Polishing method, magnetic suspension polishing system, computer equipment, readable storage medium and program product

Abstract

The invention relates to a grinding method, a magnetic suspension grinding system, computer equipment, a computer readable storage medium and a computer program product. The method is applied to a controller in the magnetic suspension grinding system, the magnetic suspension grinding system comprises a stator and a rotor, the rotor is suspended above the stator, the stator is used for driving the rotor to move, the rotor is connected with a to-be-ground workpiece, and the to-be-ground workpiece is connected with the stator. Comprising the steps that preset grinding force and actual grinding force applied to a to-be-ground workpiece by a grinding tool are obtained; according to the difference value between the actual grinding force and the preset grinding force, the displacement adjustment amount of the rotor is determined; and according to the displacement adjustment amount, electric power parameters of the stator are adjusted, so that the rotor moves according to the displacement adjustment amount, and the to-be-polished workpiece is polished through the polishing tool. The method can improve the polishing precision and shorten the response time.

Description

Technical Field

[0001] The present application relates to the field of grinding control technology, and in particular to a grinding method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] Force-controlled grinding is a technology used in manufacturing and processing to achieve high-quality surface grinding by controlling the force applied by the grinding tool on the workpiece. Force-controlled grinding technology combines force sensors and feedback control systems to ensure that the force applied by the grinding tool when in contact with the workpiece surface is uniform and controllable, thereby avoiding over-grinding or under-grinding.

[0003] In traditional technology, the motion control of grinding tools is usually achieved by torque control through mechanical transmission systems such as gears, belts, and screws. However, mechanical transmission systems have large friction and wear, large inertia, poor control accuracy, and slow response speed. Summary of the invention

[0004] Based on this, it is necessary to provide a polishing method, device, computer equipment, computer-readable storage medium and computer program product that can improve control accuracy and shorten response time in response to the above technical problems.

[0005] In a first aspect, the present application provides a grinding method, which is applied to a controller in a magnetic suspension grinding system, wherein the magnetic suspension grinding system comprises a stator and a mover, wherein the mover is suspended above the stator, the stator is used to drive the mover to move, and the mover is connected to a workpiece to be ground, comprising:

[0006] Obtaining a preset grinding force and an actual grinding force applied by the grinding tool on the workpiece to be ground;

[0007] Determining a displacement adjustment amount of the mover according to a difference between the actual grinding force and the preset grinding force;

[0008] According to the displacement adjustment amount, the power parameters of the stator are adjusted so that the mover moves according to the displacement adjustment amount, and the workpiece to be polished is polished by using the polishing tool.

[0009] In one embodiment, determining the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force includes:

[0010] Acquiring geometric structure data of the surface to be polished of the workpiece to be polished;

[0011] The displacement adjustment amount of the mover is determined according to the difference between the actual grinding force and the preset grinding force and the geometric structure data.

[0012] In one embodiment, determining the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force and the geometric structure data includes:

[0013] Determining the surface features of the workpiece at the contact position between the grinding tool and the workpiece to be ground according to the geometric structure data;

[0014] Based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force, the displacement adjustment amount of the mover is determined.

[0015] In one embodiment, the determining the displacement adjustment amount of the mover based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force includes:

[0016] determining a difference between the actual grinding force and the preset grinding force;

[0017] In response to the surface feature of the workpiece including a height difference within a preset range at the contact position, determining height feature data at the contact position;

[0018] Based on the correlation between the position of the mover and the grinding force under the height characteristic data, a displacement adjustment amount matching the difference is determined.

[0019] In one embodiment, the displacement adjustment amount includes a rotation angle adjustment amount, and the determining of the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data includes:

[0020] In the case where the height characteristic data includes an inclination angle, obtaining a correlation between the position of the mover and the grinding force at the inclination angle;

[0021] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0022] In one embodiment, the displacement adjustment amount includes a longitudinal displacement adjustment amount, and the determining of the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data includes:

[0023] In the case where the height characteristic data includes a height difference value, obtaining a correlation relationship between the position of the mover and the grinding force under the height difference value;

[0024] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0025] In one embodiment, the displacement adjustment amount includes a plane displacement adjustment amount, and the displacement adjustment amount of the mover is determined based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force, including:

[0026] determining a difference between the actual grinding force and the preset grinding force;

[0027] Determining the correlation between the plane position of the mover and the grinding force according to the surface features of the workpiece;

[0028] According to the association relationship, a plane displacement adjustment amount matching the difference is determined.

[0029] In one embodiment, adjusting the electrical parameters of the stator according to the displacement adjustment amount includes:

[0030] Acquiring a correlation between an electric power parameter of the stator and a displacement of the mover;

[0031] According to the association relationship, a target parameter value corresponding to the displacement adjustment amount is determined, and the power parameter of the stator is adjusted to the target parameter value.

[0032] In a second aspect, the present application further provides a magnetic suspension grinding system, the magnetic suspension grinding system comprising a controller, a stator, and a mover, the mover being suspended above the stator, the stator being used to drive the mover to move, the mover being connected to a workpiece to be ground, and the controller comprising:

[0033] An acquisition module, used for acquiring a preset grinding force and an actual grinding force applied by a grinding tool on the workpiece to be ground;

[0034] A determination module, configured to determine a displacement adjustment amount of the mover according to a difference between the actual grinding force and the preset grinding force;

[0035] The regulating module is used to adjust the power parameters of the stator according to the displacement adjustment amount, so that the mover moves according to the displacement adjustment amount, and the workpiece to be polished is polished by using the polishing tool.

[0036] In one embodiment, the determining module includes:

[0037] A first acquisition submodule is used to acquire geometric structure data of a surface to be polished of the workpiece to be polished;

[0038] The determination submodule is used to determine the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force and the geometric structure data.

[0039] In one embodiment, the determining submodule includes:

[0040] A first determining unit, configured to determine, based on the geometric structure data, a surface feature of a workpiece at a contact position between the grinding tool and the workpiece to be ground;

[0041] The second determination unit is used to determine the displacement adjustment amount of the mover based on the surface characteristics of the workpiece and according to the difference between the actual grinding force and the preset grinding force.

[0042] In one embodiment, the second determining unit includes:

[0043] A first determining subunit, configured to determine a difference between the actual grinding force and the preset grinding force;

[0044] A second determining subunit is used to determine height characteristic data at the contact position in response to the surface characteristics of the workpiece including a height difference within a preset range at the contact position;

[0045] The third determination subunit is used to determine the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data.

[0046] In one embodiment, the displacement adjustment amount includes a rotation angle adjustment amount, and the third determination subunit is further used for:

[0047] In the case where the height characteristic data includes an inclination angle, obtaining a correlation between the position of the mover and the grinding force at the inclination angle;

[0048] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0049] In one embodiment, the displacement adjustment amount includes a longitudinal displacement adjustment amount, and the third determination subunit is further used for:

[0050] In the case where the height characteristic data includes a height difference value, obtaining a correlation relationship between the position of the mover and the grinding force under the height difference value;

[0051] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0052] In one embodiment, the displacement adjustment amount includes a plane displacement adjustment amount, and the second determining unit includes:

[0053] a fourth determining subunit, configured to determine a difference between the actual grinding force and the preset grinding force;

[0054] A fifth determining subunit, used to determine the correlation between the planar position of the mover and the grinding force according to the surface features of the workpiece;

[0055] The sixth determining subunit is used to determine, according to the association relationship, a plane displacement adjustment amount that matches the difference.

[0056] In one embodiment, the adjustment module includes:

[0057] A second acquisition submodule, used for acquiring the correlation between the electric power parameter of the stator and the displacement of the mover;

[0058] The regulating submodule is used to determine the target parameter value corresponding to the displacement adjustment amount according to the association relationship, and regulate the power parameter of the stator to the target parameter value.

[0059] In a third aspect, an embodiment of the present disclosure further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any one of the methods in the embodiments of the present disclosure are implemented.

[0060] In a fourth aspect, the embodiments of the present disclosure further provide a computer-readable storage medium, wherein a computer program is stored thereon, and when the computer program is executed by a processor, the steps of any one of the methods in the embodiments of the present disclosure are implemented.

[0061] In a fifth aspect, the embodiments of the present disclosure further provide a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of any one of the methods in the embodiments of the present disclosure are implemented.

[0062] The above-mentioned grinding method, magnetic suspension grinding system, computer device, computer readable storage medium and computer program product, when grinding the workpiece to be polished, determine the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force, and adjust the electrical parameters of the stator according to the displacement adjustment amount, so that the mover moves according to the displacement adjustment amount and drives the grinding tool to grind the workpiece to be polished, so that when grinding the workpiece to be polished, the grinding force can be controlled, the uniformity of the grinding force during the grinding process can be ensured, and the situation of over-grinding or under-grinding can be avoided. And the present disclosure determines the displacement adjustment amount according to the difference in force, and compensates for the difference in grinding force by adjusting the electrical parameters of the stator, with a short response time, and can quickly and accurately adjust the grinding force, further improving the grinding effect; by adjusting the electrical parameters of the stator in the magnetic suspension grinding system, the grinding force control during the grinding process is realized, and friction and wear during the motion control process are avoided, thereby effectively improving the accuracy of the grinding control, and realizing high-precision grinding of the workpiece to be polished, which is suitable for more application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 A schematic diagram of a polishing method according to an embodiment;

[0065] Figure 2 is a schematic flow chart of a polishing method in another embodiment;

[0066] Figure 3 A schematic flow chart of a polishing method in another embodiment;

[0067] Figure 4 A schematic diagram of the architecture of an integrated management system of a polishing method in one embodiment;

[0068] Figure 5 It is a structural block diagram of a controller of a magnetic suspension polishing system in one embodiment;

[0069] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0071] In one embodiment, Figure 1 As shown, a grinding method is provided, which is applied to a controller in a magnetic suspension grinding system, wherein the magnetic suspension grinding system comprises a stator and a mover, wherein the mover is suspended above the stator, the stator is used to drive the mover to move, and the mover is connected to a workpiece to be ground, comprising:

[0072] Step S110, obtaining a preset grinding force and an actual grinding force applied by the grinding tool on the workpiece to be ground;

[0073] Exemplarily, the method described in this embodiment is applied to a controller in a magnetic suspension grinding system, and the magnetic suspension grinding system may include a system for grinding workpieces using magnetic suspension technology. The magnetic suspension grinding system includes a stator and a mover, the mover is suspended above the stator, and the stator is used to drive the mover to move. In one example, the stator is energized to generate a magnetic field, and the mover includes a magnet capable of generating a magnetic field, such as a ferromagnetic material, a permanent magnetic material, etc. The magnetic field generated by the stator being energized interacts with the magnetic field of the mover to achieve suspension of the mover and movement in a plane.

[0074] In one example, the connection method between the workpiece to be polished and the mover can be determined according to the actual application scenario. For example, the workpiece to be polished and the mover are rigidly connected, and the workpiece to be polished can be fixed on the mover through a limiting structure. When the mover moves, the workpiece to be polished moves accordingly.

[0075] In one possible implementation, the stator includes an electromagnetic coil, a rotating electromagnetic coil, and a support structure, wherein one or more electromagnetic coils are arranged on the stator, and a controllable magnetic field can be generated by energizing; the rotating electromagnetic coil is used to drive the mover to rotate after energizing; the support structure is used to provide necessary mechanical support and installation position, and fix the electromagnetic coil and other electronic components of the stator. The mover includes a permanent magnet and a load platform, wherein the permanent magnet may include a magnet; the load platform is used to place a workpiece or a tool. In some examples, the workpiece to be polished is placed on the load platform and connected to the mover. For example, the workpiece to be polished can be fixed on the load platform by a limiting device, and the workpiece to be polished and the mover remain relatively still. In one example, the polishing tool is fixed at a preset position, and the position does not change during the polishing process.

[0076] In one example, the magnetic levitation grinding system includes a mover motion platform, and a stator is arranged under the platform. When the stator is energized, a magnetic field is generated, which interacts with the magnetic field of the mover above the platform to drive the mover to move on the platform. In this embodiment, by setting the coil of the stator in the magnetic levitation grinding system, the mover can also be driven by the stator to perform rotation, upward movement, downward movement and other actions. Among them, the grinding tool can be fixed on a station at a preset position on the platform, such as the edge of the platform, the middle of the platform, etc. The mover drives the workpiece to be polished to the station corresponding to the grinding tool, so that the grinding tool grinds the workpiece to be polished. In one example, the mover motion platform is a component of the stator, and a coil is arranged in the mover motion platform. When the coil is energized, a magnetic field is generated, which interacts with the magnetic field of the mover to drive the mover to move.

[0077] In some embodiments, the magnetic suspension grinding system may also include a position sensor, a rotation sensor, a power supply system, a cooling system, a mechanical structure, etc. Specifically, the position sensor (such as a Hall sensor or an optical sensor) is used to monitor the position and posture of the mover in real time and provide the feedback required for suspension control; the rotation sensor (such as an encoder or a gyroscope) is used to monitor the rotation angle and speed of the mover in real time and provide the feedback required for rotation control; the power supply system includes a power supply module and a power distribution module, wherein the power supply module is used to provide a stable current and voltage to the electromagnetic coil of the stator, and the power distribution system is used to manage and distribute power to ensure the normal operation of the electromagnetic coil and the control system; the cooling system includes a heat dissipation device, wherein the heat dissipation device may include but is not limited to a fan or a liquid cooling system, etc., because the electromagnetic coil generates heat when working, the cooling system is responsible for heat dissipation to maintain the stability and performance of the system; the mechanical structure includes a base, a bracket, and a limiter, wherein the base and the bracket provide structural support for the entire system to ensure that each component is firmly installed; the limiter prevents the mover from exceeding the design range.

[0078] In one example, the controller of the magnetic levitation grinding system may include a motion controller, a force controller, and a feedback system, wherein the motion controller is responsible for calculating the position, velocity, and acceleration of the mover, and generating corresponding control signals to drive the electromagnetic coil; the force controller is used to monitor and adjust the force on the mover in real time to ensure that the force remains constant during the grinding process; the feedback system is used to feed back the position and force information obtained by the sensor to the motion controller and the force controller to achieve closed-loop control.

[0079] Grinding tools may include but are not limited to whetstones, grindstones, grinding wheels, etc., which may be determined based on actual application scenarios.

[0080] Optionally, the preset grinding force can be a grinding force set in advance according to an actual application scenario. When the grinding force applied by the grinding tool on the workpiece to be polished is equal to the preset grinding force, a better grinding effect can be achieved. The actual grinding force applied by the grinding tool on the workpiece to be polished can be obtained through a force sensor. In one example, the force sensor can be installed on the grinding tool and communicated with the controller of the magnetic suspension grinding system. The force sensor monitors the actual grinding force applied to the workpiece to be polished in real time during the grinding process and feeds back to the controller.

[0081] Step S120, determining a displacement adjustment amount of the mover according to a difference between the actual grinding force and the preset grinding force;

[0082] Exemplarily, after obtaining the actual grinding force and the preset grinding force, the difference between the two is determined, and the displacement adjustment amount of the mover can be determined by the difference between the two. In one example, the movement of the position of the mover will drive the connected workpiece to be polished to move, so that the contact strength between the workpiece to be polished and the polishing tool changes, and then the grinding force changes. According to the difference between the actual grinding force and the preset grinding force, it is determined whether the contact strength needs to be increased or reduced, and the corresponding displacement adjustment amount is obtained.

[0083] In one example, when the difference between the actual grinding force and the preset grinding force is a positive value, it means that the actual grinding force is greater than the preset grinding force, and the contact strength between the two is too large, and the contact strength needs to be reduced. At this time, the displacement adjustment amount is determined according to the direction in which the workpiece to be polished is away from the polishing tool; when the difference between the actual grinding force and the preset grinding force is a negative value, it means that the actual grinding force is less than the preset grinding force, and the contact strength between the two is small, and the contact strength needs to be strengthened. At this time, the displacement adjustment amount is determined according to the direction in which the workpiece to be polished is close to the polishing tool; when the difference between the actual grinding force and the preset grinding force is zero, it means that the actual grinding force is equal to the preset grinding force and no adjustment is required.

[0084] Optionally, the displacement adjustment amount of the mover may include a plane displacement adjustment amount, a rotation angle adjustment amount, and a longitudinal displacement adjustment amount. When making adjustments, one or more different displacement adjustment amounts may be adjusted.

[0085] Step S130, adjusting the electrical parameters of the stator according to the displacement adjustment amount, so that the mover moves according to the displacement adjustment amount, and grinding the workpiece to be ground by using the grinding tool.

[0086] Exemplarily, the stator is used to drive the mover to move. The stator generates a magnetic field by energizing the mover to move. The electrical parameters of the stator change, and the magnitude and direction of the force acting on the mover also change, thereby causing the mover to move. The electrical parameters of the stator may include, but are not limited to, current, voltage, etc., which can be set according to the actual application scenario; in one example, the stator includes an electromagnetic coil and a rotating electromagnetic coil, and the electrical parameters of the stator may include, but are not limited to, the current of the electromagnetic coil, the voltage of the electromagnetic coil, the current of the rotating electromagnetic coil, and the voltage of the rotating electromagnetic coil.

[0087] Optionally, there is a correlation between the electrical parameters of the stator and the displacement of the mover, and the correlation can be determined in advance based on the parameters of the mover and the stator. The electrical parameter adjustment amount of the stator can be determined according to the displacement adjustment amount, and the electrical parameters of the stator are adjusted according to the electrical parameter adjustment amount so that the mover moves according to the displacement adjustment amount. After the mover moves according to the displacement adjustment amount, the contact strength between the workpiece to be polished and the polishing tool changes, and the polishing tool polishes the workpiece to be polished according to the adjusted contact strength. Among them, adjusting the electrical parameters of the stator can enable the mover to maintain a constant polishing force through various operations such as moving, rotating, raising or lowering.

[0088] In one example, the grinding force may be periodically acquired and adjusted according to a preset cycle; or the grinding force may be acquired in real time and feedback adjusted in real time.

[0089] In the embodiment of the present disclosure, when the workpiece to be polished is polished, the displacement adjustment amount of the mover is determined according to the difference between the actual polishing force and the preset polishing force, and the electrical parameters of the stator are adjusted according to the displacement adjustment amount, so that the mover moves according to the displacement adjustment amount and drives the polishing tool to polish the workpiece to be polished, so that when the workpiece to be polished is polished, the polishing force can be controlled, the uniformity and consistency of the polishing force during the polishing process can be ensured, and over-polishing or under-polishing can be avoided. In addition, the present disclosure determines the displacement adjustment amount according to the difference in force, and compensates for the difference in polishing force by adjusting the electrical parameters of the stator. The response time is short, and the polishing force can be adjusted quickly and accurately, further improving the polishing effect; by adjusting the electrical parameters of the stator in the magnetic suspension polishing system, the polishing force can be controlled during the polishing process, and friction and wear during the motion control process can be avoided, thereby effectively improving the accuracy of the polishing control, and high-precision polishing of the workpiece to be polished can be achieved, which is suitable for more application scenarios.

[0090] In one embodiment, Figure 2 As shown, the displacement adjustment amount of the mover is determined according to the difference between the actual grinding force and the preset grinding force, including:

[0091] Step S121, obtaining geometric structure data of the surface to be polished of the workpiece to be polished;

[0092] Step S122, determining the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force and the geometric structure data.

[0093] Exemplarily, the workpiece to be polished may include multiple planes, and the plane on which the workpiece to be polished is currently in contact with the polishing tool is determined to be the plane to be polished. The geometric structure data of the plane to be polished includes but is not limited to surface shape data, surface size data, surface feature point coordinate data, volume data, surface curvature data (such as curvature), etc., which can be determined based on the actual application scenario. In one example, when the position of the mover moves and changes, the contact point between the workpiece to be polished and the polishing tool will also change. Combined with the geometric structure data of the plane to be polished, it is possible to determine the influence of the physical structure of the plane to be polished on the change of the polishing force under different displacement adjustment amounts.

[0094] In one example, the geometric structure data of the plane to be polished can be determined in advance through the drawing information of the workpiece to be polished; in another example, the geometric structure data of the plane to be polished can be collected through a visual sensor, etc., which can be determined according to the actual application scenario.

[0095] Optionally, the difference between the actual grinding force and the preset grinding force is determined, and the displacement adjustment corresponding to the difference is determined according to the influence of the physical structure of the surface to be ground on the change of the grinding force under different displacement adjustment amounts. In some possible implementations, the displacement adjustment corresponding to the front and rear position, left and right position, vertical position, and rotation angle of the mover can be determined to adjust the position of the grinding tool relative to the workpiece to be ground.

[0096] The disclosed embodiment determines the displacement adjustment amount based on the difference between the actual grinding force and the preset grinding force and the geometric structure data of the plane to be polished, and can adaptably adjust the position of the mover according to the physical structure of the plane to be polished, thereby ensuring the uniformity and consistency of the grinding force and further improving the grinding accuracy. The displacement adjustment amount determined based on the physical structure takes into account the uneven force at different grinding positions caused by curved surfaces and the like, and is suitable for more application scenarios, and can also achieve high-precision grinding for workpieces with complex structures.

[0097] In one embodiment, determining the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force and the geometric structure data includes:

[0098] Determining the surface features of the workpiece at the contact position between the grinding tool and the workpiece to be ground according to the geometric structure data;

[0099] Based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force, the displacement adjustment amount of the mover is determined.

[0100] Exemplarily, the surface features of the workpiece at the contact position between the grinding tool and the workpiece to be ground are determined based on the geometric structure data. In one example, the contact position between the grinding tool and the workpiece to be ground can be determined by a visual sensor, a force sensor or other module, and the surface features of the workpiece at the position to be ground can be determined in combination with the geometric structure data of the plane to be ground.

[0101] In one example, the surface features of the workpiece may include feature information determined based on the geometric structure data of the workpiece. The geometric structure data of the workpiece may include the size and size data of the workpiece. For example, based on the size data of the workpiece, feature information such as a plane, a curved surface, the presence of an inclination, and the presence of a height difference may be determined. Under different surface features of the workpiece, displacement adjustments of different categories and magnitudes may be determined. For example, when the surface feature of the workpiece is a plane at the contact position, a plane displacement adjustment may be determined; when the surface feature of the workpiece is a vertical height difference at the contact position, a longitudinal displacement adjustment may be determined based on the surface feature of the workpiece and the difference in grinding force; when the surface feature of the workpiece is an inclination at the contact position, a rotation angle adjustment may be determined, etc.

[0102] The disclosed embodiment determines the surface features of the workpiece at the contact position based on the geometric structure data, and determines the displacement adjustment amount in combination with the surface features of the workpiece and the difference in the grinding force. This can take into account the influence of the surface features of the workpiece on the grinding force, achieve precise adjustment of the grinding force, ensure the uniformity and consistency of the grinding force during the grinding process, and is suitable for more application scenarios.

[0103] In one embodiment, the determining the displacement adjustment amount of the mover based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force includes:

[0104] determining a difference between the actual grinding force and the preset grinding force;

[0105] In response to the surface feature of the workpiece including a height difference within a preset range at the contact position, determining height feature data at the contact position;

[0106] Based on the correlation between the position of the mover and the grinding force under the height characteristic data, a displacement adjustment amount matching the difference is determined.

[0107] Exemplarily, when determining the displacement adjustment amount of the mover based on the difference between the actual grinding force and the preset grinding force in combination with the surface features of the workpiece, different surface features of the workpiece may correspond to different ways of determining the displacement adjustment amount. The surface features of the workpiece may include a height difference within a preset range at the contact position, wherein the preset range may be determined according to the actual application scenario, and when there is a height difference within the preset range, it indicates that the position of the mover needs to be adjusted during the grinding process, so that the actual grinding force between the workpiece to be ground and the grinding tool remains consistent, avoiding a large change in the grinding force caused by the height difference.

[0108] In a possible implementation, when there is no height difference within the preset range at the contact position, the plane displacement of the mover can be adjusted. When there is a height difference within the preset range at the contact position, it means that further adjustment is required in the longitudinal direction, including but not limited to the longitudinal displacement adjustment and the rotation angle adjustment. Exemplarily, the height feature data is determined, and the height feature data may include but not limited to the height difference value, the tilt angle, the surface curvature, etc., which can be determined according to the actual application scenario.

[0109] According to the correlation between the position of the mover and the grinding force under the height characteristic data, the displacement adjustment amount matching the grinding force difference is determined. In one example, different height characteristic data may correspond to different types of displacement adjustment amounts. For example, if the height characteristic data includes a height difference value, the longitudinal displacement adjustment amount may be determined according to the height difference value.

[0110] In the disclosed embodiment, when there is a height difference within a preset range at the contact position, the displacement adjustment amount is determined in combination with the height characteristic data, so that a more accurate displacement adjustment amount can be obtained in combination with the height characteristic data, further enriching the types of displacement adjustment amounts and the adjustment methods and basis for the displacement of the mover. Even when the structure of the workpiece to be polished is complex, the accuracy of polishing can be guaranteed, and it is suitable for more application scenarios.

[0111] In one embodiment, the displacement adjustment amount includes a rotation angle adjustment amount, and the determining of the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data includes:

[0112] In the case where the height characteristic data includes an inclination angle, obtaining a correlation between the position of the mover and the grinding force at the inclination angle;

[0113] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0114] Exemplarily, the displacement adjustment amount includes a rotation angle adjustment amount. By adjusting the rotation angle of the mover, the angle of the workpiece to be ground can be adjusted so that the grinding tool can adapt to the inclined shape of the workpiece.

[0115] When the height feature data includes an inclination angle, it can be determined whether the contact position is inclined at this time based on the inclination angle. If there is an inclination, it can be considered that the contact angle between the workpiece to be polished and the polishing tool at this time will affect the polishing force, and different inclination angles have different effects on the polishing force. Optionally, the inclination angle at the contact position is determined, and the correlation between the rotation angle of the mover and the polishing force at the inclination angle is determined. In one example, the correlation between the rotation angle of the mover and the polishing force at different inclination angles can be determined in advance based on information such as the mover, the workpiece to be polished, and the working parameters of the polishing tool.

[0116] Optionally, based on the above association, a rotation angle adjustment amount that matches the grinding force difference is determined. In one example, the rotation angle adjustment amount can be determined by combining the current rotation angle of the mover and the target rotation angle that needs to be adjusted under the current grinding force difference. By adjusting the rotation angle adjustment amount, it can be ensured that the workpiece to be ground is always in contact with the grinding tool at a suitable angle, maintaining a uniform distribution of the grinding force.

[0117] In one example, the mover can rotate around the Z axis perpendicular to the XY plane, wherein the plane where the mover motion platform is located can be determined as the XY plane, and the axis of the mover center perpendicular to the XY plane can be determined as the Z axis. The rotation angle of the mover is adjusted so that the angle of the grinding tool adapts to the curved surface shape of the workpiece. The rotation angle adjustment amount is recorded as , as shown in formula (1).

[0118] (1)

[0119] in, Indicates the effect of force difference on the rotation angle, k p , k i , k d They are proportional, integral and differential coefficients, which can be set in advance according to the actual application scenario.

[0120] In some possible implementations, the plane position of the mover can be adjusted by a plane displacement adjustment amount, and the rotation angle of the mover can be adjusted by a rotation angle adjustment amount, and the plane position and the rotation angle can be adjusted jointly to ensure uniformity of the grinding force.

[0121] The disclosed embodiment determines the rotation angle adjustment amount that matches the grinding force difference based on the correlation between the rotation angle of the mover and the grinding force at the tilted angle. When the grinding contact position is tilted, the rotation angle of the mover is adjusted to ensure the uniformity and consistency of the grinding force applied by the mover at the contact position, thereby achieving high-precision grinding.

[0122] In one embodiment, the displacement adjustment amount includes a longitudinal displacement adjustment amount, and the determining of the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data includes:

[0123] In the case where the height characteristic data includes a height difference value, obtaining a correlation relationship between the position of the mover and the grinding force under the height difference value;

[0124] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0125] Exemplarily, the displacement adjustment amount includes a longitudinal displacement adjustment amount, and the longitudinal position of the mover is adjusted so that the mover drives the workpiece to be polished to adjust longitudinally, so that the polishing tool can adapt to the height difference of the workpiece to be polished.

[0126] When the height feature data includes a height difference, the correlation between the position of the mover and the grinding force under the height difference is obtained, wherein the relationship between the position of the mover and the grinding force will be different under different height differences, and the correlation between the position of the mover and the grinding force under different height differences can be determined according to the actual application scenario.

[0127] Optionally, the longitudinal displacement adjustment amount that matches the grinding force difference is determined based on the above association relationship. In one example, the longitudinal displacement adjustment amount can be determined based on the current position of the mover and the position to be adjusted under the current grinding force difference. By adjusting the longitudinal displacement adjustment amount, it can be ensured that the workpiece to be ground is always in contact with the grinding tool at an appropriate height, maintaining a uniform distribution of the grinding force.

[0128] In one example, the height characteristic data may include multiple different types of data, and different types of displacement adjustment amounts may be synchronously adjusted according to the multiple different types of data. For example, the longitudinal position and the rotation angle may be adjusted simultaneously so that the workpiece to be ground is always in contact with the grinding tool at a suitable height and angle, thereby ensuring uniform distribution of the grinding force.

[0129] The disclosed embodiment determines the longitudinal displacement adjustment amount that matches the grinding force difference based on the correlation between the position of the mover under the height difference and the grinding force. When there is a height difference in the grinding contact position, the longitudinal position of the mover can be adjusted to ensure the uniformity and consistency of the grinding force applied by the mover at the contact position, thereby achieving high-precision grinding.

[0130] In one embodiment, the displacement adjustment amount includes a plane displacement adjustment amount, and the displacement adjustment amount of the mover is determined based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force, including:

[0131] determining a difference between the actual grinding force and the preset grinding force;

[0132] Determining the correlation between the plane position of the mover and the grinding force according to the surface features of the workpiece;

[0133] According to the association relationship, a plane displacement adjustment amount matching the difference is determined.

[0134] Exemplarily, the displacement adjustment amount includes a plane displacement adjustment amount. By adjusting the plane displacement adjustment amount, the grinding tool can adapt to the physical structure of the workpiece to be ground, thereby ensuring uniform grinding force.

[0135] Exemplarily, the correlation between different planar positions of the mover and the grinding force is determined according to the surface features of the workpiece. In one example, the correlation between the planar position of the mover and the grinding force under different workpiece surface features can be determined in advance according to actual application scenarios.

[0136] According to the association, the plane displacement adjustment amount that matches the grinding force difference is determined. In one example, the plane displacement required for the mover to change from the current actual grinding force to the preset grinding force can be determined according to the association, that is, the plane displacement adjustment amount. In one example, the adjustment orientation corresponding to the plane displacement adjustment amount can be determined in combination with the surface features of the workpiece, and the plane displacement adjustment amount corresponding to the adjustment orientation can be determined.

[0137] In one example, the plane displacement adjustment includes the displacement adjustment in the X direction. As shown in formula (2), the plane displacement adjustment also includes the displacement adjustment in the Y direction perpendicular to the X direction. , as shown in formula (3). The X direction can be the lateral direction of the mover motion platform, and the Y direction can be the direction perpendicular to the X direction.

[0138] (2)

[0139] (3)

[0140] in, Indicates the difference in grinding force in the X direction, Indicates the difference in grinding force in the Y direction, k p , k i , k d They are proportional, integral and differential coefficients, which can be set in advance according to the actual application scenario.

[0141] The disclosed embodiment adjusts the planar position of the mover according to the surface features of the workpiece, so that the planar position of the mover can be adjusted quickly and accurately during the grinding process, ensuring the uniformity of the grinding force, and is suitable for more application scenarios.

[0142] In one embodiment, Figure 3 As shown, adjusting the electrical parameters of the stator according to the displacement adjustment amount includes:

[0143] Step S131, obtaining a correlation between the electric power parameters of the stator and the displacement of the mover;

[0144] Step S132, determining a target parameter value corresponding to the displacement adjustment amount according to the association relationship, and adjusting the electrical parameters of the stator to the target parameter value.

[0145] Exemplarily, the correlation between the electrical parameters of the stator and the displacement of the mover can be determined based on the working parameters of the stator and the mover in the actual application scenario, where the working parameters of the stator include but are not limited to the number of coils and the number of coils of the stator, and the working parameters of the mover may include but are not limited to the magnetic field strength of the mover, which can be determined based on the actual application scenario.

[0146] Based on the association, the target parameter value corresponding to the displacement adjustment amount is determined, wherein the target parameter value may include but is not limited to a target current value, a target voltage value, etc. In one example, the power parameter may be transformed into a coordinate system, and the corresponding initial parameter value may be determined in combination with the displacement adjustment amount, and then the initial parameter value may be inversely transformed into a coordinate system to obtain the corresponding target parameter value.

[0147] In the disclosed embodiment, when adjusting the position of the mover, the target parameter value corresponding to the displacement adjustment amount is determined according to the correlation between the mover displacement and the electrical parameters of the stator, and the electrical parameters of the stator are adjusted to the target parameter value, so that the position of the mover can be adjusted by adjusting the electrical parameters of the stator, thereby ensuring the timeliness and accuracy of the position adjustment response during the grinding process, being unaffected by friction and equipment wear, and achieving high-precision grinding control.

[0148] In one embodiment, the stator includes a rotating electromagnetic coil, wherein alternating current (such as three-phase current) is sequentially passed through the coil to form a rotating magnetic field in space, and the rotating magnetic field interacts with the permanent magnet on the mover to generate a rotating torque, thereby driving the mover to rotate. When adjusting the power parameters, the current and voltage are adjusted according to the displacement adjustment amount, and the specific steps are as follows:

[0149] Step 1, coordinate transformation, transform the electromagnetic coil current from the three-phase stationary coordinate system (abc) to the two-phase rotating coordinate system (dq). In one example, Clarke transformation and Park transformation can be used for coordinate transformation. Specifically, Clarke transformation: transform the three-phase stationary coordinate system (abc) to the two-phase stationary coordinate system (αβ), and transform the three-phase current from the three-phase stationary coordinate system (abc) to the two-phase rotating coordinate system (αβ) by formula (4) and formula (5). Convert to two-phase stationary coordinate system current ; Park transformation, converting the two-phase stationary coordinate system (αβ) into the two-phase rotating coordinate system (dq), converting the two-phase stationary coordinate system current Convert to two-phase rotating coordinate system current ; The three-phase current Convert to two-phase stationary coordinate system current .

[0150] (4)

[0151] (5)

[0152] Park transformation, get the angle of the current mover , use formula (6) and formula (7) to transform the two-phase stationary coordinate system (αβ) into the two-phase rotating coordinate system (dq), and convert the two-phase stationary coordinate system current Convert to two-phase rotating coordinate system current .

[0153] (6)

[0154] (7)

[0155] Step 2, current regulation, in the rotating coordinate system (dq), use the PI controller to adjust the current of the d-axis and q-axis respectively, where the d-axis current control is mainly used to control the magnetic flux, as shown in formulas (8) and (9).

[0156] (8)

[0157] (9)

[0158] The q-axis current control is mainly used to control the torque, as shown in equations (10) and (11).

[0159] (10)

[0160] (11)

[0161] in, , are the target d-axis current and target q-axis current (corresponding to target parameter values) determined according to the actual application scenario.

[0162] Step 3, voltage reference value calculation, calculate the required d-axis and q-axis voltage reference values ​​according to the d-axis and q-axis current errors output by the PI controller, as shown in formula (12) and formula (13).

[0163] (12)

[0164] (13)

[0165] Then, the calculated voltage reference value is transformed from the rotating coordinate system (dq) back to the three-phase stationary coordinate system (abc) through an inverse coordinate transformation. In one example, an inverse Park transformation and an inverse Clarke transformation can be used, wherein the inverse Park transformation (dq→αβ) transforms the rotating coordinate system voltage Convert back to the stationary coordinate system voltage , as shown in formula (14) and formula (15).

[0166] (14)

[0167] (15)

[0168] Inverse Clarke transformation (αβ→abc) converts the voltage in the stationary coordinate system to Convert back to three-phase voltage , as shown in formula (16), formula (17), and formula (18).

[0169] (16)

[0170] (17)

[0171] (18)

[0172] Step 4: Adjust the current of the electromagnetic coil. According to the calculated voltage reference value, control the inverter through the PWM (pulse width modulation) signal to adjust the current of the electromagnetic coil to generate the required rotating magnetic field. The specific steps and formulas are as follows: (1) Calculate the voltage reference value, where, as shown in formula (19), formula (20), formula (21), formula (22), and formula (23), the d-axis and q-axis voltage reference values ​​calculated by the vector control algorithm can be , converted to the three-phase stationary coordinate system voltage .

[0173] (19)

[0174] (20)

[0175] (twenty one)

[0176] (twenty two)

[0177] (twenty three)

[0178] (2) Generate PWM signal, and convert the three-phase voltage reference value In one example, assuming the PWM frequency is , the time base signal is (from 0 to The duty cycle of the PWM signal is generated as shown in formula (24), formula (25), and formula (26).

[0179] (twenty four)

[0180] (25)

[0181] (26)

[0182] in, is the DC supply voltage.

[0183] (3) Drive the inverter switch and use the PWM signal to control the inverter switch. Higher than When the A phase high side switch is turned on and the A phase low side switch is turned off, Lower than When the inverter outputs three-phase AC current flowing through the electromagnetic coil, a rotating magnetic field can be generated.

[0184] Step 5, compensate for the error and achieve precise rotation. Specifically, by adjusting the current of the electromagnetic coil, the strength and direction of the rotating magnetic field are changed, thereby achieving precise control of the mover. In one example, the process is a closed-loop control system that can compensate for the error by continuously reading the position sensor data and adjusting the current or periodically reading the position sensor data and adjusting the current.

[0185] Figure 4 The present invention is an integrated management system for a grinding method according to an exemplary embodiment, and the integrated management system includes a user interface, a data analysis module, a real-time control module, and a data acquisition module. Specifically, the user interface is used for parameter setting and real-time display, wherein the parameter setting includes inputting a grinding path (drawing a path file using a graphical interface or importing the path file), setting a target grinding force and setting a grinding tool speed, and the real-time display includes real-time display of the current grinding force, position and grinding tool speed, and displaying the grinding path and the current grinding position. The real-time control module is used for controlling parameter input, motion control, and force feedback control, wherein the control parameter input includes receiving and processing the grinding path, grinding force and grinding tool speed set by the user, the motion control includes controlling the magnetic suspension plane conveying system to move according to the set path, and controlling the speed of the grinding tool self-rotating motor, and the force feedback control includes real-time monitoring of the grinding force and adjusting the movement of the grinding tool self-rotating motor and the magnetic suspension plane conveying system through a PI controller to maintain a constant grinding force. The data acquisition module is used for real-time data acquisition and data storage, where real-time data acquisition includes collecting data such as force, position and speed during the grinding process, and data storage includes storing the collected data in a database or file for subsequent analysis. The data analysis module is used for data processing and result display, where data processing includes filtering and denoising the collected data, and result display includes displaying the curves of grinding force, position and speed changing with time, and generating statistical reports of the grinding process, such as grinding time, stability of grinding force, etc.

[0186] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0187] Based on the same inventive concept, the embodiment of the present application also provides a magnetic suspension grinding system for implementing the grinding method involved above. The implementation scheme for solving the problem provided by the magnetic suspension grinding system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more magnetic suspension grinding system embodiments provided below can refer to the limitations on the grinding method above, and will not be repeated here.

[0188] In an exemplary embodiment, a magnetic suspension grinding system is provided, the magnetic suspension grinding system comprising a controller, a stator, and a mover, the mover is suspended above the stator, the stator is used to drive the mover to move, and the mover is connected to the workpiece to be ground, such as Figure 5 As shown, the controller 500 includes:

[0189] An acquisition module 510 is used to acquire a preset grinding force and an actual grinding force applied by a grinding tool on the workpiece to be ground;

[0190] A determination module 520, configured to determine a displacement adjustment amount of the mover according to a difference between the actual grinding force and the preset grinding force;

[0191] The adjustment module 530 is used to adjust the power parameters of the stator according to the displacement adjustment amount, so that the mover moves according to the displacement adjustment amount, and the workpiece to be polished is polished by using the polishing tool.

[0192] In one embodiment, the determining module includes:

[0193] A first acquisition submodule is used to acquire geometric structure data of a surface to be polished of the workpiece to be polished;

[0194] The determination submodule is used to determine the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force and the geometric structure data.

[0195] In one embodiment, the determining submodule includes:

[0196] A first determining unit, configured to determine, based on the geometric structure data, a surface feature of a workpiece at a contact position between the grinding tool and the workpiece to be ground;

[0197] The second determination unit is used to determine the displacement adjustment amount of the mover based on the surface characteristics of the workpiece and according to the difference between the actual grinding force and the preset grinding force.

[0198] In one embodiment, the second determining unit includes:

[0199] A first determining subunit, configured to determine a difference between the actual grinding force and the preset grinding force;

[0200] A second determining subunit is used to determine height characteristic data at the contact position in response to the surface characteristics of the workpiece including a height difference within a preset range at the contact position;

[0201] The third determination subunit is used to determine the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data.

[0202] In one embodiment, the displacement adjustment amount includes a rotation angle adjustment amount, and the third determination subunit is further used for:

[0203] In the case where the height characteristic data includes an inclination angle, obtaining a correlation between the position of the mover and the grinding force at the inclination angle;

[0204] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0205] In one embodiment, the displacement adjustment amount includes a longitudinal displacement adjustment amount, and the third determination subunit is further used for:

[0206] In the case where the height characteristic data includes a height difference value, obtaining a correlation relationship between the position of the mover and the grinding force under the height difference value;

[0207] According to the association relationship, a displacement adjustment amount matching the difference is determined.

[0208] In one embodiment, the displacement adjustment amount includes a plane displacement adjustment amount, and the second determining unit includes:

[0209] a fourth determining subunit, configured to determine a difference between the actual grinding force and the preset grinding force;

[0210] A fifth determining subunit, used to determine the correlation between the planar position of the mover and the grinding force according to the surface features of the workpiece;

[0211] The sixth determining subunit is used to determine, according to the association relationship, a plane displacement adjustment amount that matches the difference.

[0212] In one embodiment, the adjustment module includes:

[0213] A second acquisition submodule, used for acquiring the correlation between the electric power parameter of the stator and the displacement of the mover;

[0214] The regulating submodule is used to determine the target parameter value corresponding to the displacement adjustment amount according to the association relationship, and regulate the power parameter of the stator to the target parameter value.

[0215] Each module in the above-mentioned magnetic suspension grinding system can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0216] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data involved in the method described in this embodiment, such as grinding force. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a grinding method is implemented.

[0217] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0218] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0219] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0220] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0221] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0222] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0223] 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 application.

[0224] The above-described 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 scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A grinding method, characterized in that: The method is applied to a controller in a magnetic suspension grinding system, wherein the magnetic suspension grinding system comprises a stator and a mover, wherein the mover is suspended above the stator, the stator is used to drive the mover to move, and the mover is connected to a workpiece to be ground, and comprises: Obtaining a preset grinding force and an actual grinding force applied by the grinding tool on the workpiece to be ground; Determining a displacement adjustment amount of the mover according to a difference between the actual grinding force and the preset grinding force; According to the displacement adjustment amount, the power parameters of the stator are adjusted so that the mover moves according to the displacement adjustment amount, and the workpiece to be polished is polished by using the polishing tool.

2. The method according to claim 1, characterized in that The step of determining the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force comprises: Acquiring geometric structure data of the surface to be polished of the workpiece to be polished; The displacement adjustment amount of the mover is determined according to the difference between the actual grinding force and the preset grinding force and the geometric structure data.

3. The method according to claim 2, characterized in that The step of determining the displacement adjustment amount of the mover according to the difference between the actual grinding force and the preset grinding force and the geometric structure data comprises: Determining the surface features of the workpiece at the contact position between the grinding tool and the workpiece to be ground according to the geometric structure data; Based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force, the displacement adjustment amount of the mover is determined.

4. The method according to claim 3, characterized in that The step of determining the displacement adjustment amount of the mover based on the surface feature of the workpiece and according to the difference between the actual grinding force and the preset grinding force comprises: determining a difference between the actual grinding force and the preset grinding force; In response to the surface feature of the workpiece including a height difference within a preset range at the contact position, determining height feature data at the contact position; Based on the correlation between the position of the mover and the grinding force under the height characteristic data, a displacement adjustment amount matching the difference is determined.

5. The method according to claim 4, characterized in that The displacement adjustment amount includes a rotation angle adjustment amount, and the determination of the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data includes: In the case where the height characteristic data includes an inclination angle, obtaining a correlation between the position of the mover and the grinding force at the inclination angle; According to the association relationship, a displacement adjustment amount matching the difference is determined.

6. The method according to claim 4, characterized in that The displacement adjustment amount includes a longitudinal displacement adjustment amount, and the determination of the displacement adjustment amount matching the difference based on the correlation between the position of the mover and the grinding force under the height characteristic data includes: In the case where the height characteristic data includes a height difference value, obtaining a correlation relationship between the position of the mover and the grinding force under the height difference value; According to the association relationship, a displacement adjustment amount matching the difference is determined.

7. The method according to claim 3, characterized in that The displacement adjustment amount includes a plane displacement adjustment amount, and the displacement adjustment amount of the mover is determined based on the surface features of the workpiece and according to the difference between the actual grinding force and the preset grinding force, including: determining a difference between the actual grinding force and the preset grinding force; Determining the correlation between the plane position of the mover and the grinding force according to the surface features of the workpiece; According to the association relationship, a plane displacement adjustment amount matching the difference is determined.

8. The method according to claim 1, characterized in that The step of adjusting the electrical parameters of the stator according to the displacement adjustment amount includes: Acquiring a correlation between an electric power parameter of the stator and a displacement of the mover; According to the association relationship, a target parameter value corresponding to the displacement adjustment amount is determined, and the power parameter of the stator is adjusted to the target parameter value.

9. A magnetic suspension grinding system, characterized in that: The magnetic suspension grinding system includes a controller, a stator, and a mover. The mover is suspended above the stator. The stator is used to drive the mover to move. The mover is connected to the workpiece to be ground. The controller includes: An acquisition module, used for acquiring a preset grinding force and an actual grinding force applied by a grinding tool on the workpiece to be ground; A determination module, configured to determine a displacement adjustment amount of the mover according to a difference between the actual grinding force and the preset grinding force; The regulating module is used to adjust the power parameters of the stator according to the displacement adjustment amount, so that the mover moves according to the displacement adjustment amount, and the workpiece to be polished is polished by using the polishing tool.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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