is as follows:

[0013] Master equation:

[0014] Auxiliary equation:

[0015] F T,s Let E be the diaphragm tension, E be the diaphragm elastic modulus, A0 be the initial cross-sectional area of ​​the diaphragm, and L be the diaphragm tension. ph v is the diaphragm length between the traction roller and the diaphragm outlet of the horizontal moving roller group. h v is the diaphragm conveying speed relative to the horizontally moving roller assembly. p M is the linear speed of the traction roller. d,s J is the torque applied by the tension swing arm motor for the stacked segments. d,s R is the moment of inertia of the tension lever. d,s Let B be the radius of rotation of the tension lever. d,s L is the damping coefficient of the tension swing arm rotation, t is time, L1 and L2 are the geometric lengths between the rollers on the tension swing arm and their adjacent rollers, α is the swing angle of the tension swing arm, γ is the angle of the diaphragm tension, and L... d,s L is the total length of the diaphragm at the tension lever. Cs R is the diaphragm length between the outlet of the horizontal moving roller group and the stacking platform. r L is the radius of the roller at the tension lever. r,s The length of the diaphragm from the traction roller to the outlet of the horizontal motion roller group, excluding the tension swing arm section.

[0016] In step S2, the transformation process of the tension nonlinear model is as follows:

[0017] L d,s At the equilibrium position of the tension pendulum, the Taylor linearization is as follows:

[0018] L d,s =a d,s -b d,s α (3)

[0019]

[0020] Combining equations (1), (2), (3), and (4), we can obtain the linearized model for the part of the model containing the control objective:

[0021]

[0022] In equation (5), excluding the control objective and input, the unmodeled disturbances of the system are uniformly regarded as the total internal and external disturbances, which can be transformed into an integral series tension model:

[0023]

[0024] In equation (6), f s Represented as:

[0025]

[0026] In equation (7), w s This represents unmodeled disturbances in the system.

[0027] In step S3, the design process of the tension controller is as follows:

[0028] For the integral cascade type tension model shown in equation (6), the designed expansion state observer is as follows:

[0029]

[0030] In equation (8), x s1 z is the swing angle of the tension lever measured by the sensor. s1 For x s1 The estimated value, i.e., the estimated value of the swing angle of the tension lever; z s2 To address the total internal and external disturbances f of the system s The estimated value of β. s1 With β s2 For the gain of the extended state observer, fal(e ES ,α s ,δ s The expression for ) is as follows:

[0031]

[0032] α s To adjust the parameter, 0 < α s <1,δ s Let be the length of the linear segment; sign is the sign function, whose expression is:

[0033]

[0034] For the integral series tension model shown in equation (6), and let The designed error feedback control law is:

[0035]

[0036] In equation (11), b s With K ps α is an adjustable parameter.ref Set the swing angle value for the tension lever;

[0037] The error feedback control law and the extended state observer together constitute the active disturbance rejection controller; the measured swing angle of the tension swing arm is used as feedback, and the active disturbance rejection controller controls the swing angle of the tension swing arm; the tension value measured by the tension sensor is used as feedback, and the torque of the tension swing arm is controlled by the PID controller; the two controllers are combined to form the tension controller of the stacking segment of the lithium battery Z-shaped stacking machine.

[0038] In step S1, the properties of each mechanism refer to the working principle, motion process, and tension generation mechanism of each mechanism.

[0039] Compared with the prior art, the present invention has the following advantages and effects:

[0040] (1) The lithium battery Z-shaped stacking machine stacking segment tension model established by the mechanism analysis method in this invention has the characteristics of being simple, easy to implement and reliable.

[0041] (2) The present invention adopts an active disturbance rejection control method, which can estimate and compensate for disturbances in the system and can effectively suppress various disturbances.

[0042] (3) This invention does not require a precise mathematical model of the system and has strong applicability in practical applications. Attached Figure Description

[0043] Figure 1 This is a flowchart of the present invention;

[0044] Figure 2 This is a schematic diagram of the stacking segment of the lithium battery Z-shaped stacking machine of the present invention;

[0045] Figure 3 This is a force analysis diagram of the tension pendulum of the present invention;

[0046] Figure 4 This is a schematic diagram of the control method structure of the present invention;

[0047] Figure 5 This is the simulation model of the present invention;

[0048] Figure 6 This is a simulation curve of the stacking segment tension of the lithium battery Z-shaped stacking machine of the present invention;

[0049] Figure 7 This is a simulation curve of the swing angle of the tension pendulum of the present invention;

[0050] Figure 2 Explanation of reference numerals in the attached drawings: 1. Diaphragm; 2. Traction roller; 3. Tension swing arm; 4. Diaphragm length L at the tension swing arm. d,s4; Storage roller; 5; Horizontal moving roller group; 6; Robotic arm; 7; Robotic arm; 8; Diaphragm length L between the traction roller and the diaphragm outlet of the horizontal moving roller group. ph 9; Diaphragm length L between the outlet of the horizontal moving roller group and the stacking platform Cs 10. Detailed Implementation

[0051] The present invention will now be described in further detail with reference to specific embodiments.

[0052] The embodiments of the present invention are illustrated using a lithium battery Z-shaped stacking machine for stacking segments.

[0053] like Figure 2 As shown, the horizontal roller group reciprocates in the horizontal direction to complete the stacking action. The traction roller actively drives the feeding of the diaphragm, and the storage roller reciprocates to buffer the length of the diaphragm. The tension on the diaphragm between the traction roller and the stacking platform is the stacking segment tension of the lithium battery Z-shaped stacking machine. This invention discloses a stacking segment tension control method for a lithium battery Z-shaped stacking machine based on active disturbance rejection control, as follows... Figure 1 As shown, it includes the following steps:

[0054] Step 1: Based on the working principle of each mechanism of the stacking segment of the lithium battery Z-shaped stacking machine, the motion process of each driving mechanism, and the tension generation mechanism of the stacking segment, establish a nonlinear tension model of the stacking segment of the lithium battery Z-shaped stacking machine.

[0055] For from Figure 2 The diaphragm, which enters through the traction roller and exits from the horizontal moving roller group, satisfies the law of conservation of mass. For the tension lever, the force analysis is as follows: Figure 3 As shown. A dynamic model was constructed for both, and the resulting tension model for the lithium battery Z-shaped stacking machine is as follows:

[0056] Master equation:

[0057] Auxiliary equation:

[0058] In equations (1) and (2), F T,s Let E be the diaphragm tension, E be the diaphragm elastic modulus, A0 be the initial cross-sectional area of ​​the diaphragm, and L be the diaphragm tension. ph v is the diaphragm length between the traction roller and the diaphragm outlet of the horizontal moving roller group. h v is the diaphragm conveying speed relative to the horizontally moving roller assembly. p M is the linear speed of the traction roller. d,s J is the torque applied by the tension swing arm motor for the stacked segments. d,s R is the moment of inertia of the tension lever. d,s Let B be the radius of rotation of the tension lever. d,sL is the damping coefficient of the tension swing arm rotation, t is time, L1 and L2 are the geometric lengths between the rollers on the tension swing arm and their adjacent rollers, α is the swing angle of the tension swing arm, γ is the angle of the diaphragm tension, and L... d,s L is the total length of the diaphragm at the tension lever. Cs R is the diaphragm length between the outlet of the horizontal moving roller group and the stacking platform. r L is the radius of the roller at the tension lever. r,s The length of the diaphragm from the traction roller to the outlet of the horizontal motion roller group, excluding the tension swing arm section.

[0059] Step 2: Transform the model by linearizing the part of the model that contains the control objective, and treating the unmodeled disturbances in the model other than the control objective and input as the total internal and external disturbances, thereby transforming the system into an integral cascade model.

[0060] For L in equation (2) d,s The expression for this expression, when Taylorized to be near the zero angle of the tension rod's swing angle α, is:

[0061] L d,s =a d,s -b d,s α (3)

[0062]

[0063] Combining equations (1), (2), (3), and (4), we can obtain the linearized model for the part of the model containing the control objective:

[0064]

[0065] In equation (5), excluding the control objective and input, the unmodeled disturbances of the system are uniformly regarded as the total internal and external disturbances, which can be transformed into an integral series tension model:

[0066]

[0067] In equation (6), f s Represented as:

[0068]

[0069] In equation (7), w s This represents unmodeled disturbances in the system.

[0070] Step 3: For the simplified integral cascade model, design an extended state observer and error feedback control law to complete the design of the active disturbance rejection controller, and combine it with PID control to complete the design of the tension controller for the stacking segment of the lithium battery Z-shaped stacking machine.

[0071] For the integral cascade type tension model shown in equation (6), the designed expansion state observer is as follows:

[0072]

[0073] In equation (8), x s1 z is the swing angle of the tension lever measured by the sensor. s1 For x s1 The estimated value, that is, the estimated value of the swing angle of the tension lever. s2 To address the total internal and external disturbances f of the system s The estimated value of β. s1 With β s2 For the gain of the extended state observer, fal(e ES ,α s ,δ s The expression for ) is as follows:

[0074]

[0075] α s To adjust the parameter, 0 < α s <1,δ s Let be the length of the linear segment. `sign` is the sign function, and its expression is:

[0076]

[0077] For the integral series tension model shown in equation (6), and let The designed error feedback control law is:

[0078]

[0079] In equation (11), b s With K ps α is an adjustable parameter. ref Set the swing angle value for the tension lever.

[0080] An error feedback control law and an extended state observer together constitute an active disturbance rejection controller (ADRC). The measured swing angle of the tension pendulum is used as feedback to control the swing angle; the tension value measured by the tension sensor is used as feedback to control the torque. The combination of these two controllers achieves stability in both the swing angle and tension of the tension pendulum. The designed control method is as follows: Figure 5 As shown.

[0081] Step 4: Based on the established tension model and the designed controller, build a simulation model and simulate the equipment operation process.

[0082] Based on the designed control method and the established tension model of the lithium battery Z-shaped stacking machine, the simulation model is as follows: Figure 6 As shown in the figure. During simulation, the movements of the traction roller, storage roller, horizontal motion roller group, and robot arm are simulated during the operation of the lithium battery Z-shaped stacking machine. The tension changes and the swing angle changes of the tension swing arm are as follows: Figure 7 As shown in the simulation curves, the designed control method can maintain stable tension and stable swing angle of the pendulum, with small fluctuations during operation.

[0083] As described above, the present invention can be well implemented.

[0084] The implementation of the present invention is not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

[0085] As described above, the present invention can be implemented well.

[0086] The implementation of the present invention is not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A method for controlling the tension of stacking segments in a lithium battery Z-shaped stacking machine based on active disturbance rejection control, characterized in that... Includes the following steps: S1: Based on the properties of each mechanism in the stacking segment of the lithium battery Z-shaped stacking machine, establish a tension nonlinear model for the stacking segment of the lithium battery Z-shaped stacking machine; S2: Transform the tension nonlinear model by linearizing the part of the tension nonlinear model that contains the control target, and treating the part of the tension nonlinear model other than the control target and the input as the total internal and external disturbances, thereby transforming the system into an integral cascade model; S3: For the simplified integral cascade model, design an extended state observer and error feedback control law, complete the design of the active disturbance rejection controller, and combine it with PID control to complete the tension controller design of the stacking segment of the lithium battery Z-shaped stacking machine. S4: Based on the established tension nonlinear model and the designed controller, build a simulation model and simulate the equipment operation process; In step S2, the transformation process of the tension nonlinear model is as follows: L d,s At the equilibrium position of the tension pendulum, the Taylor linearization is as follows: （3）； （4）； By combining equations (1), (2), (3), and (4), we can obtain the linearized model for the part of the model containing the control objective: （5）； In equation (5), excluding the control objective and input, the unmodeled disturbances of the system are uniformly regarded as the total internal and external disturbances, which can be transformed into an integral series tension model: （6）； In equation (6), f s Represented as: （7）； In equation (7), w s This represents unmodeled disturbances in the system.

2. The method for controlling the tension of stacking segments in a lithium battery Z-shaped stacking machine based on active disturbance rejection control according to claim 1, characterized in that, In step S1, the tension nonlinear model is as follows: Master equation: (1); Auxiliary equation: (2); F T,s Let E be the diaphragm tension, E be the diaphragm elastic modulus, A0 be the initial cross-sectional area of ​​the diaphragm, and L be the diaphragm tension. ph v is the diaphragm length between the traction roller and the diaphragm outlet of the horizontal moving roller group. h v is the diaphragm conveying speed relative to the horizontally moving roller assembly. p M is the linear speed of the traction roller. d,s J is the torque applied by the tension swing arm motor for the stacked segments. d,s R is the moment of inertia of the tension lever. d,s Let B be the radius of rotation of the tension lever. d,s L is the damping coefficient of the tension swing arm rotation, t is time, L1 and L2 are the geometric lengths between the rollers on the tension swing arm and their adjacent rollers, α is the swing angle of the tension swing arm, γ is the angle of the diaphragm tension, and L... d,s L is the total length of the diaphragm at the tension lever. Cs R is the diaphragm length between the outlet of the horizontal moving roller group and the stacking platform. r L is the radius of the roller at the tension lever. r,s The length of the diaphragm from the traction roller to the outlet of the horizontal motion roller group, excluding the tension swing arm section.

3. The method for controlling the tension of stacking segments in a lithium battery Z-shaped stacking machine based on active disturbance rejection control according to claim 1, characterized in that, In step S3, the design process of the tension controller is as follows: For the integral cascade type tension model shown in equation (6), the designed expansion state observer is: （8）； In equation (8), x s1 z is the swing angle of the tension lever measured by the sensor. s1 For x s1 The estimated value, i.e., the estimated value of the swing angle of the tension lever; z s2 To account for the total internal and external disturbances f s The estimated value of β; s1 With β s2 For the gain of the extended state observer, fal(e ES ,α s ,δ s The expression for ) is as follows: （9）； α s To adjust the parameter, 0 < α s <1,δ s Let be the length of the linear segment; sign is the sign function, whose expression is: （10）； For the integral series tension model shown in equation (6), and let The designed error feedback control law is: （11）； In equation (11), b s With K ps α is an adjustable parameter. ref Set the swing angle value for the tension lever.

4. The lithium battery Z-shaped stacking machine tension control method based on active disturbance rejection control according to claim 3, characterized in that, The error feedback control law and the extended state observer together constitute the active disturbance rejection controller; the measured swing angle of the tension swing arm is used as feedback, and the active disturbance rejection controller controls the swing angle of the tension swing arm; the tension value measured by the tension sensor is used as feedback, and the torque of the tension swing arm is controlled by the PID controller; the two controllers are combined to form the tension controller of the stacking segment of the lithium battery Z-shaped stacking machine.

5. The method for controlling the tension of stacking segments in a lithium battery Z-shaped stacking machine based on active disturbance rejection control according to claim 1, characterized in that, In step S1, the properties of each mechanism refer to the working principle, motion process, and tension generation mechanism of each mechanism.

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