Method, device, processor and computer-readable storage medium for realizing spindle positioning control processing without external sensors

Abstract

The present invention relates to a method for realizing spindle positioning control processing without an external sensor, including the following steps: reading the number of overflows of the absolute encoder turns and calculating the overflow turn information; calculating the absolute position information of the motor; calculating the absolute position information of the spindle and calculating the mechanical angle information; latching the spindle position information at this time according to the zero reference signal and correcting the position at the zero reference signal moment; calculating the target positioning position and controlling the spindle to move to the target position. The present invention also relates to a device, a processor and a storage medium for realizing spindle positioning control processing without an external sensor. By using the device, the processor and the storage medium for realizing spindle positioning control processing without an external sensor according to the present invention, any mechanical transmission ratio is supported, the cost of the positioning device is saved; the precise positioning function can be directly realized in the high-speed operation state; the spindle position information is not lost after power-off, and the absolute value function can be realized.

Description

Technical Field

[0001] The present invention relates to the field of numerical control machine tools, and particularly to the field of spindle positioning. Specifically, it refers to a method, device, processor, and computer-readable storage medium for realizing spindle positioning control processing in the case of no external sensor. Background Art

[0002] The spindle positioning function is to send a positioning command by the upper controller. The spindle servo driver uses sensor signals such as the spindle motor encoder to stop the spindle at a determined position and maintain position locking. The spindle positioning function is applied to occasions such as tool change control of machining centers, retraction of precision boring, and rigid tapping. In the case where the mechanical transmission ratio of the spindle is not 1:1, external photoelectric switches or external spindle encoders and other sensors are required to realize the spindle positioning function. In the present invention, an absolute encoder is used on the motor side. Without an external sensor, the spindle servo driver can realize the accurate spindle positioning function, and the spindle position information is not lost after power failure, and the absolute value function can be realized. Summary of the Invention

[0003] The object of the present invention is to overcome the above-mentioned disadvantages of the prior art, and provide a method, device, processor, and computer-readable storage medium for realizing spindle positioning control processing in the case of no external sensor, which meets the requirements of cost saving, precise positioning, and wide application range.

[0004] In order to achieve the above object, the method, device, processor, and computer-readable storage medium for realizing spindle positioning control processing in the case of no external sensor of the present invention are as follows:

[0005] The method for realizing spindle positioning control processing in the case of no external sensor, its main feature is that the method includes the following steps:

[0006] (1) Read the number of overflows of the absolute encoder turns and calculate the overflow turn information;

[0007] (2) Calculate the absolute position information of the motor;

[0008] (3) Calculate the absolute position information of the spindle and calculate the mechanical angle information;

[0009] (4) According to the zero reference signal, latch the spindle position information at this time and correct the position at the zero reference signal moment;

[0010] (5) After receiving the spindle positioning command from the upper controller, calculate the target positioning position, control the spindle to move to the target position, and output a positioning completion signal.

[0011] Preferably, in the step (1), calculating the overflow turn information is specifically:

[0012] Calculate the overflow revolution information according to the following formula:

[0013] PosIni = OverFlow × MulitValue;

[0014] Wherein, PosIni is the overflow revolution information, MulitValue is the upper limit value of the multi-turn count of the absolute encoder, and OverFlow is the count value of the multi-turn data overflow times.

[0015] Preferably, in the step (2), calculating the absolute position information of the motor specifically includes:

[0016] Calculate the absolute position information of the motor according to the following formula:

[0017] MotorPos = PosIni + MulitCount × Resolution + SingleCount;

[0018] Where Resolution is the encoder resolution, MulitCount is the multi-turn data of the absolute encoder, SingleCount is the single-turn data of the absolute encoder, and PosIni is the overflow revolution information.

[0019] Preferably, in the step (3), calculating the absolute position information of the spindle specifically includes:

[0020] Calculate the absolute position information of the spindle according to the following formula:

[0021] SpindlePos = MotorPos × Den / Num;

[0022] Wherein, MotorPos is the absolute position information of the motor, Num: DEN is the electronic gear ratio.

[0023] Preferably, in the step (3), calculating the mechanical angle information specifically includes:

[0024] Calculate the mechanical angle information according to the following formula:

[0025] SpindleTheta = Mod(SpindlePos, SpindleLines);

[0026] Wherein, SpindleLines is the number of command pulses for one revolution of the spindle, SpindlePos is the absolute position information of the spindle, and Mod is the remainder algorithm.

[0027] Preferably, the step (4) specifically includes the following steps:

[0028] (4.1) If |SpindleTheta - SpindleThetaOld| > SpindleLines / 2, it means the spindle mechanical angle passes through the zero point, then continue with step (4.2), where SpindleTheta is the spindle mechanical angle information, SpindleThetaOld is the spindle mechanical angle information of the previous sampling period, and SpindleLines is the number of command pulses for one revolution of the spindle;

[0029] (4.2) Calculate the correction value at this time;

[0030] (4.3) Correct the position at the zero reference signal time according to the correction value.

[0031] Preferably, in step (4.2) for calculating the correction value, specifically:

[0032] If the spindle mechanical angle SpindleTheta < (-SpindleLines) / 2, calculate the correction value at this time according to the following formula:

[0033] ThetaCmp = SpindleTheta + SpindleLines;

[0034] If the spindle mechanical angle SpindleTheta > SpindleLines / 2, calculate the correction value at this time according to the following formula:

[0035] ThetaCmp = SpindleTheta - SpindleLines;

[0036] In other cases other than the above, calculate the correction value at this time according to the following formula:

[0037] ThetaCmp = SpindleTheta;

[0038] Among them, SpindleTheta is the spindle mechanical angle information, and SpindleLines is the number of command pulses for one revolution of the spindle.

[0039] Preferably, in step (4.3) for correcting the position at the zero reference signal time according to the correction value, specifically:

[0040] Correct the position at the zero reference signal time according to the following formula based on the correction value:

[0041] p0 = SpindlePos - ThetaCmp;

[0042] Among them, SpindlePos is the spindle absolute position information, and ThetaCmp is the correction value.

[0043] Preferably, calculating the target positioning position in the step (5) specifically includes:

[0044] Calculating the target positioning position according to the following formula:

[0045] TargetPos = SpindlePos + (SpindleTheta - TaregtTheta);

[0046] wherein, TaregtTheta is the set positioning angle, SpindlePos is the absolute position information of the spindle, and SpindleTheta is the mechanical angle information of the spindle.

[0047] The device for realizing the spindle positioning control process in the case of no external sensor is mainly characterized in that the device includes:

[0048] A processor configured to execute computer-executable instructions;

[0049] A memory storing one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for realizing the spindle positioning control process in the case of no external sensor as described above is realized.

[0050] The processor for realizing the spindle positioning control process in the case of no external sensor is mainly characterized in that the processor is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for realizing the spindle positioning control process in the case of no external sensor as described above is realized.

[0051] The computer-readable storage medium is mainly characterized in that a computer program is stored thereon, and the computer program can be executed by a processor to realize each step of the method for realizing the spindle positioning control process in the case of no external sensor as described above.

[0052] Adopting the method, device, processor and its computer-readable storage medium for realizing the spindle positioning control process in the case of no external sensor of the present invention supports any mechanical transmission ratio, saves the cost of the positioning device; can directly realize the precise positioning function in the high-speed operation state; the spindle position information is not lost after power-off, and the absolute value function can be realized. Description of the Drawings

[0053] Figure 1 It is a flowchart of the method for realizing the spindle positioning control process in the case of no external sensor of the present invention.

[0054] Figure 2Schematic diagram of the connection between the motor and the main shaft for the embodiment of the method for realizing the main shaft positioning control process without an external sensor according to the present invention. Detailed implementation manners

[0055] In order to more clearly describe the technical content of the present invention, the following will be further described in conjunction with specific embodiments.

[0056] The method for realizing the main shaft positioning control process without an external sensor according to the present invention includes the following steps:

[0057] (1) Read the number of overflows of the absolute encoder turns and calculate the overflow turn information;

[0058] (2) Calculate the absolute position information of the motor;

[0059] (3) Calculate the absolute position information of the main shaft and calculate the mechanical angle information;

[0060] (4) According to the zero reference signal, latch the main shaft position information at this time and correct the position at the zero reference signal moment;

[0061] (5) After receiving the main shaft positioning command from the upper controller, calculate the target positioning position, control the main shaft to move to the target position, and output a positioning completion signal.

[0062] As a preferred implementation manner of the present invention, in step (1), calculating the overflow turn information specifically is:

[0063] Calculate the overflow turn information according to the following formula:

[0064] PosIni = OverFlow × MulitValue;

[0065] Wherein, PosIni is the overflow turn information, MulitValue is the upper limit value of the multi-turn count of the absolute encoder, and OverFlow is the count value of the multi-turn data overflow times.

[0066] As a preferred implementation manner of the present invention, in step (2), calculating the absolute position information of the motor specifically is:

[0067] Calculate the absolute position information of the motor according to the following formula:

[0068] MotorPos = PosIni + MulitCount × Resolution + SingleCount;

[0069] Where Resolution is the encoder resolution, MulitCount is the multi-turn data of the absolute encoder, SingleCount is the single-turn data of the absolute encoder, and PosIni is the information on the number of overflow turns.

[0070] As a preferred embodiment of the present invention, in step (3), calculating the absolute position information of the spindle specifically includes:

[0071] Calculating the absolute position information of the spindle according to the following formula:

[0072] SpindlePos = MotorPos × Den / Num;

[0073] Where MotorPos is the absolute position information of the motor, and Num:DEN is the electronic gear ratio.

[0074] As a preferred embodiment of the present invention, in step (3), calculating the mechanical angle information specifically includes:

[0075] Calculating the mechanical angle information according to the following formula:

[0076] SpindleTheta = Mod(SpindlePos, SpindleLines);

[0077] Where SpindleLines is the number of command pulses for one revolution of the spindle, SpindlePos is the absolute position information of the spindle, and Mod is the remainder algorithm.

[0078] As a preferred embodiment of the present invention, step (4) specifically includes the following steps:

[0079] (4.1) If |SpindleTheta - SpindleThetaOld| > SpindleLines / 2, the zero crossing of the spindle mechanical angle occurs, and step (4.2) is continued, where SpindleTheta is the spindle mechanical angle information, SpindleThetaOld is the spindle mechanical angle information of the previous sampling period, and SpindleLines is the number of command pulses for one revolution of the spindle;

[0080] (4.2) Calculate the correction value at this time;

[0081] (4.3) Correct the position at the zero reference signal time according to the correction value.

[0082] As a preferred embodiment of the present invention, in step (4.2), calculating the correction value specifically includes:

[0083] If the spindle mechanical angle SpindleTheta < (-SpindleLines) / 2, calculate the correction value at this time according to the following formula:

[0084] ThetaCmp = SpindleTheta + SpindleLines;

[0085] If the spindle mechanical angle SpindleTheta > SpindleLines / 2, calculate the correction value at this time according to the following formula:

[0086] ThetaCmp = SpindleTheta - SpindleLines;

[0087] In other cases except the above, calculate the correction value at this time according to the following formula:

[0088] ThetaCmp = SpindleTheta;

[0089] Among them, SpindleTheta is the spindle mechanical angle information, and SpindleLines is the number of command pulses for one revolution of the spindle.

[0090] As a preferred embodiment of the present invention, in the step (4.3), the position at the zero reference signal time is corrected according to the correction value, specifically:

[0091] Correct the position at the zero reference signal time according to the following formula according to the correction value:

[0092] p0 = SpindlePos - ThetaCmp;

[0093] Among them, SpindlePos is the spindle absolute position information, and ThetaCmp is the correction value.

[0094] As a preferred embodiment of the present invention, in the step (5), the target positioning position is calculated, specifically:

[0095] Calculate the target positioning position according to the following formula:

[0096] TargetPos = SpindlePos + (SpindleTheta - TaregtTheta);

[0097] Among them, TaregtTheta is the set positioning angle, SpindlePos is the spindle absolute position information, and SpindleTheta is the spindle mechanical angle information.

[0098] The device for realizing the spindle positioning control process in the case of no external sensor of the present invention, wherein the device includes:

[0099] A processor configured to execute computer-executable instructions;

[0100] A memory storing one or more computer-executable instructions, which, when executed by the processor, implement the respective steps of the method for implementing spindle positioning control processing in the case of no external sensors as described above.

[0101] The processor for implementing spindle positioning control processing in the case of no external sensors according to the present invention, wherein the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the respective steps of the method for implementing spindle positioning control processing in the case of no external sensors as described above.

[0102] The computer-readable storage medium according to the present invention, on which a computer program is stored, and the computer program can be executed by a processor to implement the respective steps of the method for implementing spindle positioning control processing in the case of no external sensors as described above.

[0103] In a specific embodiment of the present invention, a spindle positioning control method without external sensors is provided, that is, the function of spindle positioning is realized by an absolute encoder of a motor.

[0104] The method for implementing spindle positioning control processing in the case of no external sensors according to the present invention includes the following steps:

[0105] Step 1: Initialize the multi-turn data overflow information of the absolute encoder;

[0106] Step 2: Calculate the absolute position information of the motor;

[0107] Step 3: Calculate the absolute position and mechanical angle information of the spindle;

[0108] Step 4: Calculate the zero reference signal position and perform compensation;

[0109] Step 5: Calculate the target positioning position and execute spindle positioning.

[0110] Taking a mechanical reduction ratio of 3:1 and a multi-turn absolute encoder of Tamagawa TS700N8401 model as an example, combined with Figures 1 to 2 , the specific embodiment is described.

[0111] Step 1: Initialize the multi-turn data overflow information of the absolute encoder.

[0112] Read the number of overflows OverFlow of the absolute encoder turns stored in the EEPROM and calculate the overflow turn information:

[0113] PosIni = OverFlow × MulitValue;

[0114] Among them, MulitValue is the upper limit value of the multi-turn count of the absolute encoder, and its value in this embodiment is 65536; OverFlow is the count value of the multi-turn data overflow times. If the overflow occurs in the positive direction, the count value is incremented by one. If the overflow occurs in the negative direction, the count value is decremented by one.

[0115] Step 2: Calculate the absolute position information of the motor.

[0116] Calculate the absolute position information of the motor MotorPos:

[0117] MotorPos = PosIni + MulitCount × Resolution + SingleCount;

[0118] Among them, Resolution is the encoder resolution, which is 8388608 in this embodiment; MulitCount is the multi-turn data of the absolute encoder; SingleCount is the single-turn data of the absolute encoder.

[0119] There is an upper limit for the multi-turn absolute count. When the multi-turn data overflows, record the number of times of multi-turn data overflow OverFlow and store it in the EEPROM.

[0120] Step 3: Calculate the absolute position of the spindle and the mechanical angle information.

[0121] As Figure 2 shown, the absolute position information of the spindle:

[0122] SpindlePos = MotorPos × Den / Num;

[0123] The spindle mechanical angle information:

[0124] SpindleTheta = Mod(SpindlePos, SpindleLines);

[0125] Among them, Num:DEN is the electronic gear ratio, and its value in this embodiment is 3:1; Mod is the remainder algorithm; SpindleLines is the number of command pulses for one revolution of the spindle.

[0126] Step 4: Calculate the zero reference signal position and make compensation.

[0127] According to the zero crossing of the spindle mechanical angle, which is the zero reference signal, latch the absolute position information of the spindle at this time.

[0128] If |SpindleTheta - SpindleThetaOld| > SpindleLines / 2, it is determined that the spindle mechanical angle passes through the zero point, and the spindle position information p0 at this time is latched:

[0129] p0 = SpindlePos;

[0130] Affected by the sampling period and the motor speed, the latched position information p0 is not accurate at this time. The longer the sampling period and the higher the speed, the greater the error. The correction method for P0 is as follows:

[0131] When the above-mentioned spindle mechanical angle passes through the zero point, if the spindle mechanical angle SpindleTheta < -SpindleLines / 2, the correction value:

[0132] ThetaCmp = SpindleTheta + SpindleLines;

[0133] If the spindle mechanical angle SpindleTheta > SpindleLines / 2, the correction value:

[0134] ThetaCmp = SpindleTheta - SpindleLines;

[0135] In other cases other than the above, the correction value:

[0136] ThetaCmp = SpindleTheta;

[0137] The position at the final corrected zero reference signal time:

[0138] p0 = SpindlePos - ThetaCmp;

[0139] This position value p0 is uploaded to the upper controller through bus communication for real-time calculation of the spindle angle and planning of the spindle positioning path, etc.

[0140] Step 5: Calculate the target positioning position and execute spindle positioning.

[0141] After receiving the spindle positioning command from the upper controller, calculate the target positioning position:

[0142] TargetPos = SpindlePos + (SpindleTheta - TaregtTheta);

[0143] Where TaregtTheta is the set positioning angle.

[0144] Calculate the target position after the final optimized path based on the main shaft movement direction and deceleration distance, control the main shaft movement to the target position, and output a positioning completion signal.

[0145] In the case where the mechanical transmission ratio of the main shaft is not 1:1, sensors such as external photoelectric switches or external main shaft encoders need to be used to achieve the main shaft positioning function.

[0146] Absolute value encoders are widely used in servo control for positioning and position control, etc. However, in the case where the mechanical transmission ratio of the main shaft is not 1:1, when installing an absolute value encoder on the motor side, it is impossible to obtain the zero reference signal on the main shaft side and information such as the absolute position of the main shaft using conventional technical means. Therefore, the positioning function cannot be achieved. In the present invention, only an absolute value encoder is used on the motor side, and there are no sensors on the main shaft side (as shown in the present invention Figure 2 ). Through a series of technical methods, it is possible to calculate the position of the zero reference signal of the main shaft and the absolute position in real time, and to achieve the function of accurate main shaft positioning.

[0147] In addition, usually the number of rotation cycles of an absolute value encoder has an upper limit (such as 65536 cycles). When exceeding this upper limit, the absolute value data is lost. In the present invention, even if the absolute value data overflows, the absolute position can still be guaranteed to be accurate.

[0148] For the specific implementation solution of this embodiment, reference can be made to the relevant descriptions in the above embodiments, and details are not elaborated here.

[0149] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not detailed in some embodiments can be referred to the same or similar content in other embodiments.

[0150] It should be noted that in the description of the present invention, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality" refers to at least two.

[0151] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0152] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0153] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0154] In addition, in each embodiment of the present invention, the functional units can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0155] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0156] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0157] Adopting the method, device, processor, and its computer-readable storage medium for realizing spindle positioning control processing in the case of no external sensor of the present invention supports any mechanical transmission ratio, saves the cost of the positioning device; can directly realize the precise positioning function in the high-speed operation state; the spindle position information is not lost after power failure, and the absolute value function can be realized.

[0158] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive.

Claims

1. A method for realizing spindle positioning control processing without an external sensor, characterized in that The method described above includes the following steps: (1) Read the number of overflows of the absolute encoder's revolution count and calculate the overflow revolution information; (2) Calculate the absolute position information of the motor; (3) Calculate the absolute position information of the spindle and calculate the mechanical angle information; (4) According to the zero reference signal, latch the spindle position information at this time and correct the position at the zero reference signal moment; (5) After receiving the spindle positioning command from the upper controller, calculate the target positioning position, control the spindle to move to the target position, and output a positioning completion signal; In step (1) for calculating the overflow revolution information, specifically: Calculate the overflow revolution information according to the following formula: PosIni = OverFlow × MulitValue; MulitValue is the upper limit value of the multi-turn count of the absolute encoder, and OverFlow is the count value of the multi-turn data overflow times; In step (2) for calculating the absolute position information of the motor, specifically: MotorPos = PosIni + MulitCount × Resolution + SingleCount; Where Resolution is the encoder resolution, MulitCount is the multi-turn data of the absolute encoder, and SingleCount is the single-turn data of the absolute encoder; In step (3) for calculating the absolute position information of the spindle, specifically: SpindlePos = MotorPos × Den / Num; Where, MotorPos is the absolute position information of the motor, Num:DEN is the electronic gear ratio; In step (3) for calculating the mechanical angle information, specifically: SpindleTheta = Mod(SpindlePos, SpindleLines); Where, SpindleLines is the number of command pulses for one revolution of the spindle, SpindlePos is the absolute position information of the spindle, and Mod is the remainder algorithm; Step (4) specifically includes the following steps: (4.1) If |SpindleTheta - SpindleThetaOld| > SpindleLines / 2, the spindle mechanical angle crosses the zero point, and continue to step (4.2), where SpindleTheta is the spindle mechanical angle information, SpindleThetaOld is the spindle mechanical angle information of the previous sampling period, and SpindleLines is the number of command pulses for one revolution of the spindle; (4.2) Calculate the correction value at this time; (4.3) Correct the position at the zero reference signal moment according to the correction value.

2. The method for realizing spindle positioning control processing in the case of no external sensor according to claim 1, characterized in that, In step (4.2) for calculating the correction value, specifically: If the spindle mechanical angle SpindleTheta < (-SpindleLines) / 2, calculate the correction value at this time according to the following formula: ThetaCmp = SpindleTheta + SpindleLines; If the spindle mechanical angle SpindleTheta > SpindleLines / 2, calculate the correction value at this time according to the following formula: ThetaCmp = SpindleTheta - SpindleLines; In other cases other than the above, the correction value at this time is calculated according to the following formula: ThetaCmp = SpindleTheta; Where SpindleTheta is the spindle mechanical angle information and SpindleLines is the number of command pulses for one revolution of the spindle.

3. The method for realizing spindle positioning control processing in the case of no external sensor according to claim 1, characterized in that In step (4.3), the position at the zero reference signal time is corrected according to the correction value, specifically: The position at the zero reference signal time is corrected according to the correction value according to the following formula: p0 = SpindlePos - ThetaCmp; Where SpindlePos is the spindle absolute position information and ThetaCmp is the correction value.

4. The method for realizing spindle positioning control processing in the case of no external sensor according to claim 1, characterized in that In step (5), the target positioning position is calculated, specifically: The target positioning position is calculated according to the following formula: TargetPos = SpindlePos + (SpindleTheta - TaregtTheta); Where TaregtTheta is the set positioning angle, SpindlePos is the spindle absolute position information, and SpindleTheta is the spindle mechanical angle information.

5. An apparatus for implementing spindle positioning control processing in the case of no external sensors, characterized in that, The device includes: A processor configured to execute computer-executable instructions; A memory storing one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for realizing spindle positioning control processing in the case of no external sensor as described in any one of claims 1 to 4 is realized.

6. A processor for implementing spindle positioning control processing in the case of no external sensor, characterized in that The processor is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for realizing spindle positioning control processing in the case of no external sensor as described in any one of claims 1 to 4 is realized.

7. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and the computer program can be executed by the processor to realize each step of the method for realizing spindle positioning control processing in the case of no external sensor as described in any one of claims 1 to 4.

Images