A rolling apparatus and method for solid-state battery anode materials

Abstract

This invention discloses a calendering apparatus and method for solid-state battery anode materials, belonging to the field of solid-state battery anode material preparation technology. It includes: a driving mechanism, and a primary pressing mechanism, a fine pressing mechanism, a pressure regulating mechanism, and a final pressing mechanism arranged sequentially along the calendering direction, as well as a detection mechanism adapted to the pressure regulating mechanism and the final pressing mechanism. The pressure regulating mechanism includes: a sliding seat, a movable frame movably connected to the sliding seat, a deflection arm connected to the movable frame, a fourth calendering roller group connected to the deflection arm, and an elastic telescopic rod connecting the deflection arm to the sliding seat. This invention solves the technical problems of overall unevenness and edge defects in calendered materials, achieving the technical effects of improving flatness and maintaining the flatness of the calendered material below the target flatness level.

Description

Technical Field

[0001] This invention relates to the field of solid-state battery anode material preparation technology, specifically to a solid-state battery anode material calendering equipment and method. Background Technology

[0002] Solid-state battery anode material calendering equipment is a core piece of equipment used to press a mixture of anode active materials, conductive agents, binders and other materials into dense thin sheets. Its process goal is to obtain anode sheets with uniform thickness, moderate density and flat interface.

[0003] However, materials calendered by traditional calendering equipment often exhibit unevenness in the sheet (e.g., wavy edges / lotus-shaped edges) and edge defects (burrs / rolled edges), which directly affect the rate performance and cycle life of solid-state batteries. Summary of the Invention

[0004] To address the aforementioned problems, the first aspect of this invention provides a solid-state battery anode material calendering apparatus, comprising: a driving mechanism, and a primary pressing mechanism, a fine pressing mechanism, a pressure regulating mechanism, and a final pressing mechanism arranged sequentially in the calendering direction, as well as a detection mechanism adapted to the pressure regulating mechanism and the final pressing mechanism;

[0005] The pressure regulating mechanism includes: a sliding seat, a movable frame movably connected to the sliding seat, a deflection arm connected to the movable frame, a fourth calendering roller group connected to the deflection arm, and an elastic telescopic rod connecting the deflection arm to the sliding seat.

[0006] Preferably, the pressure regulating mechanism further includes: a power component, a worm gear transmission component connected to the power component, a gear and rack transmission component connected to the worm gear transmission component, and a transmission element connected to the gear and rack transmission component, wherein the transmission element is also connected to the movable frame;

[0007] The power component includes a motor;

[0008] The worm gear structure in the worm gear transmission assembly is connected to the output end of the motor, the worm wheel structure is connected to the gear structure in the gear and rack transmission assembly via a transmission shaft, and the rack structure in the gear and rack transmission assembly is connected to the transmission component.

[0009] Preferably, the transmission component has an L-shaped structure, with a rack structure at the bottom of its horizontal section and the vertical section connected to the movable frame;

[0010] The top and bottom of the sliding seat are equipped with a movable frame, a deflection arm, a fourth calendering roller group, an elastic telescopic rod, a rack structure, and a transmission component;

[0011] The two sets of transmission components are symmetrically arranged. The gear structure in the gear and rack transmission assembly is used to drive the rack structure on the two sets of transmission components to move in opposite directions, so that the two sets of movable frames connected to the transmission components move in opposite directions.

[0012] Preferably, the initial pressing mechanism includes: a corner column, an end beam connected to the corner column, a first displacement seat and a second displacement seat movably connected to the corner column, a first calendering roll group connected to the first displacement seat, a second calendering roll group connected to the second displacement seat, a first adjusting component disposed on the end beam and connected to the second displacement seat, and an electromagnet group disposed on the first calendering roll group and the second calendering roll group.

[0013] Preferably, the driving mechanism includes: a driving roller;

[0014] The electromagnet assembly includes a first electromagnet and a second electromagnet arranged opposite to each other, the first electromagnet being disposed on a first displacement seat and the second electromagnet being disposed on a second displacement seat;

[0015] Both ends of the first and second calendering roll groups are equipped with electromagnet groups;

[0016] The structure of the final pressure mechanism is the same as that of the initial pressure mechanism;

[0017] The testing mechanism includes a laser thickness gauge, which is used to obtain the thickness of the calendered material.

[0018] A second aspect of the present invention provides a method for calendering solid-state battery anode materials, and a calendering apparatus for solid-state battery anode materials based on any one of the above solutions, comprising the following steps:

[0019] The driving material enters the calendering zone for calendering;

[0020] Based on the collection of calendering data from the calendered material;

[0021] Determine the rolling state based on rolling data;

[0022] The rolling difference adjustment state is determined based on the rolling state and the preset parameters of the rolling state;

[0023] In response to the adjustment of the rolling difference, the optimal control quantity is determined based on a preset prediction model.

[0024] Preferably, determining the rolling state based on rolling data includes:

[0025] The measured thickness value is determined based on the calendering data;

[0026] The filtered thickness value is determined by filtering the rolling thickness value.

[0027] Thickness deviation is determined based on the filtered thickness value;

[0028] The flatness of the calendering is determined based on the thickness deviation.

[0029] Preferably, determining the optimal control quantity based on a preset prediction model includes:

[0030] Based on a pre-defined prediction model, a multi-step prediction equation is constructed to determine the smoothness at multiple times within the prediction time domain.

[0031] Solve the quadratic programming problem based on the objective function and constraints to determine the optimal control quantity at the current moment and the auxiliary variables of the future control sequence;

[0032] Only the optimal rotation angle of the motor at the current moment is executed. At the next moment, the optimal control quantity and auxiliary variables of the future control sequence are repeatedly determined based on the new measurement value until the target flatness requirement is met.

[0033] Preferably, the multi-step prediction equation is:

[0034] ;

[0035] in, Based on Time information, prediction The smoothness of the surface at any moment. To predict the number of steps, The state decay coefficient, for The smoothness of the surface at any moment. For the summation index, The time lag index, Based on time, The amount of change in motor angle planned at any given time;

[0036] The objective function is:

[0037] ;

[0038] in, Let be the objective function. Indicates cumulative future The prediction error of the step, For the target flatness, To track weights, Indicates cumulative future The control amount of the step, To control the weights;

[0039] The constraints are as follows:

[0040] ;

[0041] .

[0042] Preferably, the method for calculating the measured thickness value is as follows:

[0043] ;

[0044] in, In the width direction Location at The thickness value measured at a given time. The number of samples per sampling. This is the thickness measurement value;

[0045] The filtering process is as follows:

[0046] ;

[0047] in, In the width direction Location at The filtered thickness value at time 10:00. These are the filter coefficients. In the width direction Location at The filtered thickness value at any given time;

[0048] The thickness deviation is calculated as follows:

[0049] ;

[0050] in, In the width direction Location at Thickness deviation at any moment For target thickness;

[0051] The flatness is calculated as follows:

[0052] ;

[0053] in, The average thickness deviation of all sections in the width direction. This represents the number of partitions in the width direction.

[0054] ;

[0055] in, For the flatness of the calender.

[0056] By adopting the above technical solution, the present invention mainly has the following technical effects:

[0057] By creating a calendering difference between the two sets of fourth calendering rolls and applying differentiated linear pressure along the direction of calendering material travel, the pressure difference is designed to be controlled by staged deformation. At the same time, by adopting a rolling cycle compensation mechanism, the model error is compensated by frequent corrections. This allows the system to be both predictive and prevent short-sighted overreaching, and can automatically compensate for model errors and external disturbances through actual measurement feedback. It also strictly adheres to safety constraints at every step. Ultimately, by approaching the target flatness through multiple optimal relays, the technical problems of overall unevenness and edge defects of calendered materials are solved, achieving the technical effect of improving flatness and keeping the flatness of calendered materials below the target flatness. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the structure of a solid-state battery anode material calendering device according to the present invention;

[0059] Figure 2 This is a schematic diagram of the initial pressing mechanism in a solid-state battery anode material calendering device according to the present invention;

[0060] Figure 3 This is a schematic cross-sectional view of a solid-state battery anode material calendering apparatus according to the present invention.

[0061] Figure 4 This is a schematic diagram of the voltage regulation mechanism in a solid-state battery anode material calendering equipment according to the present invention;

[0062] Figure 5 This is a schematic diagram of the voltage regulation mechanism (from another perspective) in a solid-state battery anode material calendering equipment according to the present invention;

[0063] Figure 6 for Figure 5 Enlarged view of section A;

[0064] Figure 7 This is a schematic diagram of the structure of a solid-state battery anode material calendering device according to the present invention (from another perspective);

[0065] Figure 8 This is a flowchart of a solid-state battery anode material calendering method.

[0066] The meanings of the reference numerals in the attached figures are as follows:

[0067] 1. Drive mechanism; 11. Drive roller;

[0068] 2. Initial pressing mechanism; 21. Corner post; 211. Sliding block structure; 22. End beam; 23. First displacement seat; 231. Slide groove structure; 24. Second displacement seat; 25. First calendering roll group; 26. Second calendering roll group; 27. First adjusting component; 28. Electromagnet group; 281. First electromagnet; 282. Second electromagnet;

[0069] 3. Precision pressing mechanism; 31. Third displacement seat; 32. Third calendering roll group; 33. Second adjustment assembly;

[0070] 4. Pressure regulating mechanism; 41. Sliding seat; 42. Movable frame; 43. Deflection arm; 44. Fourth calendering roll group; 45. Elastic telescopic rod; 46. Power assembly; 461. Motor; 47. Worm gear transmission assembly; 48. Gear and rack transmission assembly; 49. Transmission component;

[0071] 5. Final pressure mechanism;

[0072] 6. Testing institutions; 61. Laser thickness gauges. Detailed Implementation

[0073] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0075] Please see Figures 1-7 The first aspect of the present invention provides a solid-state battery anode material calendering device, comprising: a driving mechanism 1, and a primary pressing mechanism 2, a fine pressing mechanism 3, a pressure regulating mechanism 4 and a final pressing mechanism 5 arranged sequentially in the calendering direction, and a detection mechanism 6 adapted to the pressure regulating mechanism 4 and the final pressing mechanism 5.

[0076] In some embodiments, the driving mechanism 1 is a part used to drive the calendered material to move along the calendering direction. In some embodiments, the driving mechanism 1 includes a driving roller 11, wherein the driving roller 11 can be a core power component that actively rotates and relies on friction to pull the strip material forward at a set speed and tension. By rotating the driving roller 11, the negative electrode material is driven into the calendering zone.

[0077] In some embodiments, the initial pressing mechanism 2 is a part for rapidly compressing the thickness of the material to be calendered, comprising: a corner post 21, an end beam 22 connected to the corner post 21, a first displacement seat 23 and a second displacement seat 24 movably connected to the corner post 21, a first calendering roll group 25 connected to the first displacement seat 23, a second calendering roll group 26 connected to the second displacement seat 24, a first adjustment component 27 disposed on the end beam 22 and connected to the second displacement seat 24, and an electromagnet group 28 disposed on the first calendering roll group 25 and the second calendering roll group 26. In some embodiments, the corner post 21 is a vertically arranged support structure, so that the first calendering roll group 25 and the second calendering roll group 26 are vertical, so as to calender the negative electrode entering the calendering zone and rapidly compress the thickness.

[0078] Furthermore, both ends of the end beam 22 are connected to the top of the corner column 21 to form a frame-shaped support mechanism. The corner column 21 is movably connected to the first displacement seat 23 and the second displacement seat 24. In some embodiments, the corner column 21 may be provided with a protruding slider structure 211, and the first displacement seat 23 and the second displacement seat 24 are provided with a concave groove structure 231. The groove structure 231 is adapted to the slider structure 211. The process of movably connecting the corner column 21 with the first displacement seat 23 and the second displacement seat 24 is realized by the slider structure 211 sliding in the groove structure 231.

[0079] In some embodiments, the bottom of the corner post 21 may be provided with a base for supporting the first displacement seat 23, thereby supporting the first calendering roll group 25 connected to the first displacement seat 23. The second displacement seat 24 may be connected to the first adjustment component 27, thereby fixing the second calendering roll group 26 connected to the second displacement seat 24 onto the end beam 22 via the first adjustment component 27.

[0080] In some embodiments, the first adjustment component 27 is a telescopic component. For example, the first adjustment component 27 may be a transmission component such as an electric push rod. By extending or retracting the first adjustment component 27, the second displacement seat 24 is pushed closer to or away from the first displacement seat 23, thereby causing the second calendering roll group 26 to move closer to or away from the first calendering roll group 25, thereby realizing the adjustment of the spacing between the roll groups.

[0081] In some embodiments, the first calendering roll group 25 and the second calendering roll group 26 can apply pressure to the material through relatively rotating rolls, causing it to be stretched into a film, sheet or given specific surface properties. In some embodiments, the first calendering roll group 25 can be a directly driven active roll or a driven roll driven by the friction of the calendering material under the action of the drive mechanism 1.

[0082] In some embodiments, the electromagnet group 28 includes a first electromagnet 281 and a second electromagnet 282 disposed opposite to each other. In some embodiments, the first electromagnet 281 is disposed on a first displacement seat 23 and the second electromagnet 282 is disposed on a second displacement seat 24. In some embodiments, the electromagnets can generate a magnetic field around the current-carrying conductor based on the magnetic effect of the current, thereby adjusting the force between the first electromagnet 281 and the second electromagnet 282 by energizing the first electromagnet 281 and the second electromagnet 282, and thus adjusting the force between the first calendering roll group 25 and the second calendering roll group 26.

[0083] Furthermore, electromagnet groups 28 can be provided at both ends of the first calendering roll group 25 and the second calendering roll group 26. The reason for this design is that by energizing one side of the electromagnet group 28, the force between one end of the first calendering roll group 25 and the second calendering roll group 26 can be increased to cope with the situation where the thickness of the two sides of the calendered material is different. Alternatively, by energizing the electromagnet groups 28 on both sides, the force between the first calendering roll group 25 and the second calendering roll group 26 can be increased.

[0084] In some embodiments, the precision pressing mechanism 3 is a part for quantitatively calendering the material to be calendered, which includes: a third displacement seat 31, a third calendering roller group 32 connected to the third displacement seat 31, and a second adjustment component 33 connected to the third displacement seat 31. In some embodiments, the third calendering roller group 32 is adapted to the drive roller 11, and pressure is applied to the material by the relatively rotating rollers. Further, the second adjustment component 33 is a telescopic component, and the distance between the third calendering roller group 32 and the drive roller 11 is adjusted by telescopic adjustment of the second adjustment component 33 to realize the process of quantitatively calendering the material to be calendered.

[0085] In some embodiments, the pressure regulating mechanism 4 is a part used to adjust the rolling difference. By adjusting the rolling difference, the thickness uniformity of the calendering equipment is improved. The pressure regulating mechanism 4 includes: a sliding seat 41, a movable frame 42 movably connected to the sliding seat 41, a deflection arm 43 connected to the movable frame 42, a fourth calendering roll group 44 connected to the deflection arm 43, and an elastic telescopic rod 45 connecting the deflection arm 43 to the sliding seat 41. In some embodiments, the movable frame 42 is slidably connected to the sliding seat 41. Under the action of external force, the movable frame 42 can be displaced on the sliding seat 41. In some embodiments, one end of the deflection arm 43 is hinged to the movable frame 42. Both ends of the fourth calendering roll group 44 are respectively connected to the deflection arm 43. The fourth calendering roll group 44 is adapted to the drive roller 11 and applies pressure to the material through the relatively rotating rollers.

[0086] Furthermore, the pressure regulating mechanism 4 also includes: a power component 46, a worm gear transmission component 47 connected to the power component 46, a gear and rack transmission component 48 connected to the worm gear transmission component 47, and a transmission component 49 connected to the gear and rack transmission component 48. The transmission component 49 is also connected to the movable frame 42.

[0087] In some embodiments, the power assembly 46 may include a motor 461, which can convert electrical energy into mechanical energy. In some embodiments, the worm structure in the worm gear transmission assembly 47 may be connected to the output end of the motor 461. The worm gear structure is connected to the gear structure in the gear and rack transmission assembly 48 via a transmission shaft. The rack structure in the gear and rack transmission assembly 48 is connected to the transmission member 49. Thus, the rotation of the motor 461 drives the worm structure to rotate, which in turn drives the gear structure to rotate via the worm gear and transmission shaft. The gear structure and rack structure cooperate to drive the transmission member 49 to make displacement.

[0088] In some embodiments, the transmission member 49 has an L-shaped structure, with a rack structure at the bottom of its horizontal section and a vertical section connected to the movable frame 42. In some more preferred embodiments, the top and bottom of the sliding seat 41 are provided with a movable frame 42, a deflection arm 43, a fourth calendering roller group 44, an elastic telescopic rod 45, a rack structure, and a transmission member 49. After the two sets of transmission members 49 are symmetrically arranged, the gear structure in the gear and rack transmission assembly 48 will drive the rack structure on the two sets of transmission members 49 to move in opposite directions, thereby driving the two sets of movable frames 42 connected to the transmission members 49 to move in opposite directions.

[0089] It should be noted that when the movable frame 42 moves in the opposite direction, the fourth calendering roll group 44 that contacts the calendering material first can be designed to move away from the drive roll 11, and the fourth calendering roll group 44 that contacts the calendering material later can be designed to move closer to the drive roll 11. This enhances the calendering force of the fourth calendering roll group 44 that contacts the calendering material first and reduces the calendering force of the fourth calendering roll group 44 that contacts the calendering material later, thus forming a calendering difference. By applying differentiated linear pressure along the direction of calendering material travel, the pressure difference between the front and rear is controlled by staged deformation, allowing the material to undergo a scientific calendering process of "pre-deformation-finishing". The front roll achieves efficient plastic deformation, and the rear roll eliminates residual stress and improves flatness.

[0090] In some embodiments, the final pressing mechanism 5 is the part that performs the final shaping treatment on the calendered material. In some embodiments, the structure of the final pressing mechanism 5 may be the same as that of the initial pressing mechanism 2.

[0091] In some more preferred embodiments, a set of fine pressing mechanism 3 may also be provided between the pressure regulating mechanism 4 and the final pressing mechanism 5 to maintain the shape of the calendered material after calendering.

[0092] In some embodiments, the detection mechanism 6 is a part used to detect the flatness and thickness of the calendered material. In some embodiments, the detection mechanism 6 includes a laser thickness gauge 61, which is used to obtain the thickness of the calendered material. An exemplary thickness acquisition method is that two laser thickness gauges 61 simultaneously emit opposing beams to measure the absolute positions of the upper and lower surfaces of the object, and the thickness is directly obtained by calculating the difference.

[0093] Please see Figure 8 The second aspect of the present invention provides a method for calendering solid-state battery anode materials, based on the solid-state battery anode material calendering equipment described above, comprising the following steps:

[0094] S1. Drive the material into the calendering zone for calendering;

[0095] In some embodiments, the negative electrode material can be driven into the calendering zone by the drive roller 11 and calendered sequentially by the initial pressing mechanism 2, the fine pressing mechanism 3, and the pressure adjusting mechanism 4 in the calendering direction.

[0096] S2. Collect rolling data based on the rolled material;

[0097] In some embodiments, calendering data can be obtained through the detection mechanism 6; in some embodiments, the calendering data includes: thickness measurement values; the thickness measurement values ​​are used to characterize the thickness of the material after calendering, and the thickness measurement values ​​can be obtained by laser thickness gauge 61.

[0098] S3. Determine the rolling state based on rolling data;

[0099] In some embodiments, flatness can be used to describe the calendering state of a material. In some embodiments, flatness is used to describe the surface smoothness of the material after calendering.

[0100] In some embodiments, determining the rolling state based on rolling data includes:

[0101] S301. Determine the measured thickness value based on calendering data;

[0102] In some embodiments, random noise can be eliminated by taking multiple measurements at the same location at the same time and then taking the average value as the measured thickness value at that location.

[0103] In some embodiments, the thickness value is calculated as follows:

[0104] ;

[0105] in, In the width direction Location at The thickness value measured at a given time. The number of samples per sampling. This is the thickness measurement value;

[0106] In some embodiments, the thickness measurement value can be obtained by laser thickness gauge 61.

[0107] As an example, suppose the original data for position x at t=0.1s is:

[0108] [99.8,100.3,101.2,100.5,99.7]μm

[0109] The measured thickness is: (99.8+100.3+101.2+100.5+99.7) / 5=100.3μm.

[0110] S302. Determine the filtered thickness value based on the rolling thickness value through filtering processing;

[0111] In some embodiments, the rolling thickness value can be filtered to eliminate measurement noise and interference, so as to facilitate subsequent data analysis.

[0112] In some embodiments, the filtering process is as follows:

[0113] ;

[0114] in, In the width direction Location at The filtered thickness value at time 10:00. These are the filter coefficients. In the width direction Location at The filtered thickness value at any given time;

[0115] As an example, let's say If the filter thickness value at the previous moment was 100μm, then... μm.

[0116] S303. Determine the thickness deviation based on the filtered thickness value;

[0117] In some embodiments, thickness deviation refers to the difference between the actual measured thickness and the target thickness of the material after calendering.

[0118] In some embodiments, the thickness deviation is calculated as follows:

[0119] ;

[0120] in, In the width direction Location at Thickness deviation at any moment For target thickness;

[0121] As an example, suppose the target thickness is 100 μm. μm indicates that the thickness at this location is 0.21 μm.

[0122] S304. Determine the flatness of the calendering process based on the thickness deviation;

[0123] In some embodiments, the calendering flatness can be calculated by the average of the thickness deviations of all sections in the width direction.

[0124] In some embodiments, the flatness is calculated as follows:

[0125] ;

[0126] in, The average thickness deviation of all sections in the width direction. This represents the number of partitions in the width direction.

[0127] ;

[0128] in, For the flatness of the calender;

[0129] As an example, suppose there are 20 partitions in the width direction, with the following offset thicknesses: Partitions 1-10: [0.2,-0.1,0.3,0.0,-0.2,0.1,0.4,-0.3,0.2,-0.1], and partitions 11-20:

[0130] [0.0,0.3,-0.2,0.1,0.2,-0.4,0.3,-0.1,0.2,0.1].

[0131] The average thickness deviation is: (0.2-0.1+0.3…+0.1) / 20=0.05μm;

[0132] The difference of squares in partition 1 is calculated as follows: The squared difference of partition 2 is calculated as follows: ;...;

[0133] The flatness of the calendering is then: .

[0134] In some embodiments, flatness It is the inverse indicator of thickness uniformity, flatness The smaller the value, the more uniform the thickness distribution and the better the flatness. The larger the value, the more drastic the thickness fluctuation.

[0135] S4. Determine the rolling difference adjustment state based on the rolling state and the preset rolling state parameters;

[0136] In some embodiments, the preset parameters for the rolling state can be preset target flatness. In some embodiments, the target flatness can be obtained based on process and historical data.

[0137] In some embodiments, the rolling difference adjustment state can be confirmed by comparing the rolling state with the preset rolling state parameters. When the rolling flatness is greater than the target flatness, it indicates that the current rolling state does not meet the target production requirements, and the rolling difference needs to be adjusted to reduce the flatness, and proceed to the next step S5. When the rolling flatness is less than the target flatness, it indicates that the current rolling state meets the target production requirements, the current action is maintained, and the system goes into sleep mode (maintaining the rolling action, without needing to adjust the rolling difference).

[0138] In some embodiments, the method of adjusting the rolling difference can be that the motor 461 rotates, causing the two sets of transmission components 49 to move relative to each other, thereby increasing the rolling force of the fourth rolling roll group 44 that contacts the rolling material first and decreasing the rolling force of the fourth rolling roll group 44 that contacts the rolling material later, thus forming a rolling difference and applying differentiated linear pressure along the direction of travel of the rolling material.

[0139] S5. In response to the adjustment of the rolling difference, the optimal control quantity is determined based on the preset prediction model;

[0140] In some embodiments, determining the optimal control quantity based on a preset prediction model includes:

[0141] S501. Construct a multi-step prediction equation based on a preset prediction model to determine the smoothness at multiple times in the prediction time domain;

[0142] In some embodiments, the prediction model may be:

[0143] ;

[0144] in, for The smoothness of the surface at any moment. The state decay coefficient, for The smoothness of the surface at any moment. To control the gain, This represents the change in motor angle; The interference coefficient;

[0145] In some embodiments, the prediction model can be obtained through training. For example, the prediction model can be trained based on a large number of labeled training samples. The training samples may include the motor angle change. The label may be the corresponding flatness. The label can be obtained manually. The motor angle change from the training samples is input into the prediction model; the flatness output by the prediction model is obtained. A loss function is constructed based on the labeled flatness and the prediction model output, and the parameters of the prediction model are updated synchronously. Through parameter updates, the trained prediction model is obtained.

[0146] In some embodiments, the dimensions in the formula can be kept consistent by setting appropriate units. In some embodiments, in the above prediction model, the dimensions in the formula can be kept consistent by setting units for the control gain and disturbance coefficient. For example, the unit of control gain can be... The unit of interference coefficient can be In some embodiments, This indicates that motor 461 is rotating. At the angle, the rolling force of the first fourth rolling roll group 44 increases, while the rolling force of the second fourth rolling roll group 44 decreases.

[0147] In some embodiments, the multi-step prediction equation can be obtained by recursively substituting it into the prediction model.

[0148] In some embodiments, the multi-step prediction equation is:

[0149] ;

[0150] in, Based on Time information, prediction The smoothness of the surface at any moment. To predict the number of steps, The state decay coefficient, for The smoothness of the surface at any moment. For the summation index, The time lag index, Based on time, The amount of change in motor angle planned at any given time;

[0151] In some embodiments, This indicates that motor 461 is in Constantly turning angle.

[0152] As an example, the prediction model is:

[0153] ;

[0154] The first step prediction (k=1) is:

[0155] ;

[0156] The second step prediction (k=2) is:

[0157] ;

[0158] =

[0159] …

[0160] S502. Solve the quadratic programming problem based on the objective function and constraints to determine the optimal control quantity at the current moment and the auxiliary variables of the future control sequence;

[0161] In some embodiments, the objective function may be:

[0162] ;

[0163] in, Let be the objective function. Indicates cumulative future The prediction error of the step, For the target flatness, To track weights, Indicates cumulative future The control amount of the step, To control the weights;

[0164] In some embodiments, the constraint condition may be:

[0165] ;

[0166] ;

[0167] In some embodiments, equipment safety is fully guaranteed by ensuring that the single-step adjustment range is within the mechanical limits of the motor and that the cumulative rotation angle is within a safe range. For example, the maximum single-step adjustment range is 0.1 rad, and the maximum cumulative rotation is 1.2 rad.

[0168] In some embodiments, tracking weights Control weight Constraints can be determined based on historical data, databases, and other methods.

[0169] In some embodiments, the QP solver can determine the optimal control quantity at the current moment and the auxiliary variables of the future control sequence based on the objective function and constraints.

[0170] In some embodiments, the Quadratic Programming Solver is the core computing engine of MPC, used to solve for the optimal control sequence in real time under constraints. It takes the Hessian matrix, linear terms, constraint matrix, and boundary as inputs and outputs the optimal solution (which minimizes the objective function value).

[0171] As an example, let's say the current flatness... Target flatness Let the prediction model parameters be: , The constraints are: Tracking weights Control weight ;

[0172] Solving the control sequence using the QP solver:

[0173] ;

[0174] in, for The amount of change in motor angle planned at all times. Based on time, The amount of change in motor angle planned at any given time;

[0175] In some embodiments, in solving and In the future, it can be This is the optimal control quantity for the motor at the current moment. This is an auxiliary variable for the future rotation sequence and will never be executed.

[0176] It should be noted that in the standard QP construction, interference terms... As a constant term in the prediction equation, the coefficient of the linear term is zero when the objective function is differentiated, so it does not explicitly affect the analytical form of the optimal solution.

[0177] The first step prediction (k=1) is:

[0178] ;

[0179] The second step prediction (k=2) is:

[0180] ;

[0181] The objective function is:

[0182] ;

[0183] Extraction coefficient:

[0184] 1. Coefficient of the quadratic term

[0185] for: ;

[0186] for: ;

[0187] for: ;

[0188] 2. Linear term coefficients:

[0189] for: ;

[0190] for: ;

[0191] The Hessian matrix H is:

[0192] ;

[0193] Linear term vector f:

[0194] ;

[0195] Define constraints:

[0196] ;

[0197] QP solver calculation:

[0198] The form of the quadratic programming problem is:

[0199] ;

[0200] in, Let be the vector of decision variables to be solved. It is a Hessian matrix. A vector of linear coefficients; These are constraints; The constraint coefficient matrix, For the constraint boundary vector, the superscript Represents the transpose operator;

[0201] This means that all linear inequality constraints are satisfied. Under the condition of, find the quadratic function The variable that takes the minimum value;

[0202] Calculate the constrained optimal solution:

[0203] ;

[0204] Solving for: ;

[0205] and Within the feasible region.

[0206] Right now The optimal control variable at time 0 is 0.081 rad, and the auxiliary variable for the future rotation sequence is 0.0805 rad.

[0207] S503: Only execute the optimal rotation angle of the motor at the current moment, and at the next moment, based on the new measurement value, repeatedly determine the optimal control quantity and auxiliary variables of the future control sequence until the target flatness requirement is met.

[0208] In some embodiments, after determining that the optimal control quantity at the current moment is 0.081 rad, the direction and intensity of the motor's magnetic field can be controlled by the vector control (FOC) algorithm based on the orientation and decoupling principle of the magnetic field to achieve precise control of the motor torque. The motor 461 is precisely controlled to rotate by 0.081 rad, and the auxiliary variable (0.0805 rad) of the future control sequence is discarded. The flatness of the rolled material after the motor 461 rotates by 0.081 rad is determined by the detection mechanism 6. Then, based on the current flatness, the QP solver is used to determine the optimal control quantity at the next moment and the auxiliary variable of the future control sequence until the flatness of the rolled material is less than or equal to the target flatness.

[0209] In some embodiments, the rolling cycle compensation mechanism, through frequent corrections to make up for model errors, enables the system to both anticipate and prevent short-sighted overreach, and automatically compensate for model errors and external disturbances through measured feedback, while strictly adhering to safety constraints at each step. Ultimately, by approaching the target through multiple optimal relays, the flatness of the calendered material is kept below the target flatness.

[0210] Finally, it should be noted that the embodiments disclosed in this invention are merely preferred embodiments of this invention and are only used to illustrate the technical solutions of this invention, not to limit it. Although this invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention.

Claims

1. A solid-state battery negative material calendering method, characterized by, A calendering device for a solid-state battery negative electrode material, the calendering device comprising a driving mechanism, and sequentially arranged in a calendering direction, a preliminary pressing mechanism, a fine pressing mechanism, a pressure adjusting mechanism, and a final pressing mechanism, and a detection mechanism matched with the pressure adjusting mechanism and the final pressing mechanism; The pressure adjusting mechanism comprises a sliding seat, a movable frame movably connected to the sliding seat, a deflection arm connected to the movable frame, a fourth calendering roller group connected to the deflection arm, and an elastic telescopic rod connecting the deflection arm and the sliding seat; The pressure adjusting mechanism further comprises a power assembly, a worm and gear transmission assembly connected to the power assembly, a gear and rack transmission assembly connected to the worm and gear transmission assembly, and a transmission member connected to the gear and rack transmission assembly and the movable frame; The power assembly comprises a motor; The worm structure in the worm and gear transmission assembly is connected to the output end of the motor, the worm structure is connected to the gear structure in the gear and rack transmission assembly through a transmission shaft, the rack structure in the gear and rack transmission assembly is connected to the transmission member; The calendering method comprises the following steps: Driving the material into the calendering area for calendering; Collecting calendering data based on the calendered material; Determining the calendering state based on the calendering data; Determining the calendering difference adjusting state based on the calendering state and preset parameters of the calendering state; In response to the calendering difference adjustment, determining the optimal control amount based on a preset prediction model; The determination of the optimal control amount based on the preset prediction model comprises: Constructing a multi-step prediction equation based on the preset prediction model to determine the flatness at multiple time points in the prediction time domain; Solving a quadratic programming problem based on the objective function and the constraint condition to determine the optimal control amount at the current time point and the auxiliary variables of the future control sequence; Only the optimal rotation angle of the motor at the current time point is executed, and the optimal control amount at the next time point and the auxiliary variables of the future control sequence are repeatedly determined based on new measurement values at the next time point until the target flatness requirement is met; The multi-step prediction equation is: ； wherein, is based on the time information, the step count is predicted, the flatness of the time, is predicted, is a state decay coefficient, is the flatness of the time, is a summation index, is a time lag index, is based on the time, the motor angle change amount planned at the time The objective function is: ； wherein, is the objective function, denotes the cumulative future step prediction error, is the objective flatness, is the tracking weight, denotes the cumulative future step control quantity, is the control weight; The constraint condition is: ； 。 2. The solid-state battery negative material calendering method of claim 1, wherein, The transmission member is in an L-shaped structure, the bottom of the horizontal segment is provided with a rack structure, and the vertical segment is connected to the movable frame; The top and bottom of the sliding seat are each provided with a movable frame, a deflection arm, a fourth calendering roller group, an elastic telescopic rod, a rack structure, and a transmission member; The two sets of transmission members are symmetrically arranged, the gear structure in the gear and rack transmission assembly is used to drive the rack structures on the two sets of transmission members to move in opposite directions, so that the two sets of movable frames connected to the transmission members move in opposite directions.

3. The solid-state battery negative material calendering method of claim 1, wherein, The preliminary pressing mechanism comprises a corner column, an end beam connected to the corner column, a first displacement seat and a second displacement seat movably connected to the corner column, a first calendering roller group connected to the first displacement seat, a second calendering roller group connected to the second displacement seat, a first adjusting assembly provided on the end beam and connected to the second displacement seat, and an electromagnet group provided on the first calendering roller group and the second calendering roller group.

4. The solid-state battery negative material calendering method of claim 3, wherein, The driving mechanism comprises a driving roller; The electromagnet group comprises oppositely arranged first and second electromagnets, the first electromagnet is arranged on the first displacement seat, and the second electromagnet is arranged on the second displacement seat; The first and second calender roller groups are provided with electromagnet groups at both ends thereof; The final pressing mechanism has the same structure as the initial pressing mechanism; The detection mechanism comprises a laser thickness gauge configured to obtain the thickness of the calendered material.

5. The solid-state battery negative material calendering method of claim 1, wherein, The determination of the calendering state based on the calendering data comprises: determining a measured thickness value based on the calendering data; determining a filtered thickness value through filtering processing based on the calendering thickness value; determining a thickness deviation based on the filtered thickness value; determining a calendering flatness based on the thickness deviation.

6. The solid-state battery negative material calendering method of claim 5, wherein, The calculation method of the measured thickness value is: ； wherein, is a width direction position in measurement thickness value at the time, is a single sampling number, is a thickness measurement value; The filtering processing method is: ； wherein, is a filter thickness value at a position in the width direction at a time point, is a filter thickness value at a position in the width direction at a time point, is a filter thickness value at a position in the width direction at a time point, is a filter coefficient, is a filter thickness value at a position in the width direction at a time point, is a filter thickness value at a position in the width direction at a time point, is a filter thickness value at a position in the width direction at a time point, The calculation method of the thickness deviation is: ； wherein, is a width direction position in thickness deviation at the time, is a target thickness; The calculation method of the flatness is: ； wherein, is the average thickness deviation for all partitions in the width direction, is the number of partitions in the width direction; ； wherein is the calendering degree.

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