A metal sheet forming method based on strain trajectory optimization

Abstract

The present invention discloses a metal plate processing and forming method based on strain trajectory optimization, specifically relating to the field of metal plate trajectory correction and reshaping control based on the response analysis of electrical and magnetic variables. The method includes placing the metal plate to be processed on a clamping platform and configuring the target position and number of clamping heads according to the size and shape parameters of the metal plate, so that the metal plate completes the initial clamping and positioning along a preset direction. By collecting and analyzing the spatial response characteristics of electrical and magnetic variables in real time under the action of multiple clamping structures, a metal plate trajectory state identification and pseudo-trajectory correction mechanism is constructed, and dynamic coupling optimization of the pressing path and the actual strain state is achieved. This solves the problem of difficulty in identifying the clamping out-of-control area and misjudging the trajectory state under the dynamic adjustment conditions of the clamping structure, ensuring that a closed, accurate, and consistent strain trajectory is formed during the continuous forming processes such as metal plate flipping, straightening, and reshaping, thereby improving the forming quality and process stability.

Description

Technical Field

[0001] The present invention relates to the technical field of metal plate trajectory correction and complex shape control based on electric variable and magnetic variable response analysis, and more specifically, to a metal plate processing and forming method based on strain trajectory optimization. Background Art

[0002] In current sheet metal forming processes involving multiple grippers, especially in multi-stage forming chains consisting of consecutive steps such as flipping, straightening, and reshaping, the system often relies on the synchronous execution of the gripping structure and path planning strategies to guide the sheet metal along a preset strain trajectory to achieve high-precision flattening and surface correction.

[0003] However, as the clamping structure dynamically adjusts the number and distribution of clamping heads according to the plate specifications, individual clamping units often fail during operation (e.g., clamping mechanism loosening, drive lag, or contact slippage), resulting in localized clamping loss of control;

[0004] Because existing technologies generally use position trajectories or mechanical closed loops as the basis for judgment, they are unable to accurately identify the local unstable state area at the initial stage of chuck failure. The system still treats this area as a continuous strain path and ultimately performs a conventional pressing operation on it with a complex device (such as a pressing head), resulting in a serious mismatch between the trajectory and the physical state.

[0005] Especially in the uncompacted section, when there is a large deviation between the real physical state and the virtual trajectory, the system compaction operation can easily lead to structural damage in non-target areas, resulting in quality defects such as ripples, bulges or material fatigue cracks;

[0006] Therefore, the core problem of the current technology is that under the conditions of dynamic adjustment of the clamping structure, there is a lack of a trajectory state identification mechanism based on the response of electrical or magnetic variables, resulting in the ineffective distinction of pseudo-trajectories. The pressing process cannot achieve the coupling of trajectory state and physical reality, affecting the forming quality and process stability of the metal plate. Summary of the Invention

[0007] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a metal plate processing and forming method based on strain trajectory optimization. By real-time collection and analysis of the spatial response characteristics of electrical variables and magnetic variables under the action of multiple clamping structures, a metal plate trajectory state recognition and pseudo-trajectory correction mechanism is constructed to achieve dynamic coupling optimization of the pressing path and the actual strain state, so as to solve the problem of difficulty in identifying the clamping out-of-control area and misjudging the trajectory state under the dynamic adjustment conditions of the clamping structure, and ensure that a closed, accurate and consistent strain trajectory is formed in the continuous forming process of metal plate flipping, straightening and reshaping, thereby improving the forming quality and process stability.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a metal sheet forming method based on strain trajectory optimization, comprising:

[0009] S1. Place the metal plate to be processed on the clamping platform and configure the target position and number of clamping heads according to the size and shape parameters of the metal plate to complete the initial clamping positioning of the metal plate along the preset direction;

[0010] S2. During the flipping or conveying operation, the electrical or magnetic variable response signals within the action area of ​​the multiple clamping heads are collected in real time, and a spatial field response distribution map of the metal plate in the clamping state is constructed based on the signals;

[0011] S3. Performing continuity detection and boundary response difference analysis on the spatial field response distribution map to identify low-response areas where electrical or magnetic variables are abnormal due to the clamping force of the clamping head being lower than a preset threshold, position offset, or abnormal movement, and combining the trajectory planning information generated during the clamping head configuration process to determine whether there is a pseudo-strain trajectory in the low-response area that is inconsistent with the actual sheet deformation state;

[0012] S4. If a pseudo-strain trajectory is detected, a trajectory correction model is constructed in the corresponding low-response area to generate a differential feedback value of an electrical variable or a magnetic variable representing the degree of trajectory deviation, and the differential feedback value is transmitted to the forming control module;

[0013] S5, the forming control module adjusts the indenter path, execution sequence or pressing parameters corresponding to the low response area according to the differential feedback value of the electrical variable or magnetic variable, so as to achieve compensatory correction control of the trajectory state of the area;

[0014] S6. After the compensatory correction of the trajectory state is completed, the forming control module performs a reshaping operation, a straightening operation or a local deformation removal operation on the corresponding area of ​​the metal plate.

[0015] In a preferred embodiment, it is defined in S2 Indicates location ,time The value of the spatial field response distribution spectrum under;

[0016] ;

[0017] ;

[0018] ;

[0019] in Indicates that within the gripping head action area, at time ,Location The collected electrical variable response vector; is the corresponding magnetic variable response vector; is the Euclidean modulus length; and Represent the normalized weight coefficients of the electric variable response term and the magnetic variable response term, respectively, and satisfy ; is the response disturbance suppression factor; and are the spatial gradients of the electric and magnetic variables, respectively; is the disturbance compressibility coefficient;

[0020] in is the electromagnetic coupling strength term; is the coupling amplification factor.

[0021] In a preferred embodiment, in S3, Constructing the identification function of the pseudo-strain trajectory, which represents the degree of coupling deviation between the spectrum response and the trajectory planning;

[0022] ;

[0023] ;

[0024] ;

[0025] ;

[0026] in is the perturbation response intensity function of the electromagnetic spectrum; is the clamping control state coupling function; is the gradient operator, is the Laplace operator; is the difference between the target clamping force and the current clamping force; is the spatial offset of the clamping head; The disturbance entropy of the clamping action time series is calculated by the time difference sequence between the control command and the actual action. is the Sigmoid function; Reference response value for trajectory planning; is the nonlinear deviation response index; Express Perform dynamic adjustment factors in position and time dimensions.

[0027] In a preferred embodiment, a trajectory correction model is constructed in S4:

[0028] ;

[0029] in is the differential feedback value; is the electric variable response trajectory density function, defined as:

[0030] ;

[0031] in is the magnetic variable response trajectory density function, defined as:

[0032] ;

[0033] in is the trajectory response coupling unsteady index, defined as:

[0034] ;

[0035] in is the composite response fusion function, defined as:

[0036] ;

[0037] in is the current observed electrical response intensity, is the electrical response intensity of the reference trajectory; is the current observed magnetic response intensity, is the magnetic response intensity of the reference trajectory; They represent the corresponding input variables respectively.

[0038] In a preferred embodiment, in S5, an execution unit of a forming control module is constructed, and the execution unit of the forming control module includes: a processing chip, a plurality of electric servo press head assemblies, a signal receiving and converting unit, and a feedback drive execution circuit. The processing chip receives the differential feedback value through the signal receiving and converting unit, and outputs the control signal generated by the differential feedback value to the drive circuit of the corresponding press head assembly; the press head assembly is used for the restoration operation, the straightening operation, or the local deformation removal operation;

[0039] A quantitative analysis operation is performed on the deviation value of the electric variable response trajectory density function and the deviation value of the magnetic variable response trajectory density function in the differential feedback value to solve them into a trajectory correction vector group that has completed numerical calibration. The trajectory correction vector group corresponds to the actual coordinate index of each low response area in the spatial field response distribution map;

[0040] The processing chip establishes a pressure head control mapping table based on the position index corresponding to each vector in the trajectory correction vector group and the pressure head physical layout information, and binds each trajectory correction vector to the target pressure head component;

[0041] Performing a correction calculation for each control path in the indenter control mapping table, the correction calculation comprising: superimposing a correction displacement value, adjusting a pressure application rate, and a pressure pulse timing on the basis of an original path instruction of the target indenter component to form a new indenter control instruction sequence;

[0042] The updated press head control instruction sequence is sent to each press head assembly in sequence according to the position correspondence. The feedback drive execution circuit in the forming control module adjusts the path deflection amplitude, action rhythm and pressing force of the corresponding press head assembly in real time.

[0043] After the instruction is executed, the processing chip collects the electric variable or magnetic variable response signal of the low response area again, and compares the new round of data with the target response value of the corresponding position in the trajectory correction vector group. If they match, the correction state is retained. If there is still a deviation, recursive optimization is performed to enable the metal plate to complete the reshaping operation, straightening operation or local deformation removal operation within the target area.

[0044] Technical effects and advantages of the present invention:

[0045] 1. This solution, based on the spatial field response distribution of electrical and magnetic variable response signals, models the field of the real-time state of the clamping area. This allows identification of low-response areas caused by insufficient clamping force, delayed action, or contact slip, thereby determining pseudo-strain trajectories. This solves the key problem of traditional position-based trajectory judgment, which cannot identify chuck loss of control.

[0046] 2. This solution introduces a trajectory correction vector group construction mechanism after trajectory identification. Combining differential feedback analysis with a pressure head component mapping table, this enables adaptive adjustment of pressure head commands for low-response areas. This improves response control capabilities in the early stages of trajectory state deviations and avoids mis-pressing non-target areas caused by conventional pressure paths.

[0047] 3. This solution proposes a recursive optimization approach to dynamically correct residual responses during the forming process. The constructed trajectory evolution inference mechanism can synchronously control the timing rhythm and path adjustment between multiple press head components based on the response deviation of each round of feedback, ensuring spatial continuity and stress balance during the pressing process, thereby improving overall surface forming accuracy.

[0048] 4. By comparing the trajectory correction reference value with the new round of response data, the solution can perform a secondary verification of the trajectory status after executing the instruction. If the deviation is not eliminated, the multi-objective recursive optimization process is automatically triggered to achieve real-time synchronous adjustment of the trajectory status and physical response, avoiding material scrapping due to one-time pressing errors.

[0049] 5. In practical applications, this solution can realize autonomous control of trajectory correction in multi-clamping, multi-path, and high-complexity sheet metal forming processes. It is suitable for sheet metal forming tasks with irregular structures, complex deformation paths, or high requirements for continuous process steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The figure is a flow chart of the method steps of the present invention. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0052] Refer to the instruction manual Figure 1 A metal sheet forming method based on strain trajectory optimization according to an embodiment of the present invention includes:

[0053] S1. Place the metal plate to be processed on the clamping platform and configure the target position and number of clamping heads according to the size and shape parameters of the metal plate to complete the initial clamping positioning of the metal plate along the preset direction;

[0054] S2. During the flipping or conveying operation, the electrical or magnetic variable response signals within the action area of ​​the multiple clamping heads are collected in real time, and a spatial field response distribution map of the metal plate in the clamping state is constructed based on the signals;

[0055] S3. Performing continuity detection and boundary response difference analysis on the spatial field response distribution map to identify low-response areas where electrical or magnetic variables are abnormal due to the clamping force of the clamping head being lower than a preset threshold, position offset, or abnormal movement, and combining the trajectory planning information generated during the clamping head configuration process to determine whether there is a pseudo-strain trajectory in the low-response area that is inconsistent with the actual sheet deformation state;

[0056] S4. If a pseudo-strain trajectory is detected, a trajectory correction model is constructed in the corresponding low-response area to generate a differential feedback value of an electrical variable or a magnetic variable representing the degree of trajectory deviation, and the differential feedback value is transmitted to the forming control module;

[0057] S5, the forming control module adjusts the indenter path, execution sequence or pressing parameters corresponding to the low response area according to the differential feedback value of the electrical variable or magnetic variable, so as to achieve compensatory correction control of the trajectory state of the area;

[0058] S6. After the compensatory correction of the trajectory state is completed, the forming control module performs a reshaping operation, a straightening operation or a local deformation removal operation on the corresponding area of ​​the metal plate.

[0059] It should be noted that in the formula structure involved in this solution, dimensionless terms can serve as proportionality or structural adjustment factors. When combined with quantities with units, they only play a numerical scaling role and do not introduce new physical dimensions. Therefore, they will not change or confuse the overall unit system of expression. This combination of "dimensionless terms and units" can be understood as a composite structural expression commonly used in mathematical and physical modeling, conforming to the principle of dimensional consistency and having a clear physical interpretation basis.

[0060] Secondly, in the formula structure of this scheme, if multiple variables with different physical units are involved, including but not limited to time, mass or energy variables, their joint appearance is to express the collaborative modeling relationship of multiple physical mechanisms. Each variable can be formed into a unified structure through function mapping, ratio combination or normalization adjustment. The units and meanings are clear, and the overall expression conforms to the principle of dimensional consistency and the common formula of engineering modeling.

[0061] Any constants, weights, adjustment factors, threshold parameters, and proportional coefficients involved in this solution are all adjustable control parameters for different application environments. Their values ​​depend on the target device configuration, data input characteristics, and performance optimization goals. During the implementation phase, they are set within a reasonable range through model verification, performance constraints, or engineering calibration. Although these parameters do not have preset unique values, they have clear adjustment logic and calculation paths and are part of the deterministic setting process in engineering implementation. The purpose of such setting is to ensure that the solution is both universally adaptable, reproducible, and operable, without affecting its technical clarity and feasibility.

[0062] Defined in S2 Indicates location ,time The value of the spatial field response distribution spectrum under the clamping state is shown in Figure 2. The higher the value, the stronger the response activity of the area under the clamping state.

[0063] ;

[0064] ;

[0065] ;

[0066] in Indicates that within the gripping head action area, at time ,Location The collected electric variable response vector includes voltage, electric field gradient, etc., and the unit is ; is the corresponding magnetic variable response vector, which includes magnetic flux density or magnetic induction intensity, and its unit is T (Tesla); is the Euclidean modulus, in the above formula the Euclidean modulus represents the amplitude of the response vector; and Represent the normalized weight coefficients of the electric variable response term and the magnetic variable response term, respectively, and satisfy , and The value of is preset according to the application or material sensitivity, or is determined based on experience; The response disturbance suppression factor is used in the above formula to adjust the main response amplitude according to the local electromagnetic gradient value to prevent the formation of false high points in the spectrum in high noise areas; and are the spatial gradients of the electric and magnetic variables, respectively, and their units are and , used to measure the intensity of local response disturbance in the region; is the disturbance compression coefficient. In the above formula, the disturbance compression coefficient determines the suppression weight of the disturbance on the overall spectrum. In the above formula, the value of the disturbance compression coefficient is selected to be less than 1;

[0067] in is the electromagnetic coupling strength term, which is used to emphasize the response synergy when the directions of the electric variable and the magnetic variable are consistent; in the above formula The point represents the dot product operation, which is used to reflect the directional relationship between the two. The larger the value, the stronger the response consistency of the point. is the absolute value symbol; is the coupling amplification coefficient. In the above formula, the coupling amplification coefficient is used to adjust the contribution of synergistic enhancement to the total response spectrum. It can be understood that if the directions of electric and magnetic responses are consistent, it indicates that the regional response is stable and highly integrated, and should be regarded as a key feature area.

[0068] In S3 via Constructing the identification function of the pseudo-strain trajectory, which represents the degree of coupling deviation between the spectrum response and the trajectory planning;

[0069] ;

[0070] ;

[0071] ;

[0072] ;

[0073] in is the perturbation response intensity function of the electromagnetic spectrum, which is composed of the local gradient and the second-order change (Laplace); is the clamping control state coupling function, which is used to form a comprehensive score reflecting the clamping force difference, displacement deviation, and uncoordinated movement; is the gradient operator, is the Laplace operator; is the difference between the target clamping force and the current clamping force, that is, Indicates that the clamping force is lower than the preset threshold; is the spatial offset of the clamping head, that is, Reflects position offset; The disturbance entropy of the clamping action time series is calculated by the time difference sequence between the control instruction and the actual action, that is, by Reflects abnormal clamping action; is the Sigmoid function, in the above formula, the Sigmoid function is used to normalize the control deviation to the [0, 1] interval; is the reference response value for trajectory planning, It is the raw data collected, which can be understood as It is a reference response template used for trajectory verification, error judgment and subsequent correction; it should be noted that In the formula, is a known preset input, that is, a known quantity, The expression is used to emphasize that this is a "fixed target value derived from trajectory planning" and not a variable to be solved; is the nonlinear deviation response index, The value of includes 2 or 3. When the system has a high tolerance for local response mutations and the goal is to identify obvious trajectory deviation areas, Including taking 2 to enhance the stability and applicability of the model; when the system is used for high-precision process control and needs to identify small offsets or slight de-stressing behaviors, Including taking 3 to improve the amplification sensitivity to slight deviations; Express Perform dynamic adjustment factors in position and time dimensions, Used to map the influence of clamping layout, preset trajectory strategy or local working conditions on the response value. In addition, in practical applications The value is determined based on the position of the clamping head and time The configuration state, activation flag and preset trajectory constraints are normalized and encoded, and the value range is [0, 1]. The final pseudo strain trajectory is obtained by Compare with the preset threshold.

[0074] Build the trajectory correction model in S4:

[0075] ;

[0076] in is the differential feedback value, which is used as the quantized output of electromagnetic trajectory offset correction; is the electric variable response trajectory density function, defined as:

[0077] ;

[0078] in is the magnetic variable response trajectory density function, defined as:

[0079] ;

[0080] in The trajectory response coupling non-steady-state index represents the relative difference rate of electromagnetic response change over time and is defined as:

[0081] ;

[0082] in is the composite response fusion function, defined as:

[0083] ;

[0084] in is the current observed electrical response intensity, The electric response intensity of the reference trajectory is calculated by and The square difference between them is taken in logarithmic form to enhance the nonlinear sensitivity to local electrical offset; is the current observed magnetic response intensity, is the magnetic response intensity of the reference trajectory; represents the logarithmic function with natural logarithm as base; They represent the corresponding input variables, that is, the input characteristics of the electric response and magnetic response in the trajectory correction area.

[0085] In S5, an execution unit of the forming control module is constructed. The execution unit of the forming control module includes: a processing chip, a plurality of electric servo press head assemblies, a signal receiving and converting unit, and a feedback drive execution circuit. The processing chip receives the differential feedback value through the signal receiving and converting unit, and outputs a control signal generated by the differential feedback value to the drive circuit of the corresponding press head assembly; the press head assembly is used for a restoration operation, a straightening operation, or a local deformation removal operation;

[0086] A quantitative analysis operation is performed on the deviation value of the electric variable response trajectory density function and the deviation value of the magnetic variable response trajectory density function in the differential feedback value to solve them into a trajectory correction vector group that has completed numerical calibration. The trajectory correction vector group corresponds to the actual coordinate index of each low response area in the spatial field response distribution map;

[0087] The processing chip establishes a pressure head control mapping table based on the position index corresponding to each vector in the trajectory correction vector group and the pressure head physical layout information, and binds each trajectory correction vector to the target pressure head component;

[0088] Performing a correction calculation for each control path in the indenter control mapping table, the correction calculation comprising: superimposing a correction displacement value, adjusting a pressure application rate, and a pressure pulse timing on the basis of an original path instruction of the target indenter component to form a new indenter control instruction sequence;

[0089] The updated press head control instruction sequence is sent to each press head assembly in sequence according to the position correspondence. The feedback drive execution circuit in the forming control module adjusts the path deflection amplitude, action rhythm and pressing force of the corresponding press head assembly in real time.

[0090] After the instruction is executed, the processing chip collects the electric variable or magnetic variable response signal of the low response area again, and compares the new round of data with the target response value of the corresponding position in the trajectory correction vector group. If they match, the correction state is retained. If there is still a deviation, recursive optimization is performed to enable the metal plate to complete the reshaping operation, straightening operation or local deformation removal operation in the target area, thereby achieving the closure of the trajectory state and the repair of the structural state.

[0091] Furthermore, in performing the recursive optimization, the processing chip recollects the electric variable or magnetic variable response signal for each low response area, and compares the deviation with the corrected target response value of the corresponding coordinate position in the trajectory correction vector group point by point;

[0092] When the target response value deviation at any position exceeds the preset residual threshold, the current execution status data of the corresponding pressing head component is located by processing the chip. The current execution status data includes the real-time offset of the pressing path, the pressing rate and the action period;

[0093] After acquiring the real-time execution status data of the current indenter assembly, the processing chip invokes a preset trajectory evolution analysis mechanism to deduce the changing trend of the current trajectory deviation in time and space dimensions based on the historical trajectory correction records in the low-response area and the continuous records of the real-time offset, pressure rate, and action cycle response formed by the indenter assembly under multiple rounds of previous control instructions. The processing chip then combines the changing trend direction with the target response value deviation characteristics in the trajectory correction vector group to perform residual direction reasoning and parameter increment analysis, construct a set of control parameter increments for path updating, and apply the set of control parameter increments to the control instructions of the current indenter assembly to form a new round of trajectory correction compensation instructions.

[0094] The processing chip constructs a local response coupling relationship diagram based on the electrical and magnetic variable response data between the control area of ​​the indenter assembly and its adjacent areas, and performs phase alignment calculation on the calibrated trajectory correction residual value in the low-response area and the trajectory response surface of the adjacent area based on the local response coupling relationship diagram;

[0095] During the alignment calculation, the trajectory offset correlation between regions is identified, and the nonlinear coupling interference component in the cross-region trajectory drift is extracted. The processing chip generates a recursive iteration increment for the current iteration based on this interference component. The recursive iteration increment is used to dynamically update the control parameters of all coupled indenter components, including path correction displacement, pressure rhythm interval, and pressure overlap interval.

[0096] After completing the parameter update, the processing chip constructs a synchronous control constraint table and parallelizes the indenter control path, forming a constraint allocation mechanism to ensure that the trajectory correction actions between the indenter components maintain temporal and spatial consistency;

[0097] Relying on the constraint allocation mechanism, the processing chip promotes the synchronous convergence of the overall trajectory response grid in terms of spatial continuity and stress distribution balance, and achieves the optimal system state of trajectory closure, surface correction and residual stress reduction in the target area of ​​the metal plate after multiple rounds of control execution.

[0098] It should be noted that this solution aims to optimize strain trajectories during sheet metal forming processes and constructs a control system centered on differential feedback, vector drive, and recursive collaboration. Compared with existing strategies that rely on static path planning and passive control adjustments based on electrical or magnetic variables, this solution represents a fundamental breakthrough in data collection methods, anomaly identification mechanisms, correction calculation logic, and control execution structure.

[0099] During the gripping, flipping, or conveying process, this solution not only collects the electrical or magnetic variable response data within the action area of ​​multiple gripping heads, but also simultaneously maps it into a spatial field response spectrum with temporal continuity and spatial distribution characteristics. This spatial field response spectrum is not an accumulation of single electrical / magnetic amplitudes, but rather integrates the response forms of each gripping head to construct a spatial evolution structure of the trajectory characteristics, providing a response basis for anomaly identification and corrective control.

[0100] Traditional electric / magnetic variable solutions only detect threshold violations or missing responses. This solution uses trajectory planning response values ​​as a reference, combining continuity detection with boundary response difference analysis to identify low-response areas caused by insufficient clamping force, displacement errors, or motion disorders. It also determines whether there are pseudo-strain trajectories in these areas that are inconsistent with surface deformation. This approach distinguishes itself from traditional technologies that cannot distinguish between true deformation and false responses.

[0101] The trajectory correction process no longer relies on fixed parameter fallback or single-point displacement compensation. Instead, it analyzes the electrical / magnetic deviation of the trajectory density function in the differential feedback value to calculate a trajectory correction vector group with clear position indexes. A pressure head control mapping table is constructed based on the physical layout of the pressure head assembly, achieving a direct binding between each low-response area and a specific pressure head. In addition, the command control does not use constant amplitude adjustment. Instead, it dynamically superimposes the correction displacement for each control path and adjusts the pressure application rate and action period, achieving multi-dimensional composite compensation for trajectory deviation.

[0102] In the recursive optimization mechanism, the scheme introduces a local response coupling mechanism for the first time. Instead of iterating according to a fixed residual convergence standard, it performs phase synchronization analysis on the trajectory residual state between the low-response area and its adjacent areas, extracts the nonlinear drift law, and dynamically reconstructs multi-objective convergence constraints. This shifts the control logic from point-to-point adjustment to spatial co-evolution, thereby improving trajectory closure accuracy and stress field consistency.

[0103] In summary, the core innovation of this solution lies not in simply using electrical or magnetic variables as input, but in reconstructing the entire control chain from anomaly identification to trajectory correction using spatial response maps. Furthermore, cross-region coupling and dynamic constraint mechanisms are introduced in the recursive optimization process. This achieves a qualitative upgrade from single-point response to global trajectory grid coordination, improving structural stability and forming accuracy during sheet metal processing.

[0104] It should also be noted that in actual application, the execution process of this solution can be illustrated by the following example: After the initial flipping and positioning of a metal plate with irregular edges and multiple curvature transition areas, the traditional method often relies on a fixed path press to apply uniform pressure to the surface. However, due to the uneven distribution of the clamping head or unbalanced force transmission, strain drift is easily caused in the edge area. After applying this solution, the electrical and magnetic variable response signals of the area are first collected during the flipping stage, and the corresponding spatial field response distribution map is constructed. The position of the low-response area is identified, and then the differential feedback value is parsed into a trajectory correction vector with spatial coordinates through the processing chip, mapped to the actual press head assembly, and the press head action parameters are adjusted before executing the pressing path;

[0105] After the first pressing operation in the area is completed, the system immediately performs data recall on the same location and compares the new round of response values ​​with the trajectory correction reference value. If the response result still does not meet the expectations, the system will no longer execute the fixed instruction repetitive operation. Instead, based on the response differences between adjacent areas, the system will implement dynamic recursive corrections to the current indenter path and action timing, so that the local deformation behavior and the overall forming trajectory evolve synchronously.

[0106] This process is repeated at every location where deviations occur. Without the need for external measuring equipment or repeated manual intervention, it relies on internal electrical / magnetic feedback and recursive correction logic to achieve simultaneous closure of multiple areas and continuous coordination of multiple paths, ultimately completing the metal plate's reshaping, straightening, and stress-balancing operations, thereby improving the degree of automation in complex sheet metal processing tasks.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A metal sheet forming method based on strain trajectory optimization, characterized in that: include: S1. Place the metal plate to be processed on the clamping platform and configure the target position and number of clamping heads according to the size and shape parameters of the metal plate to complete the initial clamping positioning of the metal plate along the preset direction; S2. During the flipping or conveying operation, the electrical or magnetic variable response signals within the action area of ​​the multiple clamping heads are collected in real time, and a spatial field response distribution map of the metal plate in the clamping state is constructed based on the signals; S3. Performing continuity detection and boundary response difference analysis on the spatial field response distribution map to identify low-response areas where electrical or magnetic variables are abnormal due to the clamping force of the clamping head being lower than a preset threshold, position offset, or abnormal movement, and combining the trajectory planning information generated during the clamping head configuration process to determine whether there is a pseudo-strain trajectory in the low-response area that is inconsistent with the actual sheet deformation state; S4. If a pseudo-strain trajectory is detected, a trajectory correction model is constructed in the corresponding low-response area to generate a differential feedback value of an electrical variable or a magnetic variable representing the degree of trajectory deviation, and the differential feedback value is transmitted to the forming control module; S5, the forming control module adjusts the indenter path, execution sequence or pressing parameters corresponding to the low response area according to the differential feedback value of the electrical variable or magnetic variable, so as to achieve compensatory correction control of the trajectory state of the area; Defined in S2 Indicates location ,time The value of the spatial field response distribution spectrum under; ； ； ； in Indicates that within the gripping head action area, at time ,Location The collected electrical variable response vector; is the corresponding magnetic variable response vector; is the Euclidean modulus length; and Represent the normalized weight coefficients of the electric variable response term and the magnetic variable response term, respectively, and satisfy ; is the response disturbance suppression factor; and are the spatial gradients of the electric and magnetic variables, respectively; is the disturbance compressibility coefficient; in is the electromagnetic coupling strength term; is the coupling amplification factor.

2. The metal sheet forming method based on strain trajectory optimization according to claim 1, characterized in that: The method further includes S6: after the compensatory correction of the trajectory state is completed, performing a reshaping operation, a straightening operation or a local deformation removal operation on the corresponding area of ​​the metal plate through the forming control module.

3. The metal sheet forming method based on strain trajectory optimization according to claim 2, characterized in that: In S3 via Constructing the identification function of the pseudo-strain trajectory, which represents the degree of coupling deviation between the spectrum response and the trajectory planning; ； ； ； ； in is the perturbation response intensity function of the electromagnetic spectrum; is the clamping control state coupling function; is the gradient operator, is the Laplace operator; is the difference between the target clamping force and the current clamping force; is the spatial offset of the clamping head; The disturbance entropy of the clamping action time series is calculated by the time difference sequence between the control command and the actual action. is the Sigmoid function; Reference response value for trajectory planning; is the nonlinear deviation response index; Express Perform dynamic adjustment factors in position and time dimensions.

4. The metal sheet forming method based on strain trajectory optimization according to claim 3, characterized in that: Build the trajectory correction model in S4: ； in is the differential feedback value; is the electric variable response trajectory density function, defined as: ； in is the magnetic variable response trajectory density function, defined as: ； in is the trajectory response coupling unsteady index, defined as: ； in is the composite response fusion function, defined as: ； in is the current observed electrical response intensity, is the electrical response intensity of the reference trajectory; is the current observed magnetic response intensity, is the magnetic response intensity of the reference trajectory; They represent the corresponding input variables respectively.

5. The metal sheet forming method based on strain trajectory optimization according to claim 4, characterized in that: In S5, an execution unit of the forming control module is constructed, and the execution unit of the forming control module includes: a processing chip, a plurality of electric servo pressure head components, a signal receiving and converting unit and a feedback drive execution circuit. The processing chip receives the differential feedback value through the signal receiving and converting unit, and outputs the control signal generated by the differential feedback value to the drive circuit of the corresponding pressure head component; the pressure head component is used for reshaping operation, straightening operation or local deformation removal operation.

6. The metal sheet forming method based on strain trajectory optimization according to claim 5, characterized in that: S5 further includes: performing a quantitative analysis operation on the deviation value of the electric variable response trajectory density function and the deviation value of the magnetic variable response trajectory density function in the differential feedback value to resolve them into a trajectory correction vector group that has completed numerical calibration, wherein the trajectory correction vector group corresponds to the actual coordinate index of each low response area in the spatial field response distribution map; The processing chip establishes a pressure head control mapping table based on the position index corresponding to each vector in the trajectory correction vector group and the pressure head physical layout information, and binds each trajectory correction vector to the target pressure head component; A correction calculation is performed on each control path in the pressure head control mapping table. The correction calculation includes: based on the original path instruction of the target pressure head component, superimposing the correction displacement value, adjusting the pressure application rate and the pressure pulse timing to form a new pressure head control instruction sequence.

7. The metal sheet forming method based on strain trajectory optimization according to claim 6, characterized in that: S5 also includes: sending the updated press head control instruction sequence to each press head assembly in sequence according to the position correspondence, and adjusting the path deflection amplitude, action rhythm and pressing force of the corresponding press head assembly in real time through the feedback drive execution circuit in the forming control module; After the instruction is executed, the processing chip collects the electric variable or magnetic variable response signal of the low response area again, and compares the new round of data with the target response value of the corresponding position in the trajectory correction vector group. If they match, the correction state is retained. If there is still a deviation, recursive optimization is performed to enable the metal plate to complete the reshaping operation, straightening operation or local deformation removal operation within the target area.

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