Control system of cutting and stacking all-in-one machine

Abstract

The utility model provides a cutting and stacking all-in-one machine control system. The cutting and stacking all-in-one machine control system comprises a main control chip and a motor driving module which are integrated on a main control circuit board. A motion control module and a servo control module which carry out information interaction in a memory sharing mode are integrated on the main control chip, and the servo control module can be connected with a diaphragm unwinding motor and a tension swing roller motor in the cutting and stacking all-in-one machine through a motor driving module; the servo control module can send a tension fluctuation signal, received by the motor driving module, of the tension swing roller motor to the motion control module, and can send a driving signal for driving the diaphragm unwinding motor to the motor driving module based on a control signal sent after the motion control module processes the tension fluctuation signal. According to the control system of the cutting and stacking all-in-one machine, the control accuracy and timeliness of the tension swing roller can be improved, and then the production efficiency and the product quality of the cutting and stacking all-in-one machine are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of battery core production, in particular to a utility model of a control system for a cutting and stacking integrated machine. Background Art

[0002] At present, the macro performance of power batteries is affected by the production processes such as cell rolling, slitting, and lamination. For example, the mixing of slurry in the front-end process will affect the batch stability of the slurry, and coating and rolling will affect the current collection, energy density and other properties of the pole piece. The accuracy of winding and lamination in the middle-end process will determine the battery capacity and consistency. The cell module and PACK (packaging) design in the back-end process will affect the heat dissipation of the battery pack, etc. For this reason, lithium battery production equipment is the key to ensuring battery performance and the output and revenue of battery companies. It is urgent to improve the coordination and response performance of the production line controller, as well as the control accuracy and work efficiency of each process execution unit.

[0003] The existing cutting and laminating machines mainly involve processes such as die cutting, lamination and hot pressing. The control system of the cutting and laminating machines generally includes a main controller and a motor driver. Among them, the main controller is responsible for upper-level trajectory planning and signal processing, human-machine interface, etc. After the motor driver receives the control signal from the main controller, it converts it into a corresponding pulse signal and inputs it into the corresponding motor, and finally controls the operation of the cutting and laminating machine. In addition, during the operation, each motor feeds back motion information to the motor driver, and the motor driver implements three-loop control of each motor based on the feedback information: position loop, speed loop and current loop.

[0004] Specifically, the control architecture of the existing cutting and stacking machine is as follows: the motion controller implements the tension control of the diaphragm unwinding, the diaphragm winding and unwinding algorithm, the cam synchronization, the deviation correction and other operation control algorithms, and then sends control instructions to the relevant servo drivers through the communication bus. Each servo driver executes the corresponding position loop, speed loop and current loop functions to drive the corresponding motor. Among them, tension control is a key module that affects the cutting and stacking efficiency and the quality of the stacking. Its control logic is that the tension swing roller motor controller uploads the diaphragm length change to the motion controller through the external communication bus. The motion controller calculates the diaphragm length that needs to be adjusted to overcome the tension change, and forwards it to the diaphragm unwinding shaft motor controller through the external communication bus. The diaphragm unwinding shaft motor controller adjusts the position loop, speed loop and current loop in sequence from the outer loop to the inner loop, and then controls the operation of the diaphragm unwinding shaft motor.

[0005] The disadvantage of this control architecture is that due to the separate settings of the motion controller, the diaphragm unwinding shaft motor controller and the tension swing roller motor controller, and the information transmission through the communication bus, as well as the influence of the external communication bus information delay, the control system's control real-time and flexibility are not high, the control strategy is difficult to optimize, resulting in low accuracy and responsiveness of the tension control, which restricts the production efficiency of the cutting and stacking machine and the quality of the batteries produced.

[0006] In addition, the diaphragm unwinding motor group, stacking table motor shaft group, diaphragm buffer motor group and loading and unloading motor shaft group of the traditional cutting and stacking machine are coordinated and synchronized through the electronic cam function running in the motion controller. In order to improve the smoothness of the movement of each motor group, multiple curve fitting (usually quintic curve) is used between the points of the electronic cam. However, due to the large number of motor shaft groups and electronic cams in the cutting and stacking machine, the synchronization cycle of the system is lengthened, which also reduces the control accuracy and operation efficiency of the cutting and stacking machine.

[0007] In addition, in the hardware structure of traditional cutting and stacking machines, the main controller and the servo drivers of each motor shaft are generally connected through a communication bus to issue commands and receive feedback. This leads to high costs for communication chips and cables, occupies space, and has complicated wiring and protection. In addition, industrial bus protocols such as EtherCAT (Ethernet Control Automation Technology) are complex, which will cause certain obstacles to subsequent debugging, use and optimization. Furthermore, the hardware structure of traditional cutting and stacking machines also has the problem of multiple servo drivers executing similar control programs, which makes it impossible for components such as information processing modules, auxiliary power supplies, and installation mechanisms to share or form more powerful computing power, ultimately affecting the overall cost performance of the cutting and stacking machine. Utility Model Content

[0008] In view of this, the utility model aims to provide a control system for a cutting and stacking machine, so as to improve the control accuracy and timeliness of the tension swing roller.

[0009] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0010] A control system for a cutting and stacking machine, comprising a main control chip and a motor drive module integrated on a main control circuit board;

[0011] The main control chip is integrated with a motion control module and a servo control module for information exchange through a shared memory, and the servo control module can be connected to the diaphragm unwinding motor and the tension swing roller motor in the cutting and stacking machine through the motor drive module;

[0012] The servo control module can send the tension fluctuation signal of the tension swing roller motor received by the motor driving module to the motion control module, and can send a driving signal for driving the diaphragm unwinding motor to the motor driving module based on the control signal issued after the motion control module processes the tension fluctuation signal.

[0013] Furthermore, the servo control module includes a swing roller motor control submodule and an unwinding motor control submodule, the swing roller motor control submodule can send a drive signal for driving the tension swing roller motor to the motor drive module, the unwinding motor control submodule can send a drive signal for driving the diaphragm unwinding motor to the motor drive module, and the swing roller motor control submodule and the unwinding motor control submodule exchange information through shared memory.

[0014] Furthermore, the swing roller motor control submodule and the unwinding motor control submodule both include a current loop functional unit, a speed loop functional unit and a position loop functional unit, and the current loop functional unit, the speed loop functional unit and the position loop functional unit are all connected to the motor drive module.

[0015] Furthermore, the swing roller motor control submodule includes a swing angle detection functional unit and an unwinding motor adjustment functional unit; the swing angle detection functional unit is used to detect the swing roller angle change Δφ, and send a tension fluctuation signal to the unwinding motor adjustment functional unit and the current loop functional unit; the unwinding motor adjustment functional unit can calculate the unwinding motor position loop feedback value FBp (Δφ), speed loop feedforward value FFs (Δφ) and current loop feedforward value FFc (Δφ) based on the tension fluctuation signal.

[0016] Furthermore, the motion control module adopts a motion control chip; and / or the main control chip adopts an FPGA chip or an ASIC chip.

[0017] Furthermore, the main control chip is integrated with a signal acquisition and processing module, a fault detection and processing module, a human-machine interface module and an industrial bus master station module; the signal acquisition and processing module, the fault detection and processing module, the human-machine interface module and the industrial bus master station module, the motion control module and the servo control module all exchange information through shared memory.

[0018] Furthermore, the signal acquisition and processing module is connected to the main control chip via DMA transmission; and / or, the signal acquisition and processing module is connected to an external detection module via DMA transmission to obtain motion information of each moving part in the cutting and stacking machine detected by the detection module.

[0019] Furthermore, the industrial bus master station module is connected to the stacking table motor shaft group, the positive and negative feeding motor assembly, and the buffer roller motor shaft group in the cutting and stacking machine.

[0020] Compared with the prior art, the utility model has the following advantages:

[0021] The control system of the cutting and stacking machine described in the utility model exchanges information between the motion control module and the servo control module by means of shared memory, and then integrates the motor drive module with the motion control module and the servo control module, thereby improving the real-time and flexibility of information transmission, and thus facilitating the optimization of the tension control strategy, improving the control accuracy and timeliness of the tension swing roller, and thus improving the production efficiency and product quality of the cutting and stacking machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the accompanying drawings:

[0023] Figure 1 It is a structural schematic diagram of a control system of a cutting and stacking machine according to an embodiment of the utility model;

[0024] Figure 2 This is a schematic diagram of the internal structure of the servo control module according to an embodiment of the utility model;

[0025] Figure 3 This is a control principle diagram of the tension swing roller motor and the diaphragm unwinding motor in the control system of the cutting and stacking machine according to the embodiment of the utility model;

[0026] Figure 4 This is a control principle diagram of the parts other than the tension swing roller motor in the control system of the cutting and stacking machine according to the embodiment of the utility model;

[0027] Figure 5 The present invention is a flowchart of a method for controlling a cutting and stacking machine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0029] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0030] The embodiment of the utility model relates to a control system for a cutting and stacking machine, which can improve the control accuracy and timeliness of a tension swing roller, so that the cutting and stacking machine has better production efficiency and product quality.

[0031] In terms of overall structure, Figures 1 to 3 As shown, the control system of the cutting and stacking machine of this embodiment includes a main control chip and a motor drive module integrated on a main control circuit board.

[0032] Among them, the main control chip is integrated with a motion control module and a servo control module that exchange information through shared memory, and the servo control module can be connected to the diaphragm unwinding motor and tension swing roller motor in the cutting and stacking machine through the motor drive module.

[0033] In addition, the servo control module can send the tension fluctuation signal of the tension swing roller motor received by the motor drive module to the motion control module, and can send a drive signal for driving the diaphragm unwinding motor to the motor drive module based on the control signal issued by the motion control module after processing the tension fluctuation signal.

[0034] Specifically, in this embodiment, as an exemplary structure, Figure 2 As shown, the servo control module includes a swing roller motor control submodule and an unwinding motor control submodule. The swing roller motor control submodule can send a driving signal for driving the tension swing roller motor to the motor drive module, and the unwinding motor control submodule can send a driving signal for driving the diaphragm unwinding motor to the motor drive module, and the swing roller motor control submodule and the unwinding motor control submodule exchange information through shared memory.

[0035] Here, information exchange is carried out between the swing roller motor control submodule and the unwinding motor control submodule through shared memory. Compared with the traditional technology in which the swing roller motor control submodule and the unwinding motor control submodule exchange information through the industrial communication bus and run in two independent main control chips respectively, it can effectively improve the information transmission speed and improve the responsiveness and operation efficiency of tension control.

[0036] In this embodiment, as a preferred implementation form, the swing roller motor control submodule and the unwinding motor control submodule both include a current loop functional unit, a speed loop functional unit and a position loop functional unit, and the current loop functional unit, the speed loop functional unit and the position loop functional unit are all connected to the motor drive module.

[0037] At the same time, as a preferred implementation form, in this embodiment, the swing roller motor control submodule includes a swing angle detection functional unit and an unwinding motor adjustment functional unit.

[0038] Combination Figure 3As shown, the swing angle detection functional unit is used to detect the swing roller angle change Δφ, and send a tension fluctuation signal to the unwinding motor adjustment functional unit and the current loop functional unit. The unwinding motor adjustment functional unit can calculate the unwinding motor position loop feedback value FBp (Δφ), speed loop feedforward value FFs (Δφ) and current loop feedforward value FFc (Δφ) based on the tension fluctuation signal.

[0039] Among them, the role of the speed loop feedforward value FFs(Δφ) and the current loop feedforward value FFc(Δφ) is to enable the speed loop and current loop of the unwinding motor control submodule to respond to the position deviation of the tension swing arm motor in advance. Compared with the traditional control method in which the unwinding motor control submodule and the swing roller motor control submodule run on two independent main control chips and communicate through the industrial bus, it overcomes the delay and poor flexibility of the logical error information that needs to be transmitted from the bus to the position loop, speed loop and current loop of each motor control submodule in sequence, making the control accuracy higher and the response speed faster. At the same time, it suppresses the impact caused by starting, stopping and changing direction, can effectively reduce tension fluctuations, and improve the operating speed of the diaphragm unwinding, as well as the production efficiency and product quality of the cutting and stacking machine.

[0040] In addition, as a preferred implementation form, in this embodiment, the motion control module adopts a motion control chip that is well known to those skilled in the art and can be directly integrated into the main control chip. At the same time, as a preferred implementation form, the main control chip can adopt an integrated circuit chip, such as an FPGA (Field Programmable Gate Array) chip or an ASIC (Application Specific Integrated Circuit Design) chip.

[0041] In addition, continue to refer to Figure 1 As shown, in this embodiment, as a preferred implementation form, the main control chip integrates a signal acquisition processing module, a fault detection processing module, a human-machine interface module and an industrial bus master station module.

[0042] In addition, the signal acquisition processing module, the fault detection processing module, the human-machine interface module, the industrial bus master module, the motion control module and the servo control module all exchange information through shared memory.

[0043] Furthermore, based on the consideration of information transmission efficiency, as a preferred implementation form, in this embodiment, the signal acquisition processing module is connected to the main control chip through DMA transmission. At the same time, also as a preferred implementation form, the signal acquisition processing module is connected to the external detection module through DMA transmission to obtain the motion information of each moving part in the cutting and stacking machine detected by the detection module.

[0044] In addition, as a preferred implementation form, in this embodiment, the industrial bus master station module is connected to the stacking table motor shaft group, positive and negative feeding motor assembly, and buffer roller motor shaft group in the cutting and stacking machine, that is, the industrial bus is used for communication connection to ensure the stability of information transmission.

[0045] The control system of the cutting and stacking machine in this embodiment exchanges information between the motion control module and the servo control module by means of shared memory, and then integrates the motor drive module with the motion control module and the servo control module, thereby improving the real-time and flexibility of information transmission, and thus facilitating the optimization of the tension control strategy, improving the control accuracy and timeliness of the tension swing roller, and thus improving the production efficiency and product quality of the cutting and stacking machine.

[0046] Moreover, it should be noted that the signal acquisition processing module, fault detection processing module, human-machine interface module, industrial bus master module, motion control module, servo control module, motor drive module, detection module, diaphragm unwinding motor, tension swing roller motor, stacking table motor shaft group, positive and negative feeding motor assembly and buffer roller motor shaft group and other related parts that are not mentioned in this embodiment can all refer to the cutting and stacking machine well known to technical personnel in this field, as well as the control system for driving and controlling the cutting and stacking machine.

[0047] In addition, when the control system of the cutting and stacking machine of this embodiment is used, Figure 5 As shown, it can be operated according to the following steps:

[0048] S1. Obtain the tension fluctuation signal through the motor drive module and transmit it to the servo control module.

[0049] S2. Processing the tension fluctuation signal transmitted by the servo control module in a shared memory manner through the motion control module, and controlling the servo control module in a shared memory manner to send a driving signal for driving the diaphragm unwinding motor to the motor drive module.

[0050] Furthermore, as a preferred implementation form, in this embodiment, the motion control module, the servo control module and the motor drive module are integrated through the main control circuit board, so as to further improve the information transmission efficiency among the three.

[0051] In this embodiment, the tension control logic is as follows: Figure 3 As shown, the tension swing roller motor operates in the current loop mode, and the current loop functional unit (current loop regulator sub-function) in the swing roller motor sub-module preferably adopts PID (Proportional Integral Derivative; proportional integral differential) control strategy or variant control strategies such as integral-first PID, or adopts advanced control strategies such as self-disturbance rejection control and sliding mode control.

[0052] When the diaphragm tension fluctuates and the swing roller axis deviates, the swing angle detection functional unit detects the swing roller angle change Δφ, which is input into the unwinding motor adjustment functional unit (unwinding motor regulator) in the swing roller motor control submodule, and the position loop feedback value FBp (Δφ), speed loop feedforward value FFs (Δφ) and current loop feedforward value FFc (Δφ) of the diaphragm unwinding motor are calculated and stored in the shared memory module. The unwinding motor adjustment functional unit also preferably adopts a variant control strategy such as PID control strategy or integral first PID, or an advanced control strategy such as self-disturbance rejection control and sliding mode control.

[0053] The unwinding motor adjustment function unit calls the position loop function unit (position loop regulator) in the unwinding motor control submodule to obtain the position command ωo from the motion control module and the position feedback information ω from the unwinding motor encoder. The difference between the two is the position deviation of the diaphragm unwinding motor, and then adds it to the position loop feedback value FBp (Δφ) obtained from the shared memory module to compensate for the position deviation of the diaphragm unwinding motor caused by tension fluctuations. The obtained Δω is calculated by the position loop function unit in the unwinding motor control submodule to obtain the speed loop command S0 of the diaphragm unwinding motor. Among them, the position loop function unit in the unwinding motor control submodule preferably adopts a variant control strategy such as PID control strategy or integral first PID, or advanced control strategies such as self-disturbance rejection control and sliding mode control.

[0054] The speed calculation module obtains speed feedback information by dividing the position information sampled at different times from the encoder of the diaphragm unwinding motor by the sampling time interval, and obtains speed information S after filtering out interference noise through the speed feedback filter module, and compares it with the above S0 to obtain ΔS, which is then added to the speed loop feedforward value FFs (Δφ) read from the shared memory module and output to the speed loop function unit (speed loop regulator sub-function) in the unwinding motor control sub-module to calculate the current command I0 of the diaphragm unwinding motor. The mechanism of the current loop function unit (current loop regulator sub-module) in the unwinding motor control sub-module is similar to that of the speed loop function unit, and will not be repeated here.

[0055] It is still worth mentioning that the role of the speed loop feedforward value FFs (Δφ) and the current loop feedforward value FFc (Δφ) is to enable the speed loop and current loop of the unwinding motor control submodule to respond to the position deviation of the tension swing arm motor in advance. Compared with the traditional control method in which the unwinding motor control submodule and the swing roller motor control submodule run on two independent main control chips and communicate through the industrial bus, it overcomes the delay and poor flexibility of the logical error information that needs to be transmitted from the bus to the position loop, speed loop and current loop of each motor control submodule in sequence, making the control accuracy higher and the response speed faster. At the same time, it suppresses the impact caused by starting, stopping and changing direction, can effectively reduce tension fluctuations, improve the running speed of diaphragm unwinding, as well as the production efficiency and product quality of the cutting and stacking machine.

[0056] In the multi-axis synchronous control, the control method of the cutting and stacking machine of this embodiment proposes a control strategy based on dynamic programming to solve the problem of long cycle of traditional multi-axis cam synchronous control. Figure 4 As shown, the motion control module calculates in real time the mathematical models of the controlled objects such as the stacking table motor shaft group, the storage motor shaft (buffer roller motor shaft group), and the unwinding motor shaft (the motor shaft of the diaphragm unwinding motor), and outputs the position and speed instructions of each motor shaft.

[0057] The advantage of such a setting is that, compared with the synchronous control based on electronic cam, except for the tension swing arm which is passively controlled, the other axes of this method are actively controlled based on the mathematical model, and can be flexibly combined with advanced algorithms to further improve the control accuracy and work efficiency of the cutting and stacking machine.

[0058] The control software of the main control circuit board or the main control cell of this embodiment includes real-time tasks and non-real-time tasks, as well as a task scheduler based on application priority. Non-real-time tasks will not interrupt other tasks, and high-priority real-time tasks can preempt low-priority tasks. The priorities of the task scheduler are from high to low: system fault monitoring and processing tasks, servo motor three-loop (current loop, speed loop and position loop) control tasks, industrial bus tasks, motion control tasks, human-machine interface tasks and other auxiliary tasks.

[0059] As a preferred implementation form, the main control chip of this embodiment has a built-in FPGA chip or ASIC chip to realize the calculation acceleration of servo motor control (including current loop control, speed loop control, position loop control), motion control, signal acquisition and processing modules. Therefore, compared with the solution using control modules such as CPU and MCU, each channel signal processing, motion control module and servo control module performs certain parallel operation and sub-module multiplexing according to the overall motion control instruction, which improves the responsiveness, coordination and reliability of the multi-axis linkage of the system and reduces the hardware resource requirements.

[0060] Still Figure 2As shown, the communication between the main control chip and the signal acquisition and processing module and the detection module (various sensors) adopts DMA mode to prevent the high-priority real-time tasks of the main control chip from being disturbed by frequent external data access interruptions, that is, intra-board (inside the main control circuit board) communication compared to bus technology, in addition to improving performance, it can also save a lot of communication cables and space and reduce costs.

[0061] In addition, the motor control modules of other cutting and stacking machines, except for the motor shaft directly related to the tension control, are connected to the industrial bus master station module located in the main control circuit board through the industrial bus. The control logic is consistent with the traditional cutting and stacking machine system and will not be repeated here.

[0062] The control method of the cutting and stacking machine of the embodiment of the utility model can improve the real-time and flexibility of information transmission, thereby facilitating the optimization of the tension control strategy and the control accuracy and timeliness of the tension swing roller, thereby improving the production efficiency and product quality of the cutting and stacking machine.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control system for a cutting and stacking machine, characterized in that: It includes a main control chip and a motor drive module integrated on a main control circuit board; The main control chip is integrated with a motion control module and a servo control module for information exchange through a shared memory, and the servo control module can be connected to the diaphragm unwinding motor and the tension swing roller motor in the cutting and stacking machine through the motor drive module; The servo control module can send the tension fluctuation signal of the tension swing roller motor received by the motor driving module to the motion control module, and can send a driving signal for driving the diaphragm unwinding motor to the motor driving module based on the control signal issued after the motion control module processes the tension fluctuation signal.

2. The control system of the cutting and stacking machine according to claim 1, characterized in that: The servo control module includes a swing roller motor control submodule and an unwinding motor control submodule. The swing roller motor control submodule can send a drive signal to the motor drive module to drive the tension swing roller motor. The unwinding motor control submodule can send a drive signal to the motor drive module to drive the diaphragm unwinding motor. The swing roller motor control submodule and the unwinding motor control submodule exchange information through shared memory.

3. The control system of the cutting and stacking machine according to claim 2, characterized in that: The swing roller motor control submodule and the unwinding motor control submodule both include a current loop functional unit, a speed loop functional unit and a position loop functional unit, and the current loop functional unit, the speed loop functional unit and the position loop functional unit are all connected to the motor drive module.

4. The control system of the cutting and stacking machine according to claim 3, characterized in that: The swing roller motor control submodule includes a swing angle detection functional unit and an unwinding motor adjustment functional unit; The swing angle detection functional unit is used to detect the swing roller angle change Δφ, and send a tension fluctuation signal to the unwinding motor adjustment functional unit and the current loop functional unit; The unwinding motor adjustment function unit can calculate the unwinding motor position loop feedback value FBp (Δφ), speed loop feedforward value FFs (Δφ) and current loop feedforward value FFc (Δφ) based on the tension fluctuation signal.

5. The control system of the cutting and stacking machine according to claim 1, characterized in that: The motion control module uses a motion control chip; and / or, The main control chip is an FPGA chip or an ASIC chip.

6. The control system of the cutting and stacking machine according to any one of claims 1 to 5, characterized in that: The main control chip is integrated with a signal acquisition processing module, a fault detection processing module, a human-machine interface module and an industrial bus master station module; The signal acquisition processing module, the fault detection processing module, the human-machine interface module, the industrial bus master station module, the motion control module and the servo control module all exchange information through a shared memory.

7. The control system of the cutting and stacking machine according to claim 6, characterized in that: The signal acquisition and processing module is connected to the main control chip via DMA transmission; and / or, The signal acquisition and processing module is connected to the external detection module through DMA transmission to obtain the motion information of each moving part in the cutting and stacking machine detected by the detection module.

8. The control system of the cutting and stacking machine according to claim 6, characterized in that: The industrial bus master station module is connected to the stacking table motor shaft group, the positive and negative feeding motor components, and the buffer roller motor shaft group in the cutting and stacking machine.

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