Polishing machine control method and system for new energy workshop

Abstract

The present application relates to the field of polishing machine control technology, and specifically to a polishing machine control method and system for new energy workshops, the method comprising: obtaining the pressure, temperature, rotation speed and feed speed of the polishing machine at each moment during the polishing process, and the surface roughness and thickness of the abrasive at each moment, as well as the hardness, elastic modulus, crystal size and thermal expansion coefficient of the abrasive; determining the pressure influence and material influence at each moment, and determining the force deformation coefficient at each moment; determining the temperature influence and thermal deformation coefficient at each moment; determining the abrasive deformation at each moment; determining the switching gain of the sliding mode control algorithm at each moment; defining the sliding mode surface switching function, and controlling the rotation speed and feed speed of the polishing machine in real time through the sliding mode control algorithm. The present application adjusts the switching gain in real time to avoid oscillation in the process of switching the control parameters of the polishing machine by the control system, resulting in under-polishing or over-polishing of the abrasive surface, thereby improving the polishing quality of the abrasive.

Description

Technical Field

[0001] The present application relates to the technical field of polishing machine control, and specifically to a polishing machine control method and system for a new energy workshop. Background Art

[0002] During the polishing process of the polishing machine, the refinement of the polishing process directly affects the process quality and appearance of the product. With the continuous development of modern production technology, the requirements for polishing processing technology and production control are getting higher and higher. As a special abrasive, the connecting bar is a widely used connecting component in the field of new energy. It is usually made of materials with good conductivity such as copper and aluminum, and can be used in solar power generation systems, electric vehicles, and energy storage systems. The surface of the unpolished connecting bar has uneven areas at the microscopic level, which are prone to accumulate moisture and corrosive substances, thus forming corrosion points. After polishing, the surface of the connecting bar is smoother, reducing the unevenness at the microscopic level, thereby reducing the possibility of corrosion.

[0003] The connector bar is usually polished by a polishing machine using mechanical polishing. The rotating polishing wheel contacts the surface of the connector bar, and the polishing agent removes defects such as oxide layers, scratches, and burrs on the surface of the connector bar, making the surface smooth and flat, thereby improving the conductive performance and appearance quality of the connector bar. The polishing machine can be controlled using a sliding mode control algorithm, but since the copper connector bar is soft in texture, it will deform to a certain extent during polishing. The traditional sliding mode control algorithm uses a fixed switching gain, which may cause the system to oscillate greatly during the switching process, causing the surface of the connector bar to be partially over-polished or under-polished. Summary of the invention

[0004] In order to solve the above technical problems, a polishing machine control method and system for new energy workshops are provided to solve the existing problems.

[0005] The solution to the technical problem of this application is to provide a polishing machine control method and system for a new energy workshop, including the following steps:

[0006] In a first aspect, an embodiment of the present application provides a polishing machine control method for a new energy workshop, the method comprising the following steps:

[0007] Obtain the pressure, temperature, rotation speed and feed speed of the polishing machine at each moment during the polishing process, as well as the surface roughness and thickness of the abrasive at each moment, and the hardness, elastic modulus, crystal size and thermal expansion coefficient of the abrasive;

[0008] Determine the pressure influence at each moment according to the frequency domain distribution of the pressure in the local time period at each moment;

[0009] According to the distribution and dispersion of the grains inside the abrasive, as well as the hardness and elastic modulus of the abrasive, the material influence of the abrasive is determined, and the force deformation coefficient at each moment is determined in combination with the pressure influence;

[0010] According to the temperature difference between adjacent moments and the initial thickness of the abrasive, combined with the thermal expansion coefficient of the abrasive, the temperature influence at each moment is determined, and based on the temperature influence, the thermal deformation coefficient at each moment is determined; based on the rotation speed and feed speed of the polishing machine at each moment, combined with the force deformation coefficient and the thermal deformation coefficient, the abrasive deformation degree at each moment is determined;

[0011] Based on the abrasive deformation, the switching gain of the sliding mode control algorithm at each moment is determined; based on the surface roughness and the thickness, the sliding surface switching function is defined, and combined with the switching gain, the rotation speed and feed speed of the polishing machine are controlled in real time through the sliding mode control algorithm.

[0012] Preferably, determining the pressure influence at each moment includes:

[0013] The frequency domain analysis algorithm is used to perform frequency domain analysis on the pressure at multiple moments before each moment to obtain the amplitudes of different frequency components;

[0014] The amplitudes of all frequency components are arranged in descending order, the cumulative sum of the amplitudes of the top frequency components is calculated, and the product of the pressure at each moment and the cumulative sum is taken as the pressure influence at each moment.

[0015] Preferably, determining the material influence of the abrasive comprises:

[0016] Calculating the mean and standard deviation of the grain sizes of multiple grains in the abrasive by metallographic analysis; recording the ratio of the standard deviation to the mean as a first ratio;

[0017] The ratio of the hardness to the elastic modulus of the abrasive is calculated and recorded as the second ratio; and the sum of the first ratio and the second ratio is taken as the material influence of the abrasive.

[0018] Preferably, the determining of the force deformation coefficient at each moment includes:

[0019] The product of the pressure influence degree and the material influence degree at each moment is recorded as the first product;

[0020] The normalized result of the sum of the first products at each moment and all previous moments is taken as the force deformation coefficient at each moment.

[0021] Preferably, determining the temperature influence at each moment includes:

[0022] Calculating the temperature difference between each moment and the adjacent moment, and recording the product of the difference and the thermal expansion coefficient of the abrasive as the second product at each moment;

[0023] The thickness of the thinnest part of the abrasive before polishing begins is recorded as the initial thickness;

[0024] The ratio of the second product to the initial thickness is used as the temperature influence at each moment.

[0025] Preferably, the thermal deformation coefficient at each moment is a normalized result of the sum of the temperature influences at each moment and all previous moments.

[0026] Preferably, the abrasive deformation degree at each moment is determined by the following calculation formula: ,in, For the Abrasive deformation at the time, For the The speed of the polishing machine at all times, For the The feed speed of the polishing machine at all times, For the The force-deformation coefficient at time, For the Thermal deformation coefficient at time, is the normalization function.

[0027] Preferably, the switching gain of the sliding mode control algorithm at each moment is the ratio of a preset initial switching gain to the abrasive deformation degree.

[0028] Preferably, the sliding surface switching function is: ,in, represents the sliding surface switching function, To preset the first weight, To preset the second weight, For the The surface roughness of the abrasive at the moment, For the The thickness of the abrasive at the moment, To preset the expected roughness, To preset the desired thickness.

[0029] In the second aspect, an embodiment of the present application also provides a polishing machine control system for a new energy workshop, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, it implements the steps of any one of the above-mentioned polishing machine control methods for new energy workshops.

[0030] This application has at least the following beneficial effects:

[0031] The present application determines the pressure influence at each moment according to the frequency domain distribution of pressure in the local time period at each moment, and its beneficial effect is that it takes into account the influence of the pressure applied by the polishing machine on the deformation of the abrasive during the polishing process; determines the material influence of the abrasive according to the discrete distribution of the grains inside the abrasive, as well as the hardness and elastic modulus of the abrasive, and determines the force deformation coefficient at each moment in combination with the pressure influence, and its beneficial effect is that it takes into account the material characteristics of the abrasive itself, and further analyzes the deformation of the abrasive caused by the pressure applied by the polishing machine in combination with the pressure influence, thereby reflecting the change in switching gain to reduce the vibration of the polishing machine; determines the temperature influence at each moment according to the temperature difference between adjacent moments, as well as the initial thickness of the abrasive, and in combination with the thermal expansion coefficient of the abrasive, and determines the thermal deformation coefficient at each moment based on the temperature influence, and its beneficial effect is that it takes into account the high-speed rotation of the polishing wheel and the abrasive during the polishing process. The influence of the heat generated by the friction on the deformation of the abrasive; based on the rotation speed and feed speed of the polishing machine at each moment, combined with the force deformation coefficient and the thermal deformation coefficient, the abrasive deformation degree at each moment is determined, and its beneficial effect is that the abrasive deformation possibility and the range of abrasive deformation are further comprehensively evaluated in combination with the pressure exerted on the abrasive and the temperature influence on the abrasive, so as to reduce the oscillation of the control system and subsequently adjust the switching gain; based on the abrasive deformation degree, the switching gain of the sliding mode control algorithm at each moment is determined; based on the surface roughness and the thickness, the sliding mode surface switching function is defined, and combined with the switching gain, the rotation speed and feed speed of the polishing machine are controlled in real time through the sliding mode control algorithm, and its beneficial effect is that the switching gain is adjusted in real time according to the degree of abrasive deformation, so as to avoid oscillation in the process of switching the control parameters of the polishing machine by the control system, thereby causing under-polishing or over-polishing of the abrasive surface, thereby improving the polishing quality of the abrasive. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The polishing machine control method for a new energy workshop of the present application is further described in detail below in conjunction with the accompanying drawings.

[0033] Figure 1 A flowchart of the steps of the polishing machine control method for a new energy workshop provided in an embodiment of the present application;

[0034] Figure 2 A flowchart of the steps of the method for obtaining the force deformation coefficient at each moment provided in an embodiment of the present application;

[0035] Figure 3 A flowchart of the steps of the method for obtaining the thermal deformation coefficient at each moment provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of the change of the switching gain in the sliding mode control algorithm provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of this application more clear, the polishing machine control method and system for new energy workshop proposed in this application are further described in detail below in combination with the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0038] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0039] See also Figure 1 , which shows a flow chart of the steps of a polishing machine control method for a new energy workshop provided by an embodiment of the present application, the method comprising the following steps:

[0040] Step 1, obtaining the pressure, temperature, rotation speed and feed speed of the polishing machine at each moment during the polishing process, the surface roughness and thickness of the abrasive at each moment, and the hardness, elastic modulus, crystal size and thermal expansion coefficient of the abrasive.

[0041] The pressure sensor and temperature sensor are installed in the middle of the polishing wheel spindle to collect the pressure applied by the polishing wheel on the connecting row during polishing, as well as the surface temperature of the connecting row when the polishing wheel rotates at high speed and rubs against the connecting row; the surface roughness sensor and thickness sensor are installed on the bracket connected to the polishing wheel shaft to collect the roughness and thickness of the abrasive surface. Secondly, the speed sensor and displacement sensor are installed on the polishing wheel spindle near the shaft end to collect the speed and feed speed of the polishing wheel during polishing. Data collection starts from the beginning of polishing, and the collection frequency of all sensors is set to f. After filtering all the collected data, the missing data are filled with missing values. The pressure, temperature, speed and feed speed of the polishing machine at each moment during the polishing process, as well as the surface roughness and thickness of the abrasive at each moment are collected.

[0042] Preferably, in this embodiment, the acquisition frequency is 1000 Hz. As other implementation modes, the implementer can set it according to the actual situation. Secondly, the median filtering algorithm is used for filtering, and the linear interpolation method is used for filling the missing values. Among them, the median filtering algorithm and the linear interpolation method are well-known technologies and will not be described in detail here. As other implementation modes, the implementer can adopt other methods of the prior art, such as the mean filtering algorithm, the polynomial interpolation method, etc., and this embodiment does not impose any special restrictions on this.

[0043] Secondly, obtain the physical properties of the abrasive, including the hardness, elastic modulus, crystal size and thermal expansion coefficient of the abrasive, through the abrasive record manual or experimental analysis of the abrasive.

[0044] In this embodiment, the abrasive is selected as the connecting row, thereby obtaining the hardness, elastic modulus, crystal size and thermal expansion coefficient of the connecting row material.

[0045] At this point, the pressure, temperature, rotation speed and feed speed of the polishing machine at each moment during the polishing process, the surface roughness and thickness of the abrasive at each moment, and the hardness, elastic modulus, crystal size and thermal expansion coefficient of the abrasive are obtained.

[0046] Step 2: Determine the pressure influence at each moment according to the frequency domain distribution of the pressure in the local time period at each moment.

[0047] Sliding Mode Control (SMC) is a variable structure control method. Its core idea is to design a switching function so that the state trajectory of the control system is forced to be guided to a specific sliding mode surface within a finite time and keep moving on the sliding surface. In sliding mode control, the movement of the control system is divided into two stages: the approach stage and the sliding stage. In the approach stage, the state of the control system gradually approaches the sliding surface from the initial state; in the sliding stage, the state of the control system keeps moving on the sliding surface.

[0048] The switching gain parameter in the sliding mode control determines the speed and strength of the control system switching between the approaching stage and the sliding mode stage. The larger the switching gain, the faster the system approaches the sliding surface in the approaching stage, but it may also cause the system to produce larger oscillations during the switching process; the smaller the switching gain, the slower the system approaches the sliding surface in the approaching stage, but the system stability may be better.

[0049] Based on the above analysis, the connecting bar material is usually made of copper, aluminum and other materials with good conductivity. The connecting bar may be deformed during the polishing process. When the connecting bar is deformed, the fixed switching gain may not guarantee the function and stability of the system, resulting in poor control effect; secondly, when the deformation of the connecting bar is small, it means that the impact of the polishing process on the connecting bar is relatively small, and the structure of the connecting bar is relatively stable. In this case, the switching gain can be appropriately increased. Because the smaller deformation means that the current state of the system is closer to the ideal state, the uncertainty and interference in the polishing process are relatively small; increasing the switching gain can increase the response speed of the system and make the system approach the sliding surface faster, thereby improving the polishing efficiency and control accuracy; when the deformation of the connecting bar is large, it means that there is a large interference or uncertainty in the polishing process, resulting in a large deformation of the connecting bar. At this time, the switching gain should be reduced. Because the larger deformation means that the current state of the system is much different from the ideal state, it is necessary to adjust the control input more smoothly. Reducing the switching gain can make the control of the system smoother, reduce the impact on the connecting bar, and avoid further aggravating the deformation of the connecting bar.

[0050] Therefore, by analyzing the deformation degree of the connecting row during the polishing process, the appropriate switching gain is selected so that the switching gain can be adjusted according to the real-time state and external conditions of the system, thereby improving the adaptability and control performance of the system and avoiding oscillation of the polishing wheel, which may cause over-polishing or under-polishing of the local surface of the connecting row.

[0051] Based on the above analysis, during the polishing process, the pressure applied by the polishing wheel on the connecting row is the most important factor causing its deformation. When the polishing wheel contacts the connecting row, the pressure will cause the connecting row to undergo elastic and plastic deformation. The magnitude of the pressure has a certain relationship with the degree of deformation of the connecting row. The greater the pressure, the greater the deformation of the connecting row. The pressure applied to the connecting row during the polishing process is analyzed to determine the pressure influence, which reflects the degree of deformation of the connecting row caused by the pressure applied by the polishing wheel. Specifically:

[0052] The frequency domain analysis algorithm is used to perform frequency domain analysis on the pressure at multiple moments before each moment to obtain the amplitudes of different frequency components;

[0053] Preferably, in this embodiment, the fast Fourier transform algorithm is used for frequency domain analysis, wherein the fast Fourier transform algorithm is a well-known technology and will not be described in detail here. As other implementation methods, the implementer may adopt other methods of the prior art, such as Hilbert transform, etc., and this embodiment does not impose any special restrictions on this; secondly, the pressure at all moments within 2s before each moment is selected for frequency domain analysis. As other implementation methods, the implementer may set it according to the actual situation.

[0054] Arrange the amplitudes of all frequency components in descending order, and calculate the cumulative sum of the amplitudes of the plurality of frequency components that are arranged at the front;

[0055] Preferably, in this embodiment, the cumulative sum of the amplitudes of the top 10 frequency components is calculated. As other implementation modes, the implementer can set them according to actual conditions.

[0056] The product of the pressure at each moment and the accumulated sum is taken as the pressure influence degree at each moment;

[0057] It should be noted that the frequency domain analysis reflects the concentration degree of the pressure distribution applied by the polishing wheel in the frequency domain. Secondly, the high-frequency pressure changes may be related to the local vibration or irregular contact of the polishing wheel. Therefore, in order to control the polishing wheel to avoid vibration, the high-frequency components are analyzed. Secondly, the greater the pressure, the greater the possibility of deformation of the connecting row, and the more concentrated the energy of the pressure change on the main frequency component, the greater the resulting pressure influence, and the more likely it is to affect the mechanical deformation of the connecting row, thereby causing the connecting row to deform. Therefore, the switching gain should be reduced to adapt to the mechanical deformation caused by pressure; conversely, it means that the influence of pressure on mechanical deformation is smaller, and the switching gain should be appropriately increased.

[0058] At this point, the pressure influence at each moment is obtained.

[0059] Step 3, determining the material influence of the abrasive according to the distribution and discreteness of the grains inside the abrasive, as well as the hardness and elastic modulus of the abrasive, and determining the force deformation coefficient at each moment in combination with the pressure influence.

[0060] Furthermore, during the polishing process, the deformation of the connecting row is not only related to the pressure applied by the polishing wheel, but also to the material properties of the connecting row itself. Connecting rows made of different materials will have different degrees of deformation under the same pressure applied by the polishing wheel. Therefore, the properties of the connecting row's own material are analyzed to determine the material influence, so as to reflect the influence of different materials on the deformation of the connecting row, specifically:

[0061] The mean and standard deviation of the grain sizes of multiple grains in the abrasive are calculated by metallographic analysis;

[0062] It should be noted that the metallographic analysis method is a well-known technology and will not be described in detail here. In this embodiment, the mean and standard deviation of the grain size of 100 grains in the abrasive are calculated. As other implementation methods, the implementer can set them according to actual conditions.

[0063] The ratio of the standard deviation to the mean is recorded as a first ratio;

[0064] Calculate the ratio of the hardness of the abrasive to the elastic modulus, and record it as the second ratio;

[0065] The sum of the first ratio and the second ratio is used as the material influence of the abrasive;

[0066] Preferably, in this embodiment, the abrasive is a connecting row material, so the calculation formula of the material influence of the abrasive is: ,in, The influence of abrasive material, is the hardness of the abrasive, is the elastic modulus of the abrasive, is the standard deviation of the grain size of multiple grains in the abrasive, It is the average grain size of multiple grains in the abrasive.

[0067] It should be noted that the distribution of grains in the abrasive reflects the stability of the internal structure of the connecting row material in the abrasive. Therefore, the smaller the first ratio is, the more uniform the microstructure of the connecting row material is, and the more uniform the force on the connecting row during the polishing process is, that is, the stronger the ability to resist deformation is; the hardness and elastic modulus of the connecting row material reflect the rigidity and elastic properties of the connecting row material. The larger the second ratio is, the harder the connecting row material is, that is, the more prone to brittle deformation; the greater the influence of the obtained material, the harder the connecting row material is or the worse the uniformity of the grain distribution is, that is, the more susceptible the connecting row is to deformation due to mechanical force during the polishing process; conversely, it means that the interior of the connecting row material is more stable, the ability to resist mechanical deformation is stronger, and the deformation is smaller under the same polishing conditions, so the range of adjusting the switching gain should also be smaller.

[0068] Furthermore, the polishing process is a process in which the connection row is continuously subjected to the mechanical force applied by the polishing wheel. Therefore, the possibility and degree of deformation thereof accumulate over time. Based on the pressure influence and the material influence, the force deformation coefficient is determined, specifically:

[0069] The product of the pressure influence degree and the material influence degree at each moment is recorded as the first product;

[0070] The normalized result of the sum of the first products at each moment and all previous moments is used as the force deformation coefficient at each moment;

[0071] Preferably, in this embodiment, the force deformation coefficient at each moment is calculated as follows: ,in, For the The force-deformation coefficient at time, For the The impact of pressure at all times, The influence of abrasive material, From polishing to The number of all moments between moments, is a normalization function. In this embodiment, a sigmoid function is used for normalization. As other implementations, the implementer may use other methods of the prior art, such as a tanh function, etc. This embodiment does not impose any special restrictions on this. Secondly, is the first product.

[0072] It should be noted that the larger the force deformation coefficient is, the greater the possibility that the connecting row will be deformed due to the mechanical force at the corresponding moment, and the greater the possibility of vibration when the sliding mode control algorithm is used to control the polishing wheel. Therefore, the switching gain should be reduced at this time and the speed of the switching process should be reduced to achieve the purpose of reducing vibration; otherwise, the switching gain should be increased to approach the sliding surface faster.

[0073] Further, the step flow chart of the method for obtaining the force deformation coefficient at each moment provided in the embodiment of the present application is as follows: Figure 2 shown.

[0074] At this point, the force-deformation coefficient at each moment is obtained.

[0075] Step 4, according to the temperature difference between adjacent moments and the initial thickness of the abrasive, combined with the thermal expansion coefficient of the abrasive, determine the temperature influence at each moment, and based on the temperature influence, determine the thermal deformation coefficient at each moment; based on the rotation speed and feed speed of the polishing machine at each moment, combined with the force deformation coefficient and the thermal deformation coefficient, determine the abrasive deformation at each moment.

[0076] Furthermore, during the polishing process, the polishing wheel rubs against the connecting row through high-speed rotation to remove the uneven areas or burrs on the surface of the connecting row. During this process, friction will generate a lot of heat, which will increase the surface temperature of the connecting row. Therefore, in addition to the mechanical force applied by the polishing wheel that will cause the connecting row to deform, the temperature increase is also one of the reasons for the deformation of the connecting row. As the polishing process proceeds, the influence of temperature on the deformation of the connecting row is also cumulative. By analyzing the temperature changes, the thermal deformation coefficient is determined to reflect the influence of temperature changes on the deformation of the connecting row, which is specifically:

[0077] Calculating the difference between the temperature at each moment and the temperature at an adjacent moment, and recording the product of the difference and the thermal expansion coefficient of the abrasive as the second product at each moment;

[0078] The thickness of the thinnest part of the abrasive before polishing begins is recorded as the initial thickness;

[0079] The ratio of the second product to the initial thickness is used as the temperature influence at each moment;

[0080] The normalized result of the sum of the temperature influences at each moment and all previous moments is used as the thermal deformation coefficient at each moment;

[0081] Preferably, in this embodiment, the calculation formula of the thermal deformation coefficient at each moment is: ,in, For the Thermal deformation coefficient at time, For the The temperature of the moment, For the The temperature of the moment, is the thermal expansion coefficient of the abrasive, is the initial thickness, From polishing to The number of all moments between moments, is a normalization function. In this embodiment, a sigmoid function is used for normalization. As other implementations, the implementer may use other methods of the prior art, such as a tanh function, etc. This embodiment does not impose any special restrictions on this. Secondly, is the second product, is the temperature influence.

[0082] It should be noted that when , is 0; secondly, the temperature change during the polishing process can reflect the cumulative effect of the heat generated during the polishing process on the deformation of the connecting bar, and at the same temperature, the larger the thermal expansion coefficient, the greater the deformation degree of the connecting bar, and the thicker the initial thickness, the less likely the connecting bar is to deform; the larger the obtained thermal deformation coefficient, the more likely the heat generated by the friction at the corresponding moment is to cause the connecting bar to deform, and the greater the deformation degree, at this time the switching gain should be reduced to keep the system stable.

[0083] Further, the step flow chart of the method for obtaining the thermal deformation coefficient at each moment provided in the embodiment of the present application is as follows: Figure 3 shown.

[0084] Furthermore, the rotation speed and feed speed of the polishing wheel will cause deformation of the connecting row. A higher rotation speed will increase the friction between the polishing wheel and the connecting row; a higher feed speed may cause uneven pressure distribution on the surface of the connecting row. Based on the rotation speed and feed speed of the polishing wheel, combined with the force deformation coefficient and the thermal deformation coefficient, the abrasive deformation degree is determined, specifically:

[0085] The calculation formula of abrasive deformation at each moment is: ,in, For the Abrasive deformation at the time, For the The speed of the polishing machine at all times, For the The feed speed of the polishing machine at all times, For the The force-deformation coefficient at time, For the Thermal deformation coefficient at time, is a normalization function. In this embodiment, a sigmoid function is used for normalization. As other implementation methods, the implementer may use other methods of the prior art, such as the tanh function, etc. This embodiment does not impose any special restrictions on this.

[0086] It should be noted that the greater the deformation degree of the abrasive, the greater the deformation possibility and deformation range of the connecting row at the corresponding moment, that is, greater interference occurs during the polishing process. In order to maintain the stability of the system and reduce the possibility of oscillation generated by the control system during the switching of the control parameters of the polishing machine, the switching gain should be reduced.

[0087] At this point, the abrasive deformation at each moment is obtained.

[0088] Step 5, based on the abrasive deformation, determine the switching gain of the sliding mode control algorithm at each moment; based on the surface roughness and the thickness, define the sliding surface switching function, and combine the switching gain to control the rotation speed and feed speed of the polishing machine in real time through the sliding mode control algorithm.

[0089] Further, based on the abrasive deformation, the switching gain in the sliding mode control algorithm at each moment is determined, specifically:

[0090] The ratio of the preset initial switching gain to the abrasive deformation degree is used as the switching gain of the sliding mode control algorithm at each moment;

[0091] Preferably, in this embodiment, the switching gain in the sliding mode control algorithm is , Function is an operator function where The number of is related to the number of system state variables. For example, in this embodiment, the control system needs to control the speed and feed speed of the polishing machine, then The number is 2, therefore, in this embodiment, the preset value of the initial switching gain is As other implementation methods, the implementer can set them according to the actual situation. The sliding mode control algorithm is a well-known technology and will not be described here.

[0092] Further, a schematic diagram of the change of the switching gain in the sliding mode control algorithm provided in the embodiment of the present application is as follows: Figure 4 As shown, the horizontal axis is time and the vertical axis is switching gain. Figure 4 The switching gain in the sliding mode control algorithm can be adjusted in real time to reduce the possibility of oscillation in the process of switching the control parameters of the polishing machine by the control system.

[0093] Secondly, according to the polishing quality requirements and system control objectives, a suitable sliding surface switching function is designed to guide the system state to reach and remain on the sliding surface within a limited time. Therefore, based on the surface roughness and thickness of the connecting row, the sliding surface switching function is defined as follows:

[0094] The sliding surface switching function is: ,in, represents the sliding surface switching function, To preset the first weight, To preset the second weight, For the The surface roughness of the abrasive at the moment, For the The thickness of the abrasive at the moment, To preset the expected roughness, To preset the desired thickness.

[0095] Preferably, in this embodiment, the first weight is preset The value is 0.7, and the second weight is preset The value is 0.3, which presets the expected roughness. The value is 0.5 m, preset expected thickness The value is 4mm. As other implementation methods, the implementer can set it according to the actual situation.

[0096] Furthermore, based on the sliding surface switching function, the reaching law is selected to obtain the control law, which is:

[0097] Common reaching laws include constant speed reaching law, exponential reaching law, power reaching law, etc. In this embodiment, the exponential reaching law is selected, and the control law is obtained as follows: ,in, is the control input at time t, is the sliding surface switching function, is the switching gain at time t, is a symbolic function, if ,but ,like ,but ,like ,but .

[0098] Therefore, the control system is based on the control input of the polishing machine , adjust the rotation speed and feed speed of the motor-driven polishing machine.

[0099] It should be noted that the sliding mode control algorithm is a well-known technology and will not be described in detail here.

[0100] Based on the same inventive concept as the above method, an embodiment of the present application also provides a polishing machine control system for a new energy workshop, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned polishing machine control methods for new energy workshops are implemented.

[0101] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0102] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the present application. It should be pointed out that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application without departing from the content of the technical solution of the present application, shall fall within the protection scope of the technical solution of the present application.

Claims

1. A polishing machine control method for a new energy workshop, characterized in that: The method comprises the following steps: Obtain the pressure, temperature, rotation speed and feed speed of the polishing machine at each moment during the polishing process, as well as the surface roughness and thickness of the abrasive at each moment, and the hardness, elastic modulus, crystal size and thermal expansion coefficient of the abrasive; Determine the pressure influence at each moment according to the frequency domain distribution of the pressure in the local time period at each moment; According to the distribution and dispersion of the grains inside the abrasive, as well as the hardness and elastic modulus of the abrasive, the material influence of the abrasive is determined, and the force deformation coefficient at each moment is determined in combination with the pressure influence; According to the temperature difference between adjacent moments and the initial thickness of the abrasive, combined with the thermal expansion coefficient of the abrasive, the temperature influence at each moment is determined, and based on the temperature influence, the thermal deformation coefficient at each moment is determined; based on the rotation speed and feed speed of the polishing machine at each moment, combined with the force deformation coefficient and the thermal deformation coefficient, the abrasive deformation degree at each moment is determined; Based on the abrasive deformation, the switching gain of the sliding mode control algorithm at each moment is determined; based on the surface roughness and the thickness, the sliding surface switching function is defined, and combined with the switching gain, the rotation speed and feed speed of the polishing machine are controlled in real time through the sliding mode control algorithm.

2. The polishing machine control method for a new energy workshop as claimed in claim 1, characterized in that: Determining the pressure influence at each moment includes: The frequency domain analysis algorithm is used to perform frequency domain analysis on the pressure at multiple moments before each moment to obtain the amplitudes of different frequency components; The amplitudes of all frequency components are arranged in descending order, the cumulative sum of the amplitudes of the top frequency components is calculated, and the product of the pressure at each moment and the cumulative sum is taken as the pressure influence at each moment.

3. The polishing machine control method for a new energy workshop as claimed in claim 1, characterized in that: Determining the material influence of the abrasive includes: Calculating the mean and standard deviation of the grain sizes of multiple grains in the abrasive by metallographic analysis; recording the ratio of the standard deviation to the mean as a first ratio; The ratio of the hardness to the elastic modulus of the abrasive is calculated and recorded as the second ratio; and the sum of the first ratio and the second ratio is taken as the material influence of the abrasive.

4. The polishing machine control method for a new energy workshop as claimed in claim 1, characterized in that: Determining the force deformation coefficient at each moment includes: The product of the pressure influence degree and the material influence degree at each moment is recorded as the first product; The normalized result of the sum of the first products at each moment and all previous moments is taken as the force deformation coefficient at each moment.

5. The polishing machine control method for a new energy workshop as claimed in claim 1, characterized in that: Determining the temperature influence at each moment includes: Calculating the temperature difference between each moment and the adjacent moment, and recording the product of the difference and the thermal expansion coefficient of the abrasive as the second product at each moment; The thickness of the thinnest part of the abrasive before polishing begins is recorded as the initial thickness; The ratio of the second product to the initial thickness is used as the temperature influence at each moment.

6. The polishing machine control method for a new energy workshop according to claim 1, characterized in that: The thermal deformation coefficient at each moment is a normalized result of the sum of the temperature influences at each moment and all previous moments.

7. The polishing machine control method for a new energy workshop as claimed in claim 1, characterized in that: The calculation formula for determining the abrasive deformation at each moment is: ,in, For the Abrasive deformation at the time, For the The speed of the polishing machine at all times, For the The feed speed of the polishing machine at all times, For the The force-deformation coefficient at time, For the Thermal deformation coefficient at time, is the normalization function.

8. The polishing machine control method for a new energy workshop as claimed in claim 1, characterized in that: The switching gain of the sliding mode control algorithm at each moment is the ratio of the preset initial switching gain to the abrasive deformation degree.

9. The polishing machine control method for a new energy workshop according to claim 1, characterized in that: The sliding surface switching function is: ,in, represents the sliding surface switching function, To preset the first weight, To preset the second weight, For the The surface roughness of the abrasive at the moment, For the The thickness of the abrasive at the moment, To preset the expected roughness, To preset the desired thickness.

10. A polishing machine control system for a new energy workshop, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the polishing machine control method for a new energy workshop as described in any one of claims 1-9 are implemented.

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