Pole piece tension control method and system, electronic device, medium

Abstract

The application discloses a kind of pole piece tension control method and device, method includes: obtaining tension setting data, reference drive input value and tension adjustment coefficient;Through tension detection sensor, tension actual measurement is carried out to target lithium electrode piece, and tension actual measurement data is obtained;Deviation calculation is carried out based on tension setting data and tension actual measurement data, and the actual deviation value of pole piece tension is obtained;Based on the actual deviation value of pole piece tension, corresponding drive feedback control parameter is calculated;Drive correction calculation is carried out based on drive feedback control parameter, reference drive input value and tension adjustment coefficient, and the correction drive amount is obtained;According to correction drive amount, drive correction operation is carried out to actuating mechanism.The pole piece tension control method of the application can avoid actuating mechanism to produce violent output jump when working condition disturbance occurs, effectively reduce the probability of occurrence of pole piece broken band and wrinkle.

Description

Technical Field

[0001] This invention relates to the field of lithium battery manufacturing technology, and in particular to electrode tension control methods and systems, electronic devices, and dielectrics. Background Technology

[0002] During the lithium replenishment process of lithium electrode sheets, the electrode sheets need to be transported and processed under a certain tension to ensure that the replenishment material can be uniformly adhered to the electrode sheets. If the tension is not properly controlled, problems such as wrinkling and uneven stretching of the electrode sheets may occur, which will affect the lithium replenishment effect and the quality of the electrode sheets.

[0003] In related technologies, to address the deviation between the actual tension and the set tension of the electrode, a closed-loop control algorithm is used to adjust the output of the actuator, making the actual tension of the electrode approach the set tension. However, when the electrode's belt speed changes abruptly, the moment of inertia changes abruptly due to electrode roll replacement, or the electrode material properties change due to product model switching, the closed-loop control algorithm is prone to causing large fluctuations in the output of the tension adjustment actuator. Such drastic adjustment can easily lead to the electrode breaking due to instantaneous overload or wrinkling due to tension relaxation. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an electrode tension control method that can prevent the actuator from generating drastic output jumps when operating disturbances occur, effectively reducing the probability of electrode breakage and wrinkling.

[0005] This invention also proposes an electrode tension control system.

[0006] The present invention also proposes an electronic device.

[0007] The present invention also proposes a computer-readable storage medium.

[0008] According to a first aspect of the present invention, an electrode tension control method is applied to an electrode tension control system, the electrode tension control system including a tension detection sensor and an actuator, the actuator being used to adjust the tension of the electrode, the method comprising: Acquire tension setting data, reference drive input value, and tension adjustment coefficient; The tension of the target lithium electrode sheet is measured using the tension detection sensor to obtain the measured tension data. Based on the tension setting data and the actual tension measurement data, the deviation is calculated to obtain the actual deviation value of the electrode tension. Based on the actual deviation value of the electrode tension, calculate the corresponding drive feedback control parameters; Based on the drive feedback control parameters, the reference drive input value, and the tension adjustment coefficient, drive correction calculation is performed to obtain the corrected drive amount. The tension adjustment coefficient is used to narrow the drive feedback control parameters to the corresponding incremental value within the range of the actuator drive signal. Based on the corrected drive amount, a drive correction operation is performed on the actuator.

[0009] Furthermore, the acquisition of tension setting data, reference drive input value, and tension adjustment coefficient includes: Determine the electrode attribute information and electrode transmission information corresponding to the target lithium electrode sheet; Based on the electrode attribute information and electrode transmission information, tension requirement analysis is performed to obtain the tension setting data; Tension reference calibration is performed on the electrode tension control system to determine the reference drive input value; Determine the adjustment range parameters and the empirical proportional coefficients that match the actuator; The corresponding tension adjustment coefficient is obtained by calculating based on the adjustment range parameter and the empirical proportional coefficient.

[0010] Further, the step of performing tension reference calibration on the electrode tension control system to determine the reference drive input value includes: Within the working tension range of the target lithium electrode sheet, at least two calibrated tension values ​​are selected with a preset step distance to obtain the calibrated drive output of the actuator when the target lithium electrode sheet is at the calibrated tension value; Linear fitting is performed on the calibrated tension value and the calibrated drive output to obtain a fitting calibration model. The fitting calibration model characterizes the mapping relationship between the tension setting variable of the target lithium electrode sheet and the reference drive variable of the actuator when the corrected drive output is zero. The reference drive input value is obtained based on the fitting calibration model and the tension setting data.

[0011] Furthermore, it also includes: When the material type or operating speed of the target lithium electrode changes, the step of re-calibrating the tension reference for the electrode tension control system and determining the reference drive input value is executed again. Furthermore, the acquisition of the measured tension data of the electrode includes: A sampling array is defined, the sampling array including at least two raw tension values ​​acquired by the tension detection sensor; Store at least two consecutively acquired raw tension values ​​in sequence; Along the aforementioned time sequence, the latest original tension value replaces the oldest original tension value; The original tension values ​​in the sampling array are arithmetically averaged to obtain the measured tension data.

[0012] Further, the calculation of the corresponding drive feedback control parameters based on the actual deviation value of the electrode tension includes: Obtain the actual deviation value of the electrode tension; Based on the actual deviation value of the electrode tension, calculate the proportional control component, integral control component, and derivative control component respectively; The proportional control component, the integral control component, and the derivative control component are respectively configured with corresponding proportional gain coefficients, integral gain coefficients, and derivative gain coefficients, and the amplitudes of the proportional control component, the integral control component, and the derivative control component are adjusted using the proportional gain coefficients, the integral gain coefficients, and the derivative gain coefficients, respectively. The proportional control component, the integral control component, and the derivative control component after amplitude adjustment are superimposed, and the superimposed result is used as the drive feedback control parameter.

[0013] The electrode tension control system of a second aspect embodiment of the present invention includes a tension detection sensor, an actuator, and a processing unit. The tension detection sensor is disposed on the transmission path of the target lithium electrode sheet and is used to detect the tension value of the target lithium electrode sheet during transmission; the actuator is used to adjust the tension of the target lithium electrode sheet; the processing unit is communicatively connected to the actuator and is configured to execute the electrode tension control method described in the first aspect embodiment of the present invention.

[0014] Furthermore, the actuator includes a rocker arm connecting plate, a proportional valve power assembly, and a tension rocker arm roller. The output end of the proportional valve power assembly is hinged to the rocker arm connecting plate, and one axial end of the tension rocker arm roller is connected to the rocker arm connecting plate. The roller surface of the tension rocker arm roller is used to abut against the electrode. The proportional valve power assembly drives the tension rocker arm roller to swing to adjust the tension of the electrode. The control terminal of the proportional valve power assembly is electrically connected to the processing unit.

[0015] The electrode conveying system according to a third aspect of the present invention includes: The electrode tension control system described in the second aspect embodiment of the present invention; An electrode driving device is used to drive the target lithium electrode sheet along a preset electrode traveling direction. A tension roller is provided at intervals from the actuator along the electrode feeding direction, and the tension roller is used to tension the target lithium electrode sheet.

[0016] The electronic device according to a fourth aspect of the present invention includes: a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the electrode tension control method as described in the first aspect of the present invention.

[0017] A computer-readable storage medium according to a fifth aspect of the present invention stores a program that is executed by a processor to implement the electrode tension control method as described in a fourth aspect of the present invention.

[0018] The electrode tension control method according to embodiments of the present invention has at least the following beneficial effects: Compared with related technologies, this invention provides a stable driving reference operating point through a pre-acquired reference driving input value. Simultaneously, it actively limits the amplitude of the driving feedback control parameters through a tension adjustment coefficient, constraining the driving changes of the final actuator within a preset safe adjustment bandwidth. This avoids the deviation signal directly driving the actuator to produce drastic output jumps, as is common in pure closed-loop control. This fundamentally reduces the probability of the electrode breaking due to instantaneous overload or wrinkling due to tension slack. Furthermore, since the reference driving input value corresponds to the basic driving amount under the current tension setting, feedback adjustment only requires small fine-tuning during steady-state operation, ensuring high-precision tension maintenance.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the overall structure of the electrode tension control method according to an embodiment of the present invention; Figure 2 This is a flowchart of an embodiment of the electrode tension control method of the present invention; Figure 3 This is a flowchart of the sub-steps of an electrode tension control system according to an embodiment of the present invention; Figure 4 This is a flowchart of the sub-steps of the electrode tension control system according to another embodiment of the present invention; Figure 5 This is a flowchart of the sub-steps of the electrode tension control system according to another embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the actuator according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the electrode conveying system according to an embodiment of the present invention.

[0021] Figure label: Target lithium electrode sheet 1, electrode sheet delivery system 2; Tension detection sensor 10; Actuator 20, rocker arm connecting plate 21, proportional valve power assembly 22, tension rocker arm roller 23; Tension roller 30. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0024] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0025] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0026] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0027] In the lithium battery manufacturing industry, the manufacturing process of lithium electrode sheets plays a crucial role in the performance and quality of lithium batteries. With the widespread application of lithium batteries in electric vehicles, energy storage, and other fields, the requirements for the quality and consistency of lithium electrode sheets are becoming increasingly stringent. Lithium replenishment, as an important means to improve the energy density and cycle life of lithium batteries, has received increasing attention. During lithium replenishment, the tension control of the electrode sheets is one of the key factors ensuring the uniformity of lithium replenishment and the quality of the electrode sheets.

[0028] With the rapid development of the lithium battery industry, market demand for high-performance lithium batteries continues to grow. To meet market demand, lithium battery manufacturers are constantly exploring new technologies and processes to improve the energy density, cycle life, and safety of lithium batteries. Lithium replenishment technology, as a technology that can effectively improve lithium battery performance, has gradually become a research hotspot in the lithium battery manufacturing field.

[0029] During the lithium replenishment process of lithium electrode sheets, the electrode sheets need to be transported and processed under a certain tension to ensure that the replenishment material can be uniformly adhered to the electrode sheets. If the tension is not properly controlled, it will lead to problems such as wrinkling and uneven stretching of the electrode sheets, which will affect the replenishment effect and the quality of the electrode sheets. In addition, different types of lithium electrode sheets (such as positive and negative electrode sheets) have different tension requirements, and the operating speed of the lithium replenishment machine may also change at different production stages. All of these factors together increase the difficulty of tension control.

[0030] Currently, tension control in lithium-ion battery replenishers generally employs a closed-loop control architecture. Tension sensors collect tension signals in real time, and a PID controller adjusts the drive unit to achieve tension stability. Specifically, the tension sensor is installed on the electrode conveyor path to detect the electrode tension in real time and feeds the tension signal back to the PID controller. The PID controller calculates the control input based on the preset tension value and the feedback tension signal, and outputs it to the drive unit (such as a motor or proportional valve) to adjust the electrode tension.

[0031] However, the existing tension control scheme for lithium replenishment machines has the following shortcomings: when the operating conditions of the lithium replenishment machine change, such as switching electrode material types or changing the operating speed, the PID parameters need to be readjusted. This readjustment process is highly dependent on the engineer's experience, which is not only time-consuming and labor-intensive, but also prone to further aggravating tension fluctuations due to improper parameter settings.

[0032] The following is combined with Figures 1-7 The present invention describes an electrode tension control method, an electrode tension control system, an electrode conveying system, an electronic device, and a computer-readable storage medium according to embodiments thereof.

[0033] like Figure 1 As shown, this embodiment of the invention provides a method for controlling electrode tension.

[0034] One specific application scenario of the electrode tension control method is its application in a lithium electrode replenishment machine. The target lithium electrode starts from the unwinding mechanism, travels along the transport path, and terminates at the rewinding mechanism. An actuator is positioned between the unwinding and rewinding mechanisms, and the actuator's actuating end is used to roll and contact the target lithium electrode, thereby applying a tension adjustment effect to the electrode.

[0035] According to a first aspect of the present invention, an electrode tension control method is applied to an electrode tension control system, the electrode tension control system including a tension detection sensor and an actuator, the actuator being used to adjust the tension of the electrode, the method comprising: S100: Acquires tension setting data, reference drive input value, and tension adjustment coefficient.

[0036] In the tension control process, the basic parameters used for subsequent control calculations must first be obtained. The tension setting data represents the target tension value that the target lithium electrode sheet is expected to achieve during transmission, serving as the reference for tension control. The reference drive input value refers to the basic drive quantity corresponding to the actuator without feedback adjustment; it provides a reference zero point for subsequent drive corrections. The tension adjustment coefficient is an independently preset scaling factor used to limit the subsequent drive feedback control parameters to the corresponding incremental value within a sub-interval of the actuator's drive signal range. The tension adjustment coefficient itself is a purely numerical scaling parameter, and its value is less than the full amplitude of the actuator's adjustment range, typically around 0.1 times the full scale. For example, when the proportional valve's digital control range is 0 to 20000, this coefficient can be between 1000 and 2000.

[0037] S200: The tension of the target lithium electrode sheet is measured using a tension detection sensor to obtain the tension measurement data.

[0038] Step S200 involves using a tension sensor to detect the actual tension value of the target lithium electrode sheet in real time. The measured tension data reflects the actual tension state of the electrode sheet during transmission. Step S200 provides a real-time feedback signal reflecting the current operating condition for subsequent deviation calculation and control adjustment.

[0039] Understandably, tension sensors are placed at corresponding positions along the electrode transport path to detect the actual tension value of the electrode during transport in real time.

[0040] S300: Based on the tension setting data and the actual tension measurement data, the deviation is calculated to obtain the actual deviation value of the electrode tension.

[0041] Step S300 calculates the deviation between the tension setting data obtained in step S100 and the measured tension data obtained in step S200 to obtain the actual deviation value of the electrode tension. The actual deviation value of the electrode tension quantifies the degree to which the current actual tension deviates from the expected target tension. Through this calculation step, the difference between the control target and the actual state is transformed into a precise numerical signal.

[0042] S400: Calculate the corresponding drive feedback control parameters based on the actual deviation value of the electrode tension.

[0043] Step S400, based on the actual deviation value of the electrode tension obtained in step S300, calculates the corresponding drive feedback control parameters according to a preset control strategy (e.g., one or more combinations of proportional control, derivative control, and integral control). These drive feedback control parameters indicate the direction and magnitude of adjustment that the actuator should make.

[0044] S500: Based on the drive feedback control parameters, the reference drive input value, and the tension adjustment coefficient, drive correction calculation is performed to obtain the corrected drive amount; Step S500, based on the drive feedback control parameters calculated in step S400, and combined with the reference drive input value and tension adjustment coefficient obtained in step S100, performs drive correction calculation to obtain the corrected drive amount. The corrected drive amount is the final control signal directly used to drive the actuator. Through this calculation step, the control parameters output by the control algorithm are converted into drive signals that the actuator can directly receive and respond to, realizing the conversion from the control domain to the execution domain. Simultaneously, by performing drive correction calculation through the tension adjustment coefficient, the adjustment amplitude is constrained within a preset, finite range, thereby ensuring that any adjustment action originating from a deviation signal on the actuator output side will not produce drive fluctuations exceeding this preset range.

[0045] S600: Perform drive correction operation on the actuator according to the correction drive amount.

[0046] Step S600 performs a drive correction operation on the actuator based on the corrected drive amount calculated in step S500, thereby adjusting the tension of the electrode sheet. Through this execution step, the final conversion of control commands into physical actions is completed, achieving the actual adjustment effect of tension closed-loop control.

[0047] In related technologies, a pure closed-loop feedback mechanism is commonly used. This means that a correction is calculated by the control algorithm based solely on the deviation between the actual tension and the set tension, and then directly superimposed or applied to the actuator. This single-deviation-driven adjustment method can maintain basic control under steady-state conditions. However, in non-steady-state conditions such as a step change in belt speed, a sudden change in rotational inertia due to electrode roll replacement, or a change in material properties due to product model switching, the system will generate a deviation signal far exceeding the normal range in a short period of time. Due to the rapid increase in deviation, the proportional and integral terms in the PID algorithm will quickly accumulate and output a large-amplitude control signal, directly causing violent oscillations or sudden changes in the drive output of the actuator. This sudden change in drive output applies an instantaneous rate of change in tension to the electrode that exceeds the material's tolerance limit, which can easily lead to production accidents such as belt breakage or wrinkling.

[0048] Compared with related technologies, this invention provides a stable driving reference operating point through the reference driving input value pre-acquired in step S100. Simultaneously, it actively limits the amplitude of the driving feedback control parameters output in step S400 through a tension adjustment coefficient, constraining the driving changes of the final actuator within a preset safe adjustment bandwidth. This avoids the deviation signal directly driving the actuator to produce drastic output jumps in pure closed-loop control, thereby fundamentally reducing the probability of the electrode breaking due to instantaneous overload or wrinkling due to tension slack. Furthermore, since the reference driving input value corresponds to the basic driving amount under the current tension setting, feedback adjustment only requires small fine-tuning during steady-state operation, ensuring high-precision tension maintenance.

[0049] Furthermore, the S100 acquires tension setting data, reference drive input value, and tension adjustment coefficient through the following sub-steps: S701: Determine the electrode attribute information and electrode transfer information corresponding to the target lithium electrode sheet.

[0050] Electrode attribute information characterizes the physical properties of the target lithium electrode sheet itself, including but not limited to the material type, thickness, and width of the electrode sheet; electrode transport information characterizes the operating conditions of the target lithium electrode sheet during transport, including but not limited to the running speed and transport path of the electrode sheet. These steps provide foundational data for subsequent tension requirement analysis of the current electrode sheet.

[0051] In the application scenario of a lithium replenishment machine, when the machine switches to a different type of electrode material (e.g., from lithium iron phosphate cathode to ternary cathode), step S701 will determine the electrode material type information after the switch. Alternatively, when the replenishment machine switches its operating speed from a low speed to a high speed, step S701 will determine the operating speed information after the switch. This information will serve as the input basis for tension requirement analysis in step S702.

[0052] S702: Based on electrode attribute information and electrode transmission information, tension requirement analysis is performed to obtain tension setting data.

[0053] Different electrodes with varying physical properties and different transmission conditions require different tension settings. This step enables the automatic generation of tension setpoints based on electrode attribute information and transmission condition information, eliminating the need for manual setting for each product specification.

[0054] For example, a pre-stored database contains a correspondence between electrode material types and tension setting values. When the electrode material type determined in step S701 is a lithium iron phosphate cathode, step S702 parses the corresponding first tension setting value from the pre-stored data; when the electrode material type is switched to a ternary cathode, step S702 parses the corresponding second tension setting value from the pre-stored data. Similarly, the pre-stored database contains a correspondence between operating speed and tension setting values. When the operating speed determined in step S701 is low speed, step S702 parses the tension setting value adapted to low-speed conditions from the pre-stored data; when the operating speed is switched to high speed, step S702 parses the tension setting value adapted to high-speed conditions from the pre-stored data.

[0055] S703: Performs tension reference calibration for the electrode tension control system to determine the reference drive input value.

[0056] Because of the individual differences and initial state deviations of the components in the electrode tension control system, a calibration operation is performed to establish the correspondence between the tension setpoint and the actuator drive quantity, thereby determining the basic drive quantity required by the actuator under the current tension setpoint, and providing a reference zero point for subsequent drive correction calculations.

[0057] S704: Determine the adjustment range parameters and empirical proportional coefficients matched to the actuator.

[0058] The adjustment range parameter characterizes the total range within which the actuator can respond to a drive signal, such as the digital control range of a proportional valve; the empirical proportional coefficient is a pre-set reference value based on the inherent electrical or mechanical characteristics of the actuator. By determining the above parameters, an upper bound constraint and engineering experience reference are provided for the calculation of the tension adjustment coefficient.

[0059] S705: The corresponding tension adjustment coefficient is obtained by calculation based on the adjustment range parameter and empirical proportional coefficient.

[0060] Through the above steps, the acquisition of the three basic parameters in step S100—tension setting data, reference drive input value, and tension adjustment coefficient—is achieved. The tension setting data is generated by parsing pre-stored data based on electrode attribute information and transmission information, eliminating the need for manual consultation of process manuals or setting based on experience. The reference drive input value is established through a calibration process, eliminating the impact of individual system differences on control accuracy. The tension adjustment coefficient is independently calculated and determined based on the actuator range parameters and empirical proportional coefficients. These three parameters, from the perspectives of control objective, drive reference, and adjustment limit, respectively, complete the configuration of the basic parameters required for closed-loop control. Each parameter has an adaptive or calibrable acquisition method, enabling the entire tension control system to adapt to different electrode specifications and lithium replenishment needs under different operating conditions. This eliminates the need for tedious manual parameter tuning for each type of product, reducing the operational threshold and reliance on engineer experience.

[0061] Furthermore, S703 performs tension reference calibration for the electrode tension control system to determine the reference drive input value, including the following sub-steps: S801: Select at least two calibrated tension values ​​within the working tension range of the target lithium electrode sheet at a preset step distance, and obtain the calibrated drive output of the actuator when the target lithium electrode sheet is at the calibrated tension value.

[0062] Specifically, within the working tension range, multiple discrete tension values ​​are selected at uniform intervals as calibration points. For each calibrated tension value, the corresponding drive output of the actuator under that tension condition is recorded. This step collects multiple sets of discrete sample data for subsequently establishing the mapping relationship between the tension setpoint and the drive output.

[0063] S802: Perform linear fitting on the calibrated tension value and the calibrated drive output to obtain the fitted calibration model. The fitted calibration model characterizes the mapping relationship between the tension setting variable of the target lithium electrode sheet and the reference drive variable of the actuator when the corrected drive output is zero.

[0064] The fitting calibration model characterizes the linear mapping relationship between the tension setpoint variable and the actuator's reference drive variable under ideal conditions where the corrected drive amount is zero, i.e., without any feedback adjustment. This fitting step transforms discrete calibration sample points into a continuous function model, enabling the system to calculate the corresponding theoretical drive amount based on any tension setpoint.

[0065] S803: Obtain the reference drive input value based on the fitted calibration model and tension setting data.

[0066] Substituting the current tension setpoint into the fitting calibration model, the model output value is the reference drive input value corresponding to that tension setpoint. This calculation step completes the mapping from the tension target value to the reference drive quantity.

[0067] Furthermore, the electrode tension control method also includes the step of re-executing the tension reference calibration for the electrode tension control system and determining the reference drive input value when the material type or operating speed of the target lithium electrode changes.

[0068] Existing solutions are ill-suited to meet the demands of multi-condition production. When the electrode material changes, the physical response characteristics of different materials to tension vary; when the operating speed changes, the dynamic characteristics of the system also change. Under these circumstances, the tension control accuracy of existing solutions is difficult to guarantee and is susceptible to mechanical structural factors. Some lithium replenishment machines have limited mechanical structural precision; for example, issues such as parallelism deviations in guide rollers and bearing wear introduce additional disturbances into the tension transmission path, further affecting tension control accuracy.

[0069] Through the above calibration steps, a mapping model between the tension setpoint and the reference drive quantity is established using discrete sampling and linear fitting at at least two calibration points. This model can output the corresponding reference drive input value based on any tension setpoint, thus providing a more accurate basic drive reference point for the actuator. Simultaneously, the fitting process effectively eliminates the influence of individual differences and initial state deviations of the components in the system on the drive accuracy, improving the accuracy of the reference drive input value and providing a more reliable reference zero point for subsequent drive correction calculations, thereby improving the overall accuracy of tension control.

[0070] For example, taking a target lithium electrode sheet with a working tension range of 50N to 450N as an example, in step S801, five calibrated tension values ​​of 50N, 150N, 250N, 350N, and 450N are evenly selected within this range with a preset step size of 100N, and are denoted as follows: , , , , Adjust the electrode tension to the aforementioned calibrated tension values ​​and maintain stability. Record the calibrated drive output of the actuator at each calibrated tension value, and transcribe them sequentially as follows: , , , , .

[0071] Step S802 is based on the above five sets of data: ( , ), ( , ), ( , ), ( , ), ( , The least squares method was used for linear fitting to obtain the fitting calibration model. Where F is the tension setting variable and D is the reference drive variable of the actuator. β is the slope obtained from the fitting, and β is the intercept obtained from the fitting. This fitting calibration model characterizes the linear mapping relationship between the tension setpoint and the actuator reference drive when the corrected drive is zero.

[0072] , in, D is the arithmetic mean of five calibrated tension values, and D is the arithmetic mean of five calibrated drive output values.

[0073] Step S803: Substitute the tension setting data (e.g., 400N) obtained in step S702 into the above fitting calibration model. In the process, the corresponding reference drive input value is calculated, which is the basic drive amount required by the actuator under the current tension setting value.

[0074] Furthermore, the S200 acquires measured tension data of the electrode, including: S901: Set the sampling array, which includes at least two raw tension values ​​acquired by the tension detection sensor; The raw tension value refers to the tension force value corresponding to the electrical signal directly output by the tension sensor without any filtering or smoothing. This raw tension value includes the actual tension fluctuation information of the target lithium electrode sheet during transmission, and also includes sensor noise, environmental vibration noise, and high-frequency interference components coupled during signal transmission. Due to the presence of these noise components, if the raw tension value is directly used as the input signal of the control system, it may cause the control algorithm to respond incorrectly to the noise, thereby leading to ineffective adjustment or malfunction of the actuator.

[0075] S902: Store at least two raw tension values ​​acquired sequentially.

[0076] Step S902 stores the raw tension values ​​continuously collected from the tension detection sensor in chronological order into the sampling array set in step S901. It should be noted that the sampling order can be stored according to the sequence of arrays [1] to [N]. By storing in chronological order, the temporal continuity and sequentiality of the data in the array are ensured.

[0077] S903: Along the time sequence, replace the oldest original tension value with the latest original tension value; In step S903, each time a new original tension value is acquired, the latest original tension value replaces the oldest original tension value in the sampling array along the time sequence. Specifically, when the (N+1)th sampling signal is acquired, it is overwritten in array [1]; when the (N+2)th sampling signal is acquired, it is overwritten in array [2], and so on, always keeping the sampling array storing the N most recently acquired original tension values. Through this sliding window-style update mechanism, dynamic rolling updates of the sampling data are realized, ensuring that the array always stores data samples within the most recent time period.

[0078] S904: The original tension values ​​in the sampling array are arithmetically averaged to obtain the measured tension data.

[0079] Step S904 performs an arithmetic mean calculation on all the currently stored raw tension values ​​in the sampling array, and uses the calculation result as the measured tension data. The output signal formula is: ,in These are the filtered tension measurement data. This represents the k-th original tension value in the sampling array. The arithmetic mean is then used to calculate a comprehensive average of the multiple sampled values ​​involved in the calculation.

[0080] Furthermore, based on the actual deviation value of the electrode tension, S400 calculates the corresponding drive feedback control parameters, including: S1001: Obtain the actual deviation value of electrode tension; The actual deviation of the electrode tension is the difference e(t) between the current tension setting data and the measured tension data. This value serves as the input variable for subsequent control component calculations. This acquisition step ensures that the deviation data used in subsequent calculations is the latest calculated value at the current moment.

[0081] S1002: Calculate the proportional control component, integral control component, and derivative control component based on the actual deviation value of the electrode tension.

[0082] The proportional control component is equal to the current deviation value. The integral control component is equal to the integral of the deviation over time. The differential control component is equal to the derivative of the deviation with respect to time. The three components characterize the deviation from three different dimensions: the immediate state of the current deviation, the historical cumulative effect, and the trend of change. This provides corresponding component data for the subsequent fusion of the three moderating effects.

[0083] S1003: Configure corresponding proportional gain coefficients Kp, integral gain coefficients Ki, and derivative gain coefficients Kd for the proportional control component, integral control component, and derivative control component calculated in step S1002, respectively, and adjust the amplitude of the corresponding control component using the configured gain coefficients. Through this gain configuration and amplitude adjustment, the proportional control component, integral control component, and derivative control component are each assigned different weight coefficients, realizing independent adjustment of the influence intensity of each control component, enabling the system to set the contribution level of the three adjustment actions according to actual control requirements.

[0084] S1004: The proportional control component, integral control component and derivative control component after amplitude adjustment are superimposed, and the superimposed result is used as the drive feedback control parameter.

[0085] Step S1004 superimposes the proportional control component, integral control component, and derivative control component after amplitude adjustment in step S1003, and uses the superimposed result as the drive feedback control parameter. The superposition result is as follows: .

[0086] Through this superposition step, the proportional, integral, and derivative components are integrated into a comprehensive control parameter output. This control parameter simultaneously possesses the instantaneous response characteristics of proportional action, the steady-state deviation elimination characteristics of integral action, and the trend prediction characteristics of derivative action. The three work together to achieve precise feedback control of tension deviation.

[0087] The above steps employ a proportional-integral-derivative (PID) control strategy to calculate the drive feedback control parameters. The proportional control component provides immediate adjustment based on the current deviation, resulting in a fast response. The integral control component eliminates steady-state residual error by accumulating historical deviations, improving control accuracy. The derivative control component provides proactive adjustment based on the deviation change trend, suppressing system oscillations. Through the independent configuration and final superposition of their respective gain coefficients, these three components achieve a unified approach of rapid response to tension deviations, high-precision tracking, and good stability, providing the actuator with precise feedback adjustment commands.

[0088] For example, step S500: Based on the drive feedback control parameters, the reference drive input value, and the tension adjustment coefficient, a drive correction calculation is performed to obtain the corrected drive amount, specifically: Step S500 is based on the drive feedback control parameters calculated in step S400. Combined with the reference drive input value obtained in step S100 Based on the tension adjustment coefficient G, drive correction calculations are performed to obtain the corrected drive amount. The calculation formula is as follows: ; This calculation step converts the drive feedback control parameters into drive signals that the actuator 20 can directly receive and respond to, realizing the conversion from the control domain to the execution domain. Simultaneously, the drive feedback control parameters are narrowed using the tension adjustment coefficient G, constraining the adjustment range within a preset, finite range. This ensures that any adjustment action originating from a deviation signal on the output side of the actuator 20 will not produce drive fluctuations exceeding this preset range.

[0089] The electrode tension control system of a second aspect embodiment of the present invention includes a tension detection sensor 10, an actuator 20, and a processing unit. The tension detection sensor 10 is used to acquire the tension value of the target lithium electrode 1; the actuator 20 is used to adjust the tension of the target lithium electrode 1; the processing unit is communicatively connected to the actuator 20 and is configured to execute the electrode tension control method of the first aspect embodiment of the present invention.

[0090] The tension sensor 10 is used to acquire the tension value of the target lithium electrode sheet 1. Specifically, the tension sensor 10 is arranged at a corresponding position on the electrode sheet transmission path to detect the actual tension value of the electrode sheet in real time during transmission and output the corresponding tension signal.

[0091] The actuator 20 is used to adjust the tension of the target lithium electrode sheet 1. The actuator 20 is located between the unwinding mechanism and the winding mechanism, and its actuating end is used to roll and contact the target lithium electrode sheet 1, thereby applying a tension adjustment effect to the electrode sheet.

[0092] The processing unit is communicatively connected to the actuator 20 and configured to execute the electrode tension control method according to the first aspect of the present invention. Specifically, the processing unit acquires tension setting data, a reference drive input value, and a tension adjustment coefficient; receives measured tension data detected by the tension detection sensor 10; calculates the actual electrode tension deviation value based on the tension setting data and the measured tension data; calculates drive feedback control parameters based on the actual electrode tension deviation value; calculates a correction drive amount based on the drive feedback control parameters, the reference drive input value, and the tension adjustment coefficient; and controls the actuator 20 to perform a drive correction operation according to the correction drive amount. The processing unit achieves closed-loop tension control through the above steps.

[0093] Furthermore, the actuator 20 includes a rocker arm connecting piece 21, a proportional valve power assembly 22, and a tension rocker arm roller 23. The output end of the proportional valve power assembly 22 is hinged to the rocker arm connecting piece 21, and one axial end of the tension rocker arm roller 23 is connected to the rocker arm connecting piece 21. The roller surface of the tension rocker arm roller 23 is used to abut against the electrode. The proportional valve power assembly 22 drives the tension rocker arm roller 23 to swing to adjust the tension of the electrode. The control end of the proportional valve power assembly 22 is electrically connected to the processing unit.

[0094] The proportional valve power assembly 22 drives the tension swing arm roller 23 to swing, thereby adjusting the tension of the electrode. Specifically, in response to the correction drive output from the processing unit, the proportional valve power assembly 22 drives its output end to generate a corresponding displacement or force output. This displacement or force output is driven by the output end hinged to the swing arm connecting piece 21, which in turn drives the tension swing arm roller 23 to swing around the swing axis. The roller surface of the tension swing arm roller 23 abuts against the electrode surface, and the change in its swing angle alters the holding force or wrap angle on the electrode, thereby achieving precise adjustment of the electrode tension. The control end of the proportional valve power assembly 22 is electrically connected to the processing unit to receive the correction drive signal output by the processing unit.

[0095] The electrode tension control system of the second aspect of the present invention, through the above-described structural configuration, uses a tension detection sensor 10 to detect the electrode tension in real time and provide a feedback signal. The processing unit executes the control method of the first aspect embodiment to process the feedback signal and generate a control command. The proportional valve power assembly 22 responds to the control command by driving the tension swing arm to swing over the roller 23, forming a complete closed-loop control link. Simultaneously, because the control method executed by the processing unit incorporates a reference drive input value and a tension adjustment coefficient, the system can constrain the drive changes of the actuator 20 within a preset safe adjustment bandwidth when operational disturbances occur, avoiding drastic output jumps in the actuator 20 and ensuring the stability of the electrode transmission process.

[0096] Specifically, the tension detection sensor 10 features high sensitivity and fast response, enabling it to accurately capture minute changes in tension with a measurement accuracy of ±0.1N.

[0097] A third aspect of this invention provides an electrode conveying system 2, including the electrode tension control system, electrode driving device, and tension roller 30 described in the second aspect of this invention. The electrode driving device drives the target lithium electrode sheet 1 along a preset electrode conveying direction. Specifically, the electrode driving device includes an unwinding mechanism and a winding mechanism. The target lithium electrode sheet 1 is output by the unwinding mechanism, travels along the preset conveying direction, and is retrieved by the winding mechanism. The tension roller 30 and the actuator 20 are spaced apart along the electrode conveying direction. The tension roller 30 is used to tension the target lithium electrode sheet 1. Specifically, the tension roller 30 is positioned at corresponding locations on the electrode conveying path, with its roller surface abutting against the electrode surface to apply tension to the electrode, maintaining appropriate tension during conveying. The tension roller 30 and the actuator 20 are arranged spaced apart along the electrode conveying direction, allowing them to perform tensioning and tension adjustment functions on the electrode at different locations on the electrode conveying path, avoiding structural interference caused by functional concentration.

[0098] The transmission path refers to the geometric route taken by the target lithium electrode sheet 1 from the unwinding mechanism to the rewinding mechanism. This route is defined by the spatial positions of various components such as the guide rollers, tension rollers 30, and drive rollers in the electrode conveying system 2. The belt travel direction refers to the direction in which the target lithium electrode sheet 1 travels along the transmission path, i.e., from the unwinding mechanism to the rewinding mechanism. In other words, the transmission path defines the spatial trajectory of the electrode belt, and the belt travel direction defines the direction in which the electrode travels along this trajectory. The transmission path is the route the electrode travels in space, and the belt travel direction is the orientation of the electrode traveling along this path. In the actual operation of the electrode conveying system 2, the electrode travels continuously along the transmission path determined by each roller system component in a predetermined direction from the unwinding side to the rewinding side. It should be noted that the belt travel direction may have different spatial orientations at different positions along the transmission path depending on the direction of each segment of the path. For example, when the transmission path passes through the guide roller reversal, the belt travel direction deflects accordingly, but it always remains along the tangential direction of the electrode's travel. Furthermore, in this embodiment of the invention, the actuator 20 and the tension roller 30 are arranged at intervals along the electrode sheet traveling direction, which means that the actuator 20 and the tension roller 30 are arranged sequentially along the path of the electrode sheet, and their positions on the transmission path have a sequential order.

[0099] The electronic device according to a fourth aspect of the present invention includes: a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the electrode tension control method according to the first aspect of the present invention.

[0100] A computer-readable storage medium according to a fifth aspect embodiment of the present invention stores a program that is executed by a processor to implement the electrode tension control method as described in the fourth aspect embodiment of the present invention.

[0101] It should be emphasized that the embodiments of the present invention have the following technical effects: The electrode tension control method of this invention achieves high-precision tension adjustment by acquiring tension setting data, reference drive input value, and tension adjustment coefficient, and combining the measured tension for deviation calculation and PID feedback control. At the same time, by introducing the reference drive input value and tension adjustment coefficient, the drive changes of the actuator are constrained within a preset safe adjustment bandwidth, avoiding drastic jumps in the actuator output caused by sudden changes in operating conditions in pure closed-loop control, and effectively reducing the probability of belt breakage and wrinkling.

[0102] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A method for controlling electrode tension, characterized in that, An electrode tension control system is applied, comprising a tension detection sensor and an actuator, wherein the actuator is used to adjust the tension of the electrode, the method comprising: Acquire tension setting data, reference drive input value, and tension adjustment coefficient; The tension of the target lithium electrode sheet is measured using the tension detection sensor to obtain the measured tension data. Based on the tension setting data and the actual tension measurement data, the deviation is calculated to obtain the actual deviation value of the electrode tension. Based on the actual deviation value of the electrode tension, calculate the corresponding drive feedback control parameters; Based on the drive feedback control parameters, the reference drive input value, and the tension adjustment coefficient, drive correction calculation is performed to obtain the corrected drive amount. The tension adjustment coefficient is used to narrow the drive feedback control parameters to the corresponding incremental value within the range of the actuator drive signal. Based on the corrected drive amount, a drive correction operation is performed on the actuator.

2. The method according to claim 1, characterized in that, The acquisition of tension setting data, reference drive input value, and tension adjustment coefficient includes: Determine the electrode attribute information and electrode transmission information corresponding to the target lithium electrode sheet; Based on the electrode attribute information and electrode transmission information, tension requirement analysis is performed to obtain the tension setting data; Tension reference calibration is performed on the electrode tension control system to determine the reference drive input value; Determine the adjustment range parameters and the empirical proportional coefficients that match the actuator; The corresponding tension adjustment coefficient is obtained by calculating based on the adjustment range parameter and the empirical proportional coefficient.

3. The method according to claim 2, characterized in that, The step of performing tension reference calibration on the electrode tension control system to determine the reference drive input value includes: Within the working tension range of the target lithium electrode sheet, at least two calibrated tension values ​​are selected with a preset step distance to obtain the calibrated drive output of the actuator when the target lithium electrode sheet is at the calibrated tension value; Linear fitting is performed on the calibrated tension value and the calibrated drive output to obtain a fitting calibration model. The fitting calibration model characterizes the mapping relationship between the tension setting variable of the target lithium electrode sheet and the reference drive variable of the actuator when the corrected drive output is zero. The reference drive input value is obtained based on the fitting calibration model and the tension setting data.

4. The method according to claim 3, characterized in that, Also includes: When the material type or operating speed of the target lithium electrode changes, the step of re-exercising the tension reference for the electrode tension control system and determining the reference drive input value is performed again.

5. The electrode tension control method according to claim 1, characterized in that, The acquisition of the measured tension data of the electrode includes: A sampling array is defined, the sampling array including at least two raw tension values ​​acquired by the tension detection sensor; Store at least two consecutively acquired raw tension values ​​in sequence; Along the aforementioned time sequence, the latest original tension value replaces the oldest original tension value; The original tension values ​​in the sampling array are arithmetically averaged to obtain the measured tension data.

6. The electrode tension control method according to claim 1, characterized in that, The calculation of the corresponding drive feedback control parameters based on the actual deviation value of the electrode tension includes: Obtain the actual deviation value of the electrode tension; Based on the actual deviation value of the electrode tension, calculate the proportional control component, integral control component, and derivative control component respectively; The proportional control component, the integral control component, and the derivative control component are respectively configured with corresponding proportional gain coefficients, integral gain coefficients, and derivative gain coefficients, and the amplitudes of the proportional control component, the integral control component, and the derivative control component are adjusted using the proportional gain coefficients, the integral gain coefficients, and the derivative gain coefficients, respectively. The proportional control component, the integral control component, and the derivative control component after amplitude adjustment are superimposed, and the superimposed result is used as the drive feedback control parameter.

7. An electrode tension control system, characterized in that, include: A tension detection sensor is installed on the transmission path of the target lithium electrode sheet to detect the tension value of the target lithium electrode sheet during transmission. An actuator used to adjust the tension of the target lithium electrode sheet; The processing unit, communicatively connected to the actuator, is configured to execute the electrode tension control method according to any one of claims 1-6.

8. The electrode tension control system according to claim 7, characterized in that, The actuator includes a rocker arm connecting plate, a proportional valve power assembly, and a tension rocker arm roller. The output end of the proportional valve power assembly is hinged to the rocker arm connecting plate. One axial end of the tension rocker arm roller is connected to the rocker arm connecting plate. The roller surface of the tension rocker arm roller is used to abut against the electrode. The proportional valve power assembly drives the tension rocker arm roller to swing to adjust the tension of the electrode. The control terminal of the proportional valve power assembly is electrically connected to the processing unit.

9. An electronic device, characterized in that, include: The device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the electrode tension control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The storage medium stores a program that is executed by a processor to implement the electrode tension control method as described in any one of claims 1 to 6.

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