CN111309063B - Unreeling speed control method and device, electronic equipment and storage medium - Google Patents
Unreeling speed control method and device, electronic equipment and storage medium Download PDFInfo
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- CN111309063B CN111309063B CN202010126333.4A CN202010126333A CN111309063B CN 111309063 B CN111309063 B CN 111309063B CN 202010126333 A CN202010126333 A CN 202010126333A CN 111309063 B CN111309063 B CN 111309063B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The application provides an unreeling speed control method and device, electronic equipment and a storage medium, and relates to the technical field of reeling equipment regulation and control. The method comprises the following steps: determining the running state of the winding machine; determining target parameters needing synchronization based on the running state, wherein the target parameters comprise the speed of a length-counting encoder, the speed of a virtual servo shaft or the speed of a film feeding motor; and regulating the controlled shaft speed of the winding machine based on the current parameter value of the target parameter. The method determines the speed value of the following length-counting encoder, the virtual servo shaft or the sheet feeding motor to control the speed of the controlled shaft based on the running state of the winding machine, and synchronizes with the matched target parameter under different running states, so that the unwinding accuracy of the winding machine is improved.
Description
Technical Field
The application relates to the technical field of winding equipment regulation and control, in particular to an unwinding speed control method and device, electronic equipment and a storage medium.
Background
The winding machine is used for winding large-area flaky substances into rolls according to a certain scheme, such as a textile winding machine, a capacitor winding machine, a film resistance winding machine battery winding machine and the like. The capacitor winding machine is used for winding the capacitor film, the aluminum foil or the pole piece together according to a designed combination mode to form a capacitor core. The manufacturing method is a key device for manufacturing the capacitor, and the manual workshop of the film capacitor is basically a winding machine. The lithium battery winding machine is used for winding the lithium battery cell.
However, in the existing winding speed control of the winding machine, a programmable controller is generally used for controlling a controlled shaft according to a preset speed control logic of an encoder, the speed of the controlled shaft is controlled based on the same fixed speed control logic in different running states of the winding machine, and the situation that errors exist between actual running requirements and the control logic possibly exists under different state characteristics, so that the unwinding speed of the winding machine is inaccurate.
Disclosure of Invention
In view of the above, an object of the embodiments of the present application is to provide an unwinding speed control method, an unwinding speed control device, an electronic apparatus, and a storage medium, so as to solve the problem of inaccurate unwinding speed of a winding machine in the prior art.
The embodiment of the application provides an unreeling speed control method, which comprises the following steps: determining the running state of the winding machine; determining target parameters needing synchronization based on the running state, wherein the target parameters comprise the speed of a length-counting encoder, the speed of a virtual servo shaft or the speed of a film feeding motor; and regulating the controlled shaft speed of the winding machine based on the current parameter value of the target parameter.
In the above implementation manner, the speed synchronization is performed based on the running state determination of the winding machine and the length-counting encoder speed, the virtual servo shaft speed or the sheet feeding motor speed, and further the synchronous speed control is performed on the controlled shaft, so that the speed synchronization is performed with the target parameter closer to the actual unwinding demand speed under the different unwinding speed demand conditions of different running states of the winding machine, the error of the unwinding speed control of the controlled shaft and the actual demand caused by the execution of the same speed control logic under different running states is avoided, and the control accuracy of the unwinding speed is improved.
Optionally, the operation state of the winding machine comprises a pre-winding state, a high-speed winding state, a sheet feeding state and a standby state.
In the implementation mode, the actual unwinding speed requirements of the winder in the pre-winding state, the high-speed winding state, the sheet feeding state and the standby state are different, and the unwinding precision can be improved by simple control logic when the winder is subjected to state division.
Optionally, the determining a target parameter that needs to be synchronized based on the operating state includes: when the running state is the pre-rolling state, taking the length-counting encoder speed as the target parameter; when the running state is the high-speed winding state, taking the speed of the virtual servo shaft as the target parameter; when the running state is the film feeding state, taking the speed of the length-counting encoder or the speed of a film feeding motor as the target parameter; and when the running state is a standby state, taking the speed of the sheet feeding motor as the target parameter.
In the above implementation, the virtual servo shaft and the film feeding motor do not participate in the tape transport control during the pre-winding process of the winding machine, so that the speed of the length-counting encoder is used as a target parameter in the pre-winding state; in the high-speed winding process, the speed of the long encoder fluctuates and stops overshoot phenomena, and the virtual servo shaft does not fluctuate, so that the speed of the virtual servo shaft is used as a target parameter in a high-speed winding state; in the film feeding state, because the tape transport does not involve the control of a virtual servo shaft, the speeds of a winder motor encoder and a film feeding motor are taken as target parameters; in standby, the length-counting encoder may have unstable fluctuation after stopping, so the film feeding motor is used as a target parameter; in conclusion, the unwinding speed of the controlled shaft is controlled along with the target parameter closest to the actual required unwinding speed in different running states, and therefore the accuracy and the precision of the unwinding speed control are improved.
Optionally, the regulating the controlled shaft speed of the winding machine based on the current parameter value of the target parameter includes: reading an actual speed value of the target parameter; reading an output speed value of a proportional integral derivative controller of the winding machine for carrying out unwinding tension adjustment; determining the controlled shaft speed based on the actual speed value of the target parameter and the output speed value of the PID controller.
In the implementation mode, the speed of the controlled shaft is determined based on the output speed value of the proportional integral derivative controller and the current speed value of the target parameter, and the proportional integral derivative controller is introduced into the unwinding speed control, so that the speed to be regulated is closer to the output speed value of the proportional integral derivative controller, and the accuracy of the unwinding speed control is further improved.
Optionally, the determining the controlled shaft speed based on the actual speed value of the target parameter and the output speed value of the pid controller comprises: determining the synchronous command angular velocity of the controlled shaft through a synchronous command angular velocity formula of the controlled shaft based on the actual speed value of the target parameter and the output speed value of the proportional-integral-derivative controller; the controlled shaft synchronous command angular velocity formula comprises: controlled shaft synchronization command angular velocity (actual velocity of synchronization object + output velocity of proportional-integral-derivative controller) × 180/(pi × controlled shaft diameter/2); and regulating the controlled shaft speed based on the controlled shaft synchronous command angular speed.
In the implementation mode, the speed of the controlled shaft is determined based on the output speed value of the proportional-integral-derivative controller and the current speed value of the target parameter, the speed value of the controlled shaft is controlled through the synchronous command angular speed of the controlled shaft, and synchronous control of the unwinding speed of the controlled shaft is achieved without changing an electronic gear ratio, so that the unwinding speed is adjusted more intuitively, and the corresponding programming efficiency and debugging efficiency are improved.
Optionally, the regulating the controlled shaft speed of the winding machine based on the current parameter value of the target parameter includes: and regulating the speed of the controlled shaft by adopting a periodic synchronous position mode based on the current speed value of the target parameter.
In the implementation mode, the target position is required to be given in each period by adopting the period synchronous position mode, the periodic position control is carried out, and the accuracy of the unwinding speed control is improved.
The embodiment of the application further provides an unreeling speed control device, the device includes: the state determining module is used for determining the running state of the winding machine; the synchronization determining module is used for determining target parameters needing synchronization based on the running state, and the target parameters comprise the speed of a length-counting encoder, the speed of a virtual servo shaft or the speed of a film feeding motor; and the speed control module is used for regulating and controlling the speed of the controlled shaft of the winding machine based on the current parameter value of the target parameter.
In the above implementation manner, the speed synchronization is performed based on the running state determination of the winding machine and the length-counting encoder speed, the virtual servo shaft speed or the sheet feeding motor speed, and further the synchronous speed control is performed on the controlled shaft, so that the speed synchronization is performed with the target parameter closer to the actual unwinding demand speed under the different unwinding speed demand conditions of different running states of the winding machine, the error of the unwinding speed control of the controlled shaft and the actual demand caused by the execution of the same speed control logic under different running states is avoided, and the control accuracy of the unwinding speed is improved.
Optionally, the operation state of the winding machine includes a pre-winding state, a high-speed winding state, a sheet feeding state, and a standby state, and the synchronization determining module is specifically configured to: when the running state is the pre-rolling state, taking the length-counting encoder speed as the target parameter; when the running state is the high-speed winding state, taking the speed of the virtual servo shaft as the target parameter; when the running state is the film feeding state, taking the speed of the length-counting encoder or the speed of a film feeding motor as the target parameter; and when the running state is a standby state, taking the speed of the sheet feeding motor as the target parameter.
In the above implementation, the virtual servo shaft and the film feeding motor do not participate in the tape transport control during the pre-winding process of the winding machine, so that the speed of the length-counting encoder is used as a target parameter in the pre-winding state; in the high-speed winding process, the speed of the long encoder fluctuates and stops overshoot phenomena, and the virtual servo shaft does not fluctuate, so that the speed of the virtual servo shaft is used as a target parameter in a high-speed winding state; in the film feeding state, because the tape transport does not involve the control of a virtual servo shaft, the speeds of a winder motor encoder and a film feeding motor are taken as target parameters; in standby, the length-counting encoder may have unstable fluctuation after stopping, so the film feeding motor is used as a target parameter; in conclusion, the unwinding speed of the controlled shaft is controlled along with the target parameter closest to the actual required unwinding speed in different running states, and therefore the accuracy and the precision of the unwinding speed control are improved.
Optionally, the speed control module is specifically configured to: reading the current speed value of the target parameter; reading an output speed value of a proportional integral derivative controller of the winding machine for carrying out unwinding tension adjustment; determining the controlled shaft speed based on the current speed value of the target parameter and an output speed value of the PID controller.
In the implementation mode, the speed of the controlled shaft is determined based on the output speed value of the proportional integral derivative controller and the current speed value of the target parameter, and the proportional integral derivative controller is introduced into the unwinding speed control, so that the speed to be regulated is closer to the output speed value of the proportional integral derivative controller, and the accuracy of the unwinding speed control is further improved.
Optionally, the speed control module is specifically configured to: determining the synchronous command angular velocity of the controlled shaft through a synchronous command angular velocity formula of the controlled shaft based on the actual speed value of the target parameter and the output speed value of the proportional-integral-derivative controller; the controlled shaft synchronous command angular velocity formula comprises: controlled shaft synchronization command angular velocity (actual velocity of synchronization object + output velocity of proportional-integral-derivative controller) × 180/(pi × controlled shaft diameter/2); and regulating the controlled shaft speed based on the controlled shaft synchronous command angular speed.
In the implementation mode, the speed of the controlled shaft is determined based on the output speed value of the proportional-integral-derivative controller and the current speed value of the target parameter, the speed value of the controlled shaft is controlled through the synchronous command angular speed of the controlled shaft, and synchronous control of the unwinding speed of the controlled shaft is achieved without changing an electronic gear ratio, so that the unwinding speed is adjusted more intuitively, and the corresponding programming efficiency and debugging efficiency are improved.
Optionally, the speed control module is specifically configured to: and regulating the speed of the controlled shaft by adopting a periodic synchronous position mode based on the current speed value of the target parameter.
In the implementation mode, the target position is required to be given in each period by adopting the period synchronous position mode, the periodic position control is carried out, and the accuracy of the unwinding speed control is improved.
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores program instructions, and the processor executes steps in any one of the above implementation manners when reading and executing the program instructions.
The embodiment of the present application further provides a readable storage medium, in which computer program instructions are stored, and the computer program instructions are read by a processor and executed to perform the steps in any of the above implementation manners.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of an unwinding control method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a speed regulation step provided in the embodiment of the present application;
fig. 3 is a schematic block diagram of an unwinding speed control apparatus according to an embodiment of the present disclosure.
Icon: 20-an unwinding speed control device; 21-a state determination module; 22-a synchronization determination module; 23-speed control module.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
First, a lithium battery winding machine will be described as an example, specifically, the winding machine is used for winding a large-area sheet-like material into a roll according to a certain scheme, and the lithium battery winding machine is used for winding a lithium battery cell. The lithium battery winding machine is used for installing the positive plate, the negative plate and the diaphragm material roll welded with the lugs on the fixing device, executing actions of unwinding, deviation correction, winding, battery cell output and the like, and completing steps of winding of the lithium battery, battery cell manufacturing and the like.
A common lithium battery winding machine generally comprises a frame, a winding device, a diaphragm supply part, a pole piece supply part, an auxiliary pressure roller and cutting part, a tape supply part and an electrical control part. Specifically, the frame comprises a structural frame, a mounting panel and the like, the winding device comprises an unwinding mechanism, a winding mechanism, a tension mechanism, a pre-winding mechanism and the like, the diaphragm supply part comprises a torque motor, a mechanical chuck, a transition wheel and the like, the pole piece supply part comprises a guide plate, a vacuum system and the like, the auxiliary pressing wheel and the cutting part comprise a pressing wheel, a blade and the like, the adhesive tape supply part comprises a mechanical chuck, a transition wheel and the like, and the electrical control part comprises a human-computer interface, an electromagnetic valve, an air cylinder, a programmable logic controller and the like.
The tension control system can be formed by the unwinding mechanism, the winding mechanism, the tension mechanism and the like in the lithium battery winding machine, raw lithium battery materials are led out through the unwinding mechanism, the winding mechanism winds the raw lithium battery materials into a battery, in the winding process, the winding speed and the unwinding speed are inconsistent, the tension of the lithium battery materials is caused to change, the tension detection mechanism is required to detect the size of the tension of the material belt, the unwinding speed of the unwinding mechanism is controlled, and a closed loop of the tension control system is formed.
The research of the applicant finds that the existing lithium battery winding machine controls the unwinding controlled shaft through a programmable controller according to the preset speed control logic of an encoder, and the problem of inaccurate unwinding speed of the winding machine is caused by the fact that the actual operation requirement and the control logic have errors under different state characteristics of different operation states of the winding machine.
In order to solve the problem that the unwinding speed of the winding machine is inaccurate, an embodiment of the present application provides an unwinding speed control method, please refer to fig. 1, and fig. 1 is a flowchart illustrating the unwinding speed control method provided by the embodiment of the present application.
Step S11: the operating state of the winder is determined.
The whole process of winding objects such as lithium batteries and the like by the winding machine has a plurality of different running states, and the production process flow of the lithium battery winding machine comprises the following steps: firstly, positive and negative pole pieces and a diaphragm material roll are actively discharged, wherein the discharge of the pole pieces can be finished by a piece feeding mechanism in a piece feeding state, the positive and negative pole pieces are pre-wound, each material roll is subjected to tension control, dust removal, static elimination, pole piece deviation correction, quality detection and other links in the conveying process of sequentially entering a winding part, and then enters the winding part for high-speed winding under the traction of a guide wheel and a pole piece guiding and feeding mechanism after standby, and when entering the winding part, the relative positions of the positive and negative poles and the diaphragm determine the safety performance of the lithium ion battery; the wound diaphragm is required to wrap the electrode to prevent the anode and the cathode from short circuit, a plurality of stations of the winding part comprise a plurality of winding heads, and the winding, the rubberizing and the blanking are completed at one time; and taking down the wound battery cell product at a blanking station by a blanking device to finish the winding main process.
In each operation state in the winding main body process, the actually required unwinding speed of the diaphragm changes according to different characteristics of each operation state, and therefore the operation state of the winding machine needs to be determined, and how to regulate and control the unwinding speed can be determined.
Alternatively, in the present embodiment, different operation states such as a pre-winding state, a high-speed winding state, a sheet feeding state, and a standby state may be defined.
Step S12: and determining target parameters needing synchronization based on the running state, wherein the target parameters comprise the speed of a length-counting encoder, the speed of a virtual servo shaft or the speed of a film feeding motor.
For the pre-winding state, because the virtual servo shaft and the film feeding motor do not participate in tape transport control in the pre-winding process of the winding machine, the film feeding action is completed, the pre-winding presses the head of the pole piece, and the pole piece is wound on the winding needle at a low speed, and in the process, the synchronous speed of all unwinding/traction shafts is the speed regulated by the speed of a respective length-counting encoder and a PID (Proportional-Integral-Derivative), so that the speed of the length-counting encoder is used as a target parameter in the pre-winding state, and the actual requirement of the unwinding speed is better met.
Aiming at the high-speed winding state, the speed read by the long encoder in the high-speed winding process has the phenomena of fluctuation and overshoot stop due to the driving of winding inertia, and the virtual servo shaft does not fluctuate, so that the virtual servo shaft speed is taken as a target parameter in the high-speed winding state, and the actual requirement of the unwinding speed is better met.
And aiming at the sheet feeding state, the equipment runs, the cathode and anode sheet feeding mechanisms clamp the pole pieces, and the motor moves downwards for a set distance to guide the head of the pole piece into the pre-winding gap to prepare for the next pre-winding. Because the tape transport does not involve the control of the virtual servo shaft, the speed of the length-counting coder and the film feeding motor is used as a target parameter, and the actual requirement of the unreeling speed is better met.
Aiming at the standby state, the equipment does not automatically operate, the unreeling speed is only determined by the PID regulating quantity of the unreeling cache position, the cache is tensioned, the cache is automatically released, the cache is loosened, the cache is rolled, the cache is automatically regulated to the cache intermediate value, and similarly, because the inertia of the winding conveying exists, the length counting encoder possibly has unstable fluctuation after the stop, so that the sheet feeding motor is used as a target parameter, and the actual requirement of the unreeling speed is better met.
Through the steps, the unwinding speed of the controlled shaft is controlled according to the target parameter closest to the actual required unwinding speed in different running states, and therefore the accuracy and the precision of unwinding speed control are improved.
Step S13: and regulating the controlled shaft speed of the winding machine based on the current speed value of the target parameter.
It should be understood that the controlled shaft of the winding machine in the present embodiment may be the unwinding shaft or the drawing shaft of the winding machine, so that the unwinding speed can be accurately controlled based on the current parameter value of the target parameter. In other embodiments, if the speeds of the motors in the winding machine need to be synchronously controlled, the controlled shaft may be output shafts of the motors in the winding machine, such as an unwinding motor and a winding motor.
As another embodiment, in other embodiments, the speed of the corresponding designated motor shaft in other operating states of the winder may be used as the target parameter in addition to the pre-winding state, the high-speed winding state, the sheet feeding state, and the standby state.
Specifically, referring to fig. 2, fig. 2 is a schematic flow chart of a speed regulation step provided in the embodiment of the present application, and step S13 may specifically include:
step S131: and reading the current speed value of the target parameter.
Alternatively, the current speed value of the target parameter in this embodiment may be read directly from a software internal tag controlling the winder. Specifically, target parameters such as the speed of a length-counting encoder, the speed of a virtual servo shaft, the speed of a film feeding motor and the like are found in an internal label of software, and the current actual speed value of the target parameters is used as the current speed value of the target parameters.
Step S132: and reading the output speed value of a proportional integral derivative controller of the winding machine for carrying out unwinding tension adjustment.
The winder generally forms tension through a winding roller in a tension mechanism, and a PID controller is adopted to control the motion of an unwinding shaft of an unwinding motor, so that constant tension control is realized. The PID controller forms a control deviation according to a given value and an actual output value, and linearly combines the deviation according to proportion, integral and differential to form a control quantity to control a controlled object.
Specifically, the output speed value of the PID controller is calculated by the PID algorithm based on the position difference between the winding roller after moving and the position when it is at the equilibrium position.
In the steps, the proportional integral derivative controller is introduced into the unwinding speed control, so that the speed to be regulated is closer to the output speed value of the proportional integral derivative controller, and the accuracy of the unwinding speed control is further improved. Meanwhile, the control scheme has high logic implementation, is suitable for various programmable logic controllers, has simple and understandable control logic, and is favorable for improving the program debugging efficiency.
Step S133: and determining the speed of the controlled shaft based on the current speed value of the target parameter and the output speed value of the proportional-integral-derivative controller.
Alternatively, the present embodiment may determine the controlled shaft synchronous command angular velocity based on the current velocity value of the target parameter and the output velocity value of the pid controller, and then use the controlled shaft synchronous command angular velocity as the command velocity to perform velocity control on the controlled shaft.
Wherein the controlled shaft synchronous command angular velocity can be obtained based on a controlled shaft synchronous command angular velocity formula, and the formula can include: the controlled shaft synchronization command angular velocity (the actual velocity of the synchronization target + the proportional-integral-derivative controller output velocity) 180/(pi) the controlled shaft diameter/2).
It should be understood that when the speed of the controlled shaft is in the unit of meter per second, the sum of the actual speed of the synchronization target and the output speed of the proportional-integral-derivative controller is directly used as the control speed of the controlled shaft, and the sum does not need to be converted into the angular speed.
Optionally, the embodiment may also adopt a periodic synchronous position mode to regulate and control the speed of the controlled shaft. The track generator of the periodic synchronous position mode is positioned at the control end and is not positioned in the driver, under the mode, the controller only needs to periodically send the target position, the control efficiency is improved, additional speed feedforward or torque feedforward can be set, and the precision of speed regulation and control of the controlled shaft is improved.
In the step S13 and the sub-steps thereof, the controlled shaft speed is determined based on the output speed value of the pid controller and the current speed value of the target parameter, and the speed value of the controlled shaft is controlled by the controlled shaft synchronous command angular speed, and the synchronous control of the unwinding speed of the controlled shaft is realized without changing the electronic gear ratio, so that the unwinding speed adjustment is more intuitive, and the corresponding programming efficiency and debugging efficiency are improved.
In order to cooperate with the above-mentioned unwinding speed control method, the present embodiment further provides an unwinding speed control device 20, please refer to fig. 3, and fig. 3 is a schematic block diagram of the unwinding speed control device according to the present embodiment.
The unwinding speed control device 20 includes:
a state determination module 21 for determining the operating state of the winder;
the synchronization determining module 22 is configured to determine target parameters to be synchronized based on the operating state, where the target parameters include a length-counting encoder speed, a virtual servo shaft speed, or a film feeding motor speed;
and the speed control module 23 is used for regulating and controlling the controlled shaft speed of the winding machine based on the current parameter value of the target parameter.
Specifically, the operation state of the winding machine includes a pre-winding state, a high-speed winding state, a sheet feeding state and a standby state, and the synchronization determining module 22 is specifically configured to: when the running state is a pre-rolling state, taking the speed of the length-counting encoder as a target parameter; when the running state is a high-speed winding state, taking the speed of the virtual servo shaft as a target parameter; when the running state is the film feeding state, taking the speed of the length counting encoder or the speed of a film feeding motor as a target parameter; and when the running state is the standby state, taking the speed of the sheet feeding motor as a target parameter.
Optionally, the speed control module 23 is specifically configured to: reading a current speed value of a target parameter; reading an output speed value of a proportional integral derivative controller of the winding machine for adjusting the unwinding tension; and determining the speed of the controlled shaft based on the current speed value of the target parameter and the output speed value of the proportional-integral-derivative controller.
Optionally, the speed control module 23 is specifically configured to: determining the synchronous command angular velocity of the controlled shaft through a synchronous command angular velocity formula of the controlled shaft based on the actual speed value of the target parameter and the output speed value of the proportional-integral-derivative controller; the controlled shaft synchronous command angular velocity formula comprises: controlled shaft synchronization command angular velocity (actual velocity of synchronization object + output velocity of proportional-integral-derivative controller) × 180/(pi × controlled shaft diameter/2); and regulating the speed of the controlled shaft based on the synchronous command angular speed of the controlled shaft.
Optionally, the speed control module 23 is specifically configured to: and regulating the speed of the controlled shaft by adopting a periodic synchronous position mode based on the current speed value of the target parameter.
The embodiment of the application further provides electronic equipment, which comprises a memory and a processor, wherein the memory stores program instructions, and the processor executes the steps in any one of the unwinding speed control methods provided by the embodiment when reading and running the program instructions.
It should be understood that the electronic device may be a Personal Computer (PC), a tablet PC, a smart phone, a Personal Digital Assistant (PDA), or other electronic device having a logical computing function.
The embodiment of the application also provides a readable storage medium, wherein a computer program instruction is stored in the readable storage medium, and the computer program instruction is read by a processor and executed when the processor runs, so that the steps in the unwinding speed control method are executed.
To sum up, the embodiment of the present application provides an unwinding speed control method, an unwinding speed control device, an electronic device, and a storage medium, where the method includes: determining the running state of the winding machine; determining target parameters needing synchronization based on the running state, wherein the target parameters comprise the speed of a length-counting encoder, the speed of a virtual servo shaft or the speed of a film feeding motor; and regulating the controlled shaft speed of the winding machine based on the current parameter value of the target parameter.
In the above implementation manner, the speed synchronization is performed based on the running state determination of the winding machine and the length-counting encoder speed, the virtual servo shaft speed or the sheet feeding motor speed, and further the synchronous speed control is performed on the controlled shaft, so that the speed synchronization is performed with the target parameter closer to the actual unwinding demand speed under the different unwinding speed demand conditions of different running states of the winding machine, the error of the unwinding speed control of the controlled shaft and the actual demand caused by the execution of the same speed control logic under different running states is avoided, and the control accuracy of the unwinding speed is improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices according to various embodiments of the present application. In this regard, each block in the block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Therefore, the present embodiment further provides a readable storage medium, in which computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the computer program instructions perform the steps of any of the block data storage methods. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RanDom Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (7)
1. An unwinding speed control method is characterized by comprising the following steps:
determining the running state of a winding machine, wherein the running state comprises a pre-winding state, a high-speed winding state, a sheet feeding state and a standby state;
when the running state is the pre-rolling state, taking the speed of a length-counting encoder as a target parameter;
when the running state is the high-speed winding state, taking the speed of the virtual servo shaft as the target parameter;
when the running state is the film feeding state, taking the speed of a length counting encoder or the speed of a film feeding motor as the target parameter;
when the running state is the standby state, taking the speed of a sheet feeding motor as the target parameter;
and regulating the controlled shaft speed of the winding machine based on the current speed value of the target parameter.
2. The method of claim 1, wherein said regulating a controlled shaft speed of said winder based on a current parameter value of said target parameter comprises:
reading the current speed value of the target parameter;
reading an output speed value of a proportional integral derivative controller of the winding machine for carrying out unwinding tension adjustment;
determining the controlled shaft speed based on the current speed value of the target parameter and an output speed value of the PID controller.
3. The method of claim 2, wherein said determining the controlled shaft speed based on the actual speed value of the target parameter and the output speed value of the pid controller comprises:
determining the synchronous command angular velocity of the controlled shaft through a synchronous command angular velocity formula of the controlled shaft based on the actual speed value of the target parameter and the output speed value of the proportional-integral-derivative controller;
the controlled shaft synchronous command angular velocity formula comprises: controlled shaft synchronization command angular velocity = (actual velocity of synchronization target + proportional integral derivative controller output velocity) × 180/(pi × controlled shaft diameter/2);
and regulating the controlled shaft speed based on the controlled shaft synchronous command angular speed.
4. Method according to any of claims 1-3, wherein said regulating a controlled shaft speed of said winder based on a current parameter value of said target parameter comprises:
and regulating the speed of the controlled shaft by adopting a periodic synchronous position mode based on the current speed value of the target parameter.
5. An unwinding speed control apparatus, comprising:
the state determining module is used for determining the running state of the winding machine, wherein the running state comprises a pre-winding state, a high-speed winding state, a sheet feeding state and a standby state;
the synchronous determining module is used for taking the speed of the length counting encoder as a target parameter when the running state is the pre-rolling state; when the running state is the high-speed winding state, taking the speed of the virtual servo shaft as the target parameter; when the running state is the film feeding state, taking the speed of a length counting encoder or the speed of a film feeding motor as the target parameter; when the running state is the standby state, taking the speed of a sheet feeding motor as the target parameter;
and the speed control module is used for regulating and controlling the speed of the controlled shaft of the winding machine based on the current parameter value of the target parameter.
6. An electronic device, comprising a memory and a processor, wherein the memory stores program instructions, and the processor executes the unwinding speed control method according to any one of claims 1 to 4 when reading and executing the program instructions.
7. A storage medium storing computer program instructions, wherein the computer program instructions, when executed by a processor, perform the unwinding speed control method according to any one of claims 1 to 4.
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