CN102437366A - Battery coiling device and coiling control method thereof - Google Patents
Battery coiling device and coiling control method thereof Download PDFInfo
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- CN102437366A CN102437366A CN2011104099811A CN201110409981A CN102437366A CN 102437366 A CN102437366 A CN 102437366A CN 2011104099811 A CN2011104099811 A CN 2011104099811A CN 201110409981 A CN201110409981 A CN 201110409981A CN 102437366 A CN102437366 A CN 102437366A
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- Y02E60/10—Energy storage using batteries
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Abstract
The invention is applied in the technical field of battery manufacture, and provides a battery coiling control method, which comprises the following steps of: A, calculating a current target material coiling length in real time in each preset time period according to received linear velocity information; B, determining a target angular position to which a coiling pin is required to rotate according to the current target material coiling length and pre-stored information about corresponding relationship between each equilong rotating-coiled material and the angular positions of a servo motor shaft; and C, controlling a servo motor in real time to drive the coiling pin to rotate to a corresponding target angular position in the preset time period according to the determined target angular position by using a servo driver, so that the rotating-coiled material is coiled on the coiling pin at constant linear velocity. When the method is used, the rotating angular position information of the coiling pin is sampled and stored in advance in the whole battery coiling process, and angular velocity at which constant linear velocity rotation can be realized is calculated in actual coiling, so that constant linear velocity coiling effects can be improved.
Description
Technical field
The invention belongs to battery manufacturing technology field, relate in particular to a kind of battery winding device and coiling controlling method thereof.
Background technology
Need multiple different materials such as cell cathode, anode and barrier film be wound into battery battery core together in the battery manufacturing process; Shown in Fig. 1 is the major part of the permanent linear speed control of battery winding device: connect encoder roller 11, encoder 12, connect volume pin 13, servomotor 14, the servo-driver 15 of the axle of servomotor 14; The commentaries on classics that is wrapped on the unwinding device (not shown) is rolled up pin 13 rollings around material through roller 11; Servo-driver 15 is used to drive servomotor 14 and rotates; Servomotor 14 drives volume pin 13 and rotates, and 12 rotating cycles that are used for pair roller 11 of encoder are counted, to write down by the length of the commentaries on classics of rolling around material.
In order to reach good coiling effect; The battery winding arts demand carries out permanent Tension Control; Square shaped volume pin 13, if volume pin 13 is constant angular velocity rotations, changeing so can be non-constant around the linear velocity of material; Very high and permanent Tension Control difficulty is strengthened when linear velocity, so the permanent linear speed that volume pin 13 is reeled has been controlled to very important part in the battery winding technology.
Present application generally be by peripheral control unit according to the volume pin 13 shapometer calculate can realize permanent linear-speed winding the pairing angular speed in each position as feed forward variable; Utilize the information work feedback of encoder 12 that the volume needle speed is revised then; 15 rotations of control servo-driver realize by peripheral control unit, servo-driver 15, servomotor 14, volume pin 13, change the commentaries on classics system for winding closed-loop control of forming around material.But owing to volume pin 3 winding radius can change along with changeing the increase of advancing material, the different variations of material thickness are also different, cause feed forward variable to be difficult to confirm on the one hand; On the other hand; On the actual machine in order to reach other performance requirement; Between roller that connects encoder 12 11 and volume pin 13, also have several rollers; And material has certain elasticity, makes the speed of material on volume pin 13 in time not to be reflected on the encoder 2, causes influence control effect after the feedback.
Summary of the invention
First technical problem to be solved by this invention is to provide a kind of coiling controlling method of battery winding device; Be intended to avoid calculate early stage the shape of volume pin; Particularly battery variety is changed the needed great amount of calculation of volume aciculiform shape conversion that causes; And be reduced in to change and walk around that material changes the control difficulty that causes around change in radius in the journey, improve the effect of permanent linear-speed winding.
Second technical problem to be solved by this invention is to provide a kind of battery winding device, is intended to avoid need to calculate the shape of volume pin early stage, and is reduced in to change and walks around that material changes the control difficulty that causes around change in radius in the journey, improves the effect of permanent linear-speed winding.
For solving above-mentioned first technical problem, the present invention is achieved in that a kind of coiling controlling method of battery winding device, and said battery winding device comprises the volume pin, can drive servomotor, servo-driver that said volume pin rotates; Said control method comprises the steps:
Steps A receives the linear velocity information of peripheral control unit input or the linear velocity information that the user sets, and based on said linear velocity information in each preset time cycle, calculate in real time current need to change around target material length;
Step B, according to said current need to change around target material length, and the commentaries on classics of each the equal portions length that prestores confirms to roll up the angle on target position that pin need turn to around the correspondence relationship information of the angle position of material and servo motor shaft;
Step C, servo-driver be according to the angle on target position of confirming, control servomotor in real time and in the said preset time cycle, drive the volume pin and turn to corresponding angle on target position so that change around material perseverance linear speed be wound on the pin.
Further, before said steps A, said method also comprises the steps:
Steps A 01 will be changeed around material examination rolling in advance on the volume pin, and in winding process, the commentaries on classics of every coiling one equal portions length is the angular position information at the current place of once sampling servo motor shaft around material;
Steps A 02 is stored the sampled result of steps A 01.
Further, after said steps A 01 and before said steps A 02, said method also comprises the steps:
Steps A 011, according to following formula the corresponding angle position parameter of n equal portions material of steps A 01 sampling is carried out Filtering Processing:
α
* n＝(α
n-(N-1)/2+α
n-(N-1)/2+1+...+α
n+...+α
n+(N-1)/2-1+α
n+(N-1)/2)/N
If x=n-(N-1)/2, when x＜0, α
x=α
-x
Wherein, α * is a filtered angle position parameter, the original angle location parameter of α sampling, and N is a filtering parameter, N gets odd number.
Further, after said step B and before said step C, said method also comprises the steps:
Step B1 carries out phase compensation to the angle position parameter that step B confirms, again execution in step C.
For solving above-mentioned second technical problem; Battery winding device provided by the invention; Comprise the volume pin, can drive servomotor, servo-driver that said volume pin rotates, comprise that also a volume pin angle position sampling unit, a linear velocity are provided with unit, volume pin angle position determining unit;
Said volume pin angle position sampling unit is used for will changeing in advance around material examination rolling in the process of volume pin, and the commentaries on classics of every coiling one equal portions length is the angular position information at the current place of once sampling servo motor shaft around material, and sampled result is stored;
Said linear velocity is provided with the unit and is used to receive the linear velocity information of peripheral control unit input or the linear velocity information that the user sets, and according to said linear velocity information in each preset time cycle, calculate in real time current need to change around target material length;
Said volume pin angle position confirm the unit be used for based on said linear velocity be provided with that the unit calculates current need to change around target material length; And the commentaries on classics of each the equal portions length that prestores is confirmed the angle on target position that the volume pin need turn to around the correspondence relationship information of the angle position of material and servo motor shaft;
Said servo-driver is used for confirming the angle on target position that the unit is confirmed according to said volume pin angle position; In real time the said servomotor of control drives said volume pin and turns to corresponding angle on target position in the said preset time cycle so that change around material perseverance linear speed be wound on the said volume pin.
Further, said volume pin angle position sampling unit also is used for carrying out Filtering Processing according to the following formula angle position parameter that sampling obtains the corresponding angle position parameter of n equal portions material to said volume pin angle position sampling unit:
α
* n＝(α
n-(N-1)/2+α
n-(N-1)/2+1+...+α
n+...+α
n+(N-1)/2-1+α
n+(N-1)/2)/N
If x=n-(N-1)/2, when x＜0, α
x=α
-x
Wherein, α * is a filtered angle position parameter, the original angle location parameter of α sampling, and N is a filtering parameter, N gets odd number.
Further, said volume pin angle position confirms that the unit also is used for the angle on target location parameter of confirming is carried out phase compensation.
Further, said volume pin angle position sampling unit, linear velocity are provided with the unit and volume pin angle position confirms that the unit is built in the said servo-driver.
The present invention compared with prior art; Obtain angular position information and the preservation that the volume pin in the entire cell winding process rotates through sample mode in advance; The commentaries on classics that in actual winding process, calculates every equal portions length that can realize that permanent linear speed rotates realizes the control of open loop relatively reliably around the corresponding angular speed of material.This method can significantly reduce early stage to the shape amount of calculation of volume pin and eliminated in the winding process volume pin winding radius and strengthened and cause feedforward amount error; The use of phase compensation simultaneously also helps to solve because machine and material cause cause the low excessively problem of feedback response, has improved permanent linear-speed winding effect greatly.
Description of drawings
Fig. 1 is the structural representation of the battery winding device that provides of prior art;
Fig. 2 is the realization flow figure of the coiling controlling method of the battery winding device that provides of the embodiment of the invention;
Fig. 3 is pin is rolled up in the commentaries on classics of the volume pin rotational angle of the circular roll needle sampler that provides of the embodiment of the invention and every equal portions length of reeling in materials process a change in angular position curve chart;
Fig. 4 is pin is rolled up in the commentaries on classics of the volume pin rotational angle of the square volume needle sampler that provides of the embodiment of the invention and every equal portions length of reeling in materials process a change in angular position curve chart;
Fig. 5 be the square volume needle sampler that provides of the embodiment of the invention commentaries on classics around length of material, volume pin rotational angle, and the commentaries on classics of every equal portions length of reeling in materials process, roll up the angular velocity varies curve chart of pin;
Fig. 6 be the embodiment of the invention provide sampling angle is carried out the contrast sketch map before and after the filtering;
Fig. 7 be the embodiment of the invention provide sampling angle is carried out the contrast sketch map before and after the phase compensation;
Fig. 8 A, 8B are the structural representations of the battery winding device that provides of the embodiment of the invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
In the embodiment of the invention, carry out low speed examination rolling in advance, obtain trying the volume pin rotational angle information in the wrapup procedure and preserving, in actual winding process, calculate in real time again and can realize that permanent linear speed rotates corresponding angular speed through sample mode for waiting to change around material.
The battery winding device that the embodiment of the invention needs comprises volume pin, servomotor, servo-driver; Can be by the roller of material driven rotary; The encoder that connects roller, wherein servomotor can drive the rotation of volume pin, specifically can the volume pin be connected on the servo motor shaft and realize.Fig. 2 shows the realization flow of the coiling controlling method of above-mentioned battery winding device provided by the invention, and details are as follows.
In steps A, receive the linear velocity information of peripheral control unit input or the linear velocity information that the user sets, and based on said linear velocity information in each preset time cycle, calculate in real time current need to change around target material length.
In the present embodiment; Can directly on servo-driver, set the convoluting speed information of expectation by the user; Also can be through peripheral control unit to servo-driver incoming line velocity information; For example come the incoming line velocity information with the form of input pulse, the number through pulse characterizes the linear velocity size.Be preset with the time cycle in servo-driver or other controller; This cycle time can solidify in the servo-driver at first; Accordingly, this cycle time can be that one characterizes time magnitude proportion parameter k, and itself and above-mentioned umber of pulse are corresponding; K is big more, and speed is fast more, also can be a real time parameter t.
After servo-driver receives linear velocity information, in each preset time cycle, calculate in real time current need to change around target material length.If current input pulse number is p, current need to change around target material length be k*p, (k is a scale parameter), if the linear velocity that the user sets is v, current need to change around target material length be ∫ vdt.
In step B, according to said current need to change around target material length, and the commentaries on classics of each the equal portions length that prestores confirms to roll up the angle on target position that pin need turn to around the correspondence relationship information of the angle position of material and servo motor shaft.
The commentaries on classics of above-mentioned each the equal portions length that prestores can be stored with form around the correspondence relationship information of the angle position of material and servo motor shaft in advance; For example; Form length is made as fixed value, and the user is provided with the length of material of sampling, if the length of material of sampling is L; Form length is n, and is promptly every at a distance from motor shaft angle information of L/n length samples.
In the reality, possibly have such a case, promptly need change around the integral multiple of target material length each equal portions length of material of being not necessarily to prestore, also need once simply convert this moment, for example, is L if current goal changes around length
x,, L
xBe L
iWith L
I+1Between a value (i is an integer, L
i=i* Δ L), current goal angle position so
x=α
i+ (L
x-L
i)/Δ L* (α
I+1-α
i), α wherein
iThe commentaries on classics that is i equal portions length is around the pairing angle position of material, α
I+1The commentaries on classics that is i+1 equal portions length is around the pairing angle position of material, and Δ L is the length of the commentaries on classics of each equal portions length around material.
Step C, servo-driver be according to the angle on target position of confirming, control servomotor in real time and in the said preset time cycle, drive the volume pin and turn to corresponding angle on target position so that change around material perseverance linear speed be wound on the pin.
In whole winding process, along with the material of rolling on the volume pin is many more, the volume pin need rotate more little angle and get final product the material of rolling with equal portions length.Above-mentioned " commentaries on classics of each equal portions length is around the correspondence relationship information of the angle position of material and servo motor shaft " just needs to confirm through the examination rolling earlier before formal rolling; But and before not meaning that each formal rolling all need at first try rolling; Wait to change around material and with the volume pin of shape for identical; Can once try rolling at first; After confirming good above-mentioned " commentaries on classics of each equal portions length is around the correspondence relationship information of the angle position of material and servo motor shaft " and storage, can carry out multiple batches of formal coiling.
Examination wrapup procedure for before above-mentioned steps A comprises the steps:
Steps A 01 will be changeed around material examination rolling in advance on the volume pin, and in winding process, the commentaries on classics of every coiling one equal portions length is the angular position information at the current place of once sampling servo motor shaft around material.
Steps A 02 is stored the sampled result of steps A 01.
If the volume pin be circular, and ignore the volume pin and strengthen, if roll up pin constant angular speed, that is: d α (t)/dt=const because of the winding radius that the increase of changeing around material causes; Because change around length of material and volume pin winding angle relation in direct ratio, that is: dL (α)/d α=const, dL (t)/dt=const so, so speed of the material to be wound is constant.Wherein: the α=volume pin anglec of rotation; L=changes around length of material; The Const=constant; If every at a distance from α of Δ L sampling, data and curves is as shown in Figure 3 so.
If the volume pin is square, with constant angular velocity rotation slowly, roller and encoder just can well react the corresponding commentaries on classics of current angle around length of material, and every at a distance from α of Δ L sampling, data and curves is as shown in Figure 4 so.The α that L is corresponding is saved in the form, and promptly L is an index, and α is data.Make commentaries on classics constant around material velocity, i.e. L (t)=∫ kdt, (k=constant) only need go out corresponding L and table look-up to obtain corresponding α in the t Time Calculation, and the control servomotor drives the volume pin and rotates to alpha position and get final product, and k determines the size of target velocity.
For avoiding the excessive velocities start and stop to cause shake and material extending being caused distortion, as long as adjustment k value reaches slow start and stop, roll up pin anglec of rotation α so, angular speed d α/dt changes as shown in Figure 5 around the time graph of length of material L.
In practical application, on the one hand, encoder may receive to disturb the generation noise; If volume pin compression is excessive on the other hand; Reach permanent linear speed turn round desired rate of change of angular also can be very big; Performance to servomotor is very high; And need winding machinery speed that very strong rigidity makes the volume pin to be arranged at a high speed, can also catch up with the speed of the axle of servomotor under the situation of frequent acceleration and deceleration, otherwise winding process can produce shake.Be to optimize the coiling effect, the filtering parameter that can be provided with is also introduced in this invention, in the process of α of sampling, adds filtering algorithm, promptly after said steps A 01 and before the said steps A 02, said method also comprises the steps:
Steps A 011 is carried out Filtering Processing to the angular position information of steps A 01 sampling.
Because the particularity that should use; The maximum and the position of minimum speed in table that must guarantee filtering front and back volume pin can not change; Otherwise volume pin rotary speed will produce phase deviation; Therefore select the arithmetic average filter method here, the corresponding angle position parameter of n equal portions material of steps A 01 sampling carried out Filtering Processing according to following formula:
α
n＝(α
n-(N-1)/2+α
n-(N-1)/2+1+...+α
n+...+α
n+(N-1)/2-1+α
n+(N-1)/2)/N
If x=n-(N-1)/2, when x＜0, α
x=α
-x
Wherein, α * is a filtered angle position parameter, the original angle location parameter of α sampling, and N is a filtering parameter, N gets odd number.Fig. 6 is d α */dL curve contrast after preceding d α/dL of filtering and the filtering.
Further, consider the mechanical hysteresis reaction that possibly exist, the present invention increases by an offset parameter α
OffsetCompensate, that is, after said step B and before the said step C, said method also comprises the steps:
Step B1 carries out phase compensation to the angle position parameter that step B confirms, again execution in step C.
Concrete principle is for putting forward previous phase place with definite angle position parameter, and Fig. 7 is d (α *-α after d α */dL squints with increase before squinting
Offset)/dL curve contrast sketch map.Because the delay degree of machinery and rate of change of angular d (d α */dt)/dt relation in direct ratio, d α */dt and linear velocity v (dL/dt) relation in direct ratio are so practical application can be to the open α of user
Offset, let the user adjust concrete numerical value according to mechanical condition and speed.Also can be to the open parameter alpha of user
Offset_factor, servo-driver calculates α according to linear velocity v again
Offset=α
Offset_factor* v*v.
Fig. 8 shows the structural representation of the battery winding device that the embodiment of the invention provides, and for the ease of describing, only shows the part relevant with present embodiment.
With reference to Fig. 8; The battery winding device that the embodiment of the invention provides comprises that at least volume pin 81, servomotor 82, volume pin angle position sampling unit 83, linear velocity are provided with unit 84, unit 85, servo-driver 86 are confirmed in volume pin angle position; Wherein servomotor 82 can drive 81 rotations of volume pin, and realization will be transferred the possession of the material rolling on volume pin 81, can say that specifically volume pin 1 is connected on the axle of servomotor 82; Can also comprise roller 87 and the encoder that is connected roller 87 88; Commentaries on classics around material through roller 87 by rolling, along with changeing around the takeing in of material, roller 87 rotates thereupon; Encoder 88 is used for the rotating cycle of pair roller 87 to be counted, to add up by the length of the commentaries on classics of rolling around material.When should be appreciated that practical implementation, can also adopt other modes to add up, be not limited to aforesaid way by the length of the commentaries on classics of rolling around material.
As indicated above, when material carries out rolling, need try rolling to a kind of brand-new commentaries on classics earlier, so that the commentaries on classics of adding up every equal portions length is around material corresponding required rotational angle information of volume pin during by rolling.Above-mentioned volume pin angle position sampling unit 83 is connected with the axle of servomotor 82; Be used for to change around material examination rolling in the process of volume pin in advance; The commentaries on classics of every coiling one equal portions length is the angular position information at the current place of once sampling servo motor shaft around material, and sampled result is stored.
Linear velocity is provided with unit 84 and receives the linear velocity information of peripheral control units input or the linear velocity information that the user sets, and according to said linear velocity information in each preset time cycle, calculate in real time current need to change around target material length.For need change around the situation of integral multiple of target material length each equal portions length of material of being not necessarily to prestore, specifically calculate with reference to the formula shown in the preceding text.
Volume pin angle position confirm unit 85 according to linear velocity be provided with that unit 84 calculates current need to change around target material length; And the commentaries on classics of each the equal portions length that prestores is confirmed the angle on target position that the volume pin need turn to around the correspondence relationship information of the angle position of material and servo motor shaft.For example, around material, from the information that prestores, find the first corresponding with it angle information for the commentaries on classics of the first equal portions length, around material, from the information that prestores, find the second corresponding with it angle information for the commentaries on classics of the second equal portions length, the rest may be inferred.
Servo-driver 86 is confirmed the angle on target position that the unit is confirmed according to said volume pin angle position; In real time the said servomotor of control drives said volume pin and turns to corresponding angle on target position in the said preset time cycle so that change around material perseverance linear speed be wound on the said volume pin.
Further; For optimizing the coiling effect; The present invention adds filtering algorithm in the process of sampling α, above-mentioned volume pin angle position sampling unit 83 also is used for according to following formula the angle position parameter that said volume pin angle position sampling unit sampling obtains the corresponding angle position parameter of n equal portions material being carried out Filtering Processing:
α
* n＝(α
n-(N-1)/2+α
n-(N-1)/2+1+...+α
n+...+α
n+(N-1)/2-1+α
n+(N-1)/2)/N
If x=n-(N-1)/2, when x＜0, α
x=α
-x
Wherein, α * is a filtered angle position parameter, the original angle location parameter of α sampling, and N is a filtering parameter, N gets odd number.
Further, for improving response speed, avoid occurring the mechanical hysteresis reaction, the present invention further adds migration behind definite angle on target position, particularly, confirms that by volume pin angle position the 85 pairs of definite angle on target location parameters in unit carry out phase compensation.Principle is as indicated above, repeats no more here.
In sum; The embodiment of the invention obtains the volume pin rotational angle information in the entire cell winding process through sample mode in advance and preserves; The commentaries on classics that in actual winding process, calculates every equal portions length that can realize that permanent linear speed rotates realizes the control of open loop relatively reliably around the corresponding angular speed of material.This method can significantly reduce early stage to the shape amount of calculation of volume pin and eliminated in the winding process volume pin winding radius and strengthened and cause feedforward amount error; The use of phase compensation simultaneously also helps to solve because machine and material cause cause the low excessively problem of feedback response, has improved permanent linear-speed winding effect greatly.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the coiling controlling method of a battery winding device, said battery winding device comprise the volume pin, can drive servomotor, servo-driver that said volume pin rotates; It is characterized in that said control method comprises the steps:
Steps A receives the linear velocity information of peripheral control unit input or the linear velocity information that the user sets, and based on said linear velocity information in each preset time cycle, calculate in real time current need to change around target material length;
Step B, according to said current need to change around target material length, and the commentaries on classics of each the equal portions length that prestores confirms to roll up the angle on target position that pin need turn to around the correspondence relationship information of the angle position of material and servo motor shaft;
Step C, servo-driver be according to the angle on target position of confirming, control servomotor in real time and in the said preset time cycle, drive the volume pin and turn to corresponding angle on target position so that change around material perseverance linear speed be wound on the pin.
2. the coiling controlling method of battery winding device as claimed in claim 1 is characterized in that, before said steps A, said method also comprises the steps:
Steps A 01 will be changeed around material examination rolling in advance on the volume pin, and in winding process, the commentaries on classics of every coiling one equal portions length is the angular position information at the current place of once sampling servo motor shaft around material;
Steps A 02 is stored the sampled result of steps A 01.
3. the coiling controlling method of battery winding device as claimed in claim 2 is characterized in that, after said steps A 01 and before said steps A 02, said method also comprises the steps:
Steps A 011, according to following formula the corresponding angle position parameter of n equal portions material of steps A 01 sampling is carried out Filtering Processing:
α
* n＝(α
n-(N-1)/2+α
n-(N-1)/2+1+...+α
n+...+α
n+(N-1)/2-1+α
n+(N-1)/2)/N
If x=n-(N-1)/2, when x＜0, α
x=α
-x
Wherein, α * is a filtered angle position parameter, the original angle location parameter of α sampling, and N is a filtering parameter, N gets odd number.
4. the coiling controlling method of battery winding device as claimed in claim 2 is characterized in that, after said step B and before said step C, said method also comprises the steps:
Step B1 carries out phase compensation to the angle position parameter that step B confirms, again execution in step C.
5. a battery winding device comprises the volume pin, can drive servomotor, servo-driver that said volume pin rotates, it is characterized in that, comprises that also a volume pin angle position sampling unit, a linear velocity are provided with the unit, the unit is confirmed in volume pin angle position;
Said volume pin angle position sampling unit is used for will changeing in advance around material examination rolling in the process of volume pin, and the commentaries on classics of every coiling one equal portions length is the angular position information at the current place of once sampling servo motor shaft around material, and sampled result is stored;
Said linear velocity is provided with the unit and is used to receive the linear velocity information of peripheral control unit input or the linear velocity information that the user sets, and according to said linear velocity information in each preset time cycle, calculate in real time current need to change around target material length;
Said volume pin angle position confirm the unit be used for based on said linear velocity be provided with that the unit calculates current need to change around target material length; And the commentaries on classics of each the equal portions length that prestores is confirmed the angle on target position that the volume pin need turn to around the correspondence relationship information of the angle position of material and servo motor shaft;
Said servo-driver is used for confirming the angle on target position that the unit is confirmed according to said volume pin angle position; In real time the said servomotor of control drives said volume pin and turns to corresponding angle on target position in the said preset time cycle so that change around material perseverance linear speed be wound on the said volume pin.
6. battery winding device as claimed in claim 5; It is characterized in that said volume pin angle position sampling unit also is used for according to following formula the angle position parameter that said volume pin angle position sampling unit sampling obtains the corresponding angle position parameter of n equal portions material being carried out Filtering Processing:
α
* n＝(α
n-(N-1)/2+α
n-(N-1)/2+1+...+α
n+...+α
n+(N-1)/2-1+α
n+(N-1)/2)/N
If x=n-(N-1)/2, when x＜0, α
x=α
-x
Wherein, α * is a filtered angle position parameter, the original angle location parameter of α sampling, and N is a filtering parameter, N gets odd number.
7. battery winding device as claimed in claim 5 is characterized in that, said volume pin angle position confirms that the unit also is used for the angle on target location parameter of confirming is carried out phase compensation.
8. like claim 5 or 7 described battery winding devices, it is characterized in that the unit is set for said volume pin angle position sampling unit, linear velocity and volume pin angle position confirms that the unit is built in the said servo-driver.
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| CN104466228A (en) * | 2014-12-31 | 2015-03-25 | 深圳市赢合科技股份有限公司 | Pole piece winding method |
| CN104600348A (en) * | 2015-01-22 | 2015-05-06 | 深圳市微秒控制技术有限公司 | Self-learning winding device and method |
| CN106025375A (en) * | 2016-07-30 | 2016-10-12 | 深圳科瑞技术股份有限公司 | Unreeling control system of isolation membrane of lithium battery lamination machine |
| CN107195982A (en) * | 2017-07-19 | 2017-09-22 | 广州科伺智能科技有限公司 | A kind of closed-loop lithium battery core coil device and method |
| CN108217306A (en) * | 2016-12-21 | 2018-06-29 | 上海尧治自动化***工程有限公司 | The winding displacement control method and control system of a kind of microchannel aluminium flat conduit winder |
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| CN104466228A (en) * | 2014-12-31 | 2015-03-25 | 深圳市赢合科技股份有限公司 | Pole piece winding method |
| CN104600348A (en) * | 2015-01-22 | 2015-05-06 | 深圳市微秒控制技术有限公司 | Self-learning winding device and method |
| CN106025375A (en) * | 2016-07-30 | 2016-10-12 | 深圳科瑞技术股份有限公司 | Unreeling control system of isolation membrane of lithium battery lamination machine |
| CN108217306A (en) * | 2016-12-21 | 2018-06-29 | 上海尧治自动化***工程有限公司 | The winding displacement control method and control system of a kind of microchannel aluminium flat conduit winder |
| CN108217306B (en) * | 2016-12-21 | 2020-02-04 | 上海尧治自动化***工程有限公司 | Wire arrangement control method and control system of micro-channel flat aluminum tube winding machine |
| CN107195982A (en) * | 2017-07-19 | 2017-09-22 | 广州科伺智能科技有限公司 | A kind of closed-loop lithium battery core coil device and method |
| CN107195982B (en) * | 2017-07-19 | 2023-04-25 | 广东科伺智能科技有限公司 | Full-closed-loop lithium battery cell winding device and method |
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Denomination of invention: A battery winding device and its winding control method Effective date of registration: 20220617 Granted publication date: 20140416 Pledgee: China Construction Bank Corporation Shanghai Zhangjiang Branch Pledgor: KINCO AUTOMATION (SHANGHAI) Ltd. Registration number: Y2022310000066 |
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