A rotation angle velocity control method suitable for a rotation type shaft hole assembly

Abstract

The application discloses a rotation angular velocity control method suitable for rotary shaft hole assembly, which comprises the following steps: constructing a shaft rod stress analysis and kinematics analysis diagram after the shaft rod and the shaft hole are contacted, obtaining a velocity instantaneous center coordinate under a current nutation angle, constructing a relational expression about a velocity instantaneous center change rate under the current nutation angle, constructing a relational expression of a velocity instantaneous center change rate at a current moment relative to a velocity instantaneous center change rate at an initial nutation angle by using a ReLU function, obtaining a current moment expected contact force deviation, constructing an angular velocity balance equation of the nutation angle based on the relational expression of the velocity instantaneous center change rate at the current moment relative to the velocity instantaneous center change rate at the initial moment, and calculating the angular velocity of the nutation angle by substituting the current moment expected contact force deviation into the angular velocity balance equation of the nutation angle. The rotation angular velocity control method suitable for rotary shaft hole assembly can avoid the failure of the assembly process caused by high contact force.

Description

Technical Field

[0001] This invention belongs to the field of artificial intelligence application technology, and more specifically, relates to a rotational angular velocity control method suitable for rotary shaft hole assembly. Background Technology

[0002] Intelligent assembly is a key component of intelligent manufacturing, and its efficiency significantly impacts production capacity. When a shaft extends into a shaft hole, the assembly force needs to be adjusted to rotate the shaft until it is vertically parallel to the shaft hole. During this process, significant contact forces exist between the shaft and the shaft hole, affecting the shaft's control precision.

[0003] In existing technologies, operators typically set the assembly force based on experience and rotate the shaft at a constant speed to allow it to enter the shaft hole. The problem with this method is that, in the initial stage of rotation when the shaft just contacts the shaft hole, and later in the rotation stage when the shaft and shaft hole are about to become vertically parallel, the constant speed rotation of the shaft can generate high contact forces, potentially leading to assembly failure. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides a rotational angular velocity control method suitable for rotary shaft hole assembly, which aims to avoid assembly failure caused by high contact force.

[0005] To achieve the above objectives, the present invention provides a method for controlling the rotational angular velocity of a rotating shaft-hole assembly, comprising:

[0006] S100. After the shaft and shaft hole come into contact, construct the force analysis diagram and kinematic analysis diagram of the shaft.

[0007] S200. Obtain the instantaneous center coordinates of the velocity under the current nutation angle, and construct a relationship model with respect to the rate of change of the instantaneous center of velocity under the current nutation angle;

[0008] S300. Based on the rate of change of the instantaneous center of velocity at the current moment, use the ReLU function to obtain the relationship between the rate of change of the instantaneous center of velocity at the current moment and the rate of change of the instantaneous center of velocity at the initial nutation angle.

[0009] S400. Obtain the expected contact force deviation at the current moment, and construct a balance model for the nutation angle angular velocity based on the relationship between the instantaneous center of velocity change rate at the current moment and the instantaneous center of velocity change rate at the initial moment.

[0010] S500. Substitute the expected contact force deviation at the current moment into the balance model to obtain the nutation angle angular velocity.

[0011] In one embodiment, in step S200, the relational model specifically refers to:

[0012]

[0013] In the formula: X is the instantaneous rate of change of velocity at the current nutation angle. icr (θ) represents the coordinates of the instantaneous center of velocity along the bottom surface of the shaft at the current nutation angle. icr (θ) is the coordinate of the instantaneous center of velocity along the shaft axis at the current nutation angle.

[0014] In one embodiment, in step S300, the ReLU function is specifically:

[0015]

[0016] In the formula: x represents the relationship between the rate of change of the instantaneous center of velocity at the current moment and the rate of change of the instantaneous center of velocity at the initial moment. Let θ0 be the instantaneous rate of change of the velocity center at the initial moment, and θ0 be the magnitude of the nutation angle at the initial moment of the rotation phase. Let θ(t) be the instantaneous rate of change of velocity at the current moment, and let θ(t) be the nutation angle at the current moment.

[0017] In one embodiment, obtaining the expected contact force deviation at the current moment in step S400 specifically involves:

[0018] In the formula, ΔF p (t) represents the contact force deviation at the current moment, F p (t) represents the contact force at the current moment. The desired contact force.

[0019] In one embodiment, the balance model for the nutation angle and angular velocity is specifically as follows:

[0020]

[0021] Where: M θ B is the rotational equivalent mass coefficient. θ Here, η is the rotational equivalent damping coefficient, and η is the damping amplification coefficient. Balanced angular velocity, Let ω be the angular velocity of the nutation angle at the current moment. Let be the angular acceleration of the nutation angle at the previous moment.

[0022] To achieve the above objectives, the present invention also provides a rotational angular velocity control device suitable for rotary shaft-hole assembly, comprising:

[0023] The first main module is used to construct the force analysis diagram and kinematic analysis diagram of the shaft after the shaft and shaft hole come into contact;

[0024] The second main module is used to obtain the coordinates of the instantaneous center of velocity under the current nutation angle and to construct a relationship model with respect to the rate of change of the instantaneous center of velocity under the current nutation angle.

[0025] The third main module uses the ReLU function to obtain the relationship between the current instantaneous velocity center change rate and the instantaneous velocity center change rate at the initial nutation angle, based on the current instantaneous velocity center change rate.

[0026] The fourth main module is used to obtain the expected contact force deviation at the current moment and to construct a balance model about the nutation angle angular velocity based on the relationship between the instantaneous center of velocity change rate at the current moment and the instantaneous center of velocity change rate at the initial moment.

[0027] The fifth main module is used to substitute the expected contact force deviation at the current moment into the balance model to obtain the nutation angle angular velocity.

[0028] To achieve the above objectives, the present invention also provides an electronic device, comprising: at least one processor, at least one memory, and a communication interface; wherein

[0029] The processor, memory, and communication interface communicate with each other;

[0030] The memory stores program instructions that can be executed by the processor, which calls the program instructions to execute the above-described rotational angular velocity control method applicable to rotary shaft-hole assembly.

[0031] To achieve the above objectives, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions that cause the computer to execute the above-described rotational angular velocity control method applicable to rotary shaft-hole assembly.

[0032] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0033] The rotational angular velocity control method of this invention for rotating shaft-hole assembly utilizes an angular velocity balance equation. In the initial stage of rotation, since the initial angular velocity is set to 0, the angular velocity increases from 0, preventing excessive contact force that could lead to assembly failure between the shaft and the shaft hole. Simultaneously, at the end of the rotation stage, the accelerated change in the instantaneous velocity center leads to... -x A value approaching 0 causes the angular velocity to decrease, allowing the shaft to stop at the end of the rotation phase. This prevents misalignment between the shaft and the shaft hole due to uniform speed. Furthermore, through closed-loop feedback of the contact force, the magnitude of the angular velocity can be changed, thus enabling active deceleration when the contact force deviation is large. This helps the shaft hole maintain the preset desired contact force during the rotation phase, thereby controlling the instantaneous change rate of the shaft's own velocity and adapting to external disturbances and changes in its own kinematics. Attached Figure Description

[0034] Figure 1 A flowchart of a rotational angular velocity control method for rotary shaft-hole assembly provided in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of a rotational angular velocity control device for rotary shaft-hole assembly provided in an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention;

[0037] Figure 4 This is a force analysis diagram of the initial rotation stage after the shaft and shaft hole come into contact, provided in an embodiment of the present invention.

[0038] Figure 5 This is a force analysis diagram at the end of the rotation stage after the shaft and shaft hole come into contact, provided in an embodiment of the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0042] Figure 1The flowchart of the shaft-hole rotation assembly angular velocity control method according to a preferred embodiment of the present invention is shown in the figure. The following steps specifically illustrate the derivation process of the method of the present invention:

[0043] S100: Construct the force analysis diagram and kinematic analysis diagram of the shaft after it comes into contact with the shaft hole.

[0044] Specifically, refer to Figure 4 and Figure 5 As shown, a shaft coordinate system and a shaft-hole coordinate system are established. Since the upper surface of the shaft is connected to the control device, the control device controls the movement of the shaft. Thus, the center of the circle on the upper surface of the shaft is taken as the center O. P Establish a coordinate system for the shaft, with the upper surface of the shaft perpendicular to O. P The two straight lines are taken as X p and Y p Using the axis of the shaft as Z p Using the center of the upper surface of the shaft hole as the center O H Using the axis of the shaft hole as Z H In this embodiment, the shaft rotates around the Y-axis. p Rotation in direction allows the shaft to enter the bore. The angle θ between the shaft axis and the bore axis is the nutation angle, and the velocity V at point U on the shaft is... U Always vertically downwards, point N1 is the contact point between the shaft and the shaft hole, and the velocity at point N1 is... Always upward along the direction of the shaft generatrix, V U perpendicular line and The intersection of the perpendiculars is the instantaneous center of velocity position P. ICR Due to the rotational motion of the shaft, the instantaneous center of velocity P is thus determined. ICR There is a change in position; theoretically, at any given moment, the shaft can be positioned around the instantaneous center of velocity P at that moment. ICR Rotary contact point support force Friction at the contact point Minimum, that is, the position P of the instantaneous center of velocity of the control shaft at the current moment. ICR Rotation can reduce contact force and improve the control accuracy and rotation speed of the rotation process.

[0045] S200: Obtain the coordinates of the instantaneous center of velocity at the current nutation angle, and construct a relational model regarding the rate of change of the instantaneous center of velocity at the current nutation angle. This relational model is as follows:

[0046]

[0047] In the formula: X is the instantaneous rate of change of velocity at the current nutation angle. icr (θ) represents the coordinates of the instantaneous center of velocity along the bottom surface of the shaft at the current nutation angle. icr(θ) is the coordinate of the instantaneous center of velocity at the current nutation angle relative to the shaft axis. Here, the nutation angle is the angle formed by the intersection of the shaft axis and the shaft hole axis.

[0048] Specifically, in this embodiment, since the upper surface of the shaft is parallel to the bottom surface, the instantaneous center of velocity is located at the coordinate along the bottom surface of the shaft, which is the instantaneous center of velocity X. p The coordinates of the direction, since the axis of the shaft is taken as Z. p The direction, the coordinate of the instantaneous center of velocity relative to the axis of the shaft, is the instantaneous center of velocity Z. p The coordinates of the direction. It's not hard to understand; it's achieved by transforming the instantaneous center of velocity coordinates into X-coordinates. p Direction and Z p Calculating the instantaneous center of velocity using the direction method is easier to operate and calculate compared to directly obtaining the instantaneous center of velocity.

[0049] Furthermore, based on the nutation angle and geometric relationships, the instantaneous center coordinates of the velocity are obtained. Specifically:

[0050] X icr = -(L1 cosθ - L2) / sinθ

[0051] Z icr =l-2L1

[0052] In the formula: L1 is the distance from the intersection of the shaft and the shaft hole axis to the center of the lower surface of the shaft, L2 is the distance from the intersection of the shaft and the shaft hole axis to the center of the upper surface of the shaft hole, and l is the length of the shaft.

[0053] Specifically, in this embodiment, due to the velocity V at point U... U Regardless of whether the shaft is always vertically downward, the velocity at point N1 Always moving upwards along the generatrix of the shaft, the instantaneous center of velocity is at the bottom surface X of the shaft. p The projection of the direction can always be expressed using |E2O p' | indicates that the instantaneous center of velocity is at the axis Z of the shaft. p The projection of the direction can always be expressed using |E1O p | indicates. Further, the intersection point C of the shaft axis and the shaft hole axis... O C O To the center O of the lower surface of the shaft p' The distance is |C o O p' |,C O To the center O of the upper surface of the shaft hole H The distance is |C o O H |, based on the nutation angle at the current moment, |C o O p' |and|C o O H|This allows you to build information about E2O| p' |and|E1O p The trigonometric function relationship | is used to obtain the instantaneous center of velocity X by projecting the instantaneous center of velocity. p and Z p Coordinates of direction.

[0054] Furthermore, using the shaft diameter and the shaft bore diameter, a relationship with |C| is constructed. o O p' |and|C o O H The trigonometric function relationship of | is as follows:

[0055] L1=(Rr cosθ) / sinθ

[0056] L2=(rR cosθ) / sinθ

[0057] In the formula: R is the diameter of the shaft hole, and r is the diameter of the shaft rod.

[0058] It is easy to understand that since the diameter of the shaft hole, the diameter of the shaft rod, and the length of the shaft rod are all constants, the instantaneous rate of change of velocity at the current nutation angle can be obtained by using the distance from the intersection of the shaft rod and the shaft hole axis to the center of the lower surface of the shaft rod and the distance from the intersection of the shaft rod and the shaft hole axis to the center of the upper surface of the shaft hole, based solely on the current nutation angle.

[0059] S300. Obtain the rate of change of the instantaneous center of velocity at the current moment. Use the ReLU function to obtain the relationship between the rate of change of the instantaneous center of velocity at the current moment and the rate of change of the instantaneous center of velocity at the initial nutation angle. The ReLU function is as follows:

[0060]

[0061] In the formula: x represents the relationship between the rate of change of the instantaneous center of velocity at the current moment and the rate of change of the instantaneous center of velocity at the initial moment. Let θ0 be the instantaneous rate of change of the velocity center at the initial moment, and θ0 be the magnitude of the nutation angle at the initial moment of the rotation phase. Let θ(t) be the instantaneous rate of change of velocity at the current moment, and let θ(t) be the nutation angle at the current moment.

[0062] S400, Obtain the expected contact force deviation at the current moment.

[0063] Specifically, by pre-setting a desired contact force, the current contact force is obtained, and the deviation between the current contact force and the pre-set desired contact force is compared. Specifically:

[0064]

[0065] In the formula, ΔF p (t) represents the contact force deviation at the current moment, F p(t) represents the contact force at the current moment. The desired contact force.

[0066] Furthermore, an equilibrium model for the nutation angle angular velocity is constructed based on the relationship between the rate of change of the instantaneous center of velocity at the current moment and the rate of change of the instantaneous center of velocity at the initial moment. The equilibrium model for the nutation angle angular velocity is as follows:

[0067]

[0068] Where: M θ B is the rotational equivalent mass coefficient. θ Here, η is the rotational equivalent damping coefficient, and η is the damping amplification coefficient. Balanced angular velocity, Let ω be the angular velocity of the nutation angle at the current moment. Let be the angular acceleration of the nutation angle at the previous moment.

[0069] It's easy to understand that, through the above angular velocity balance equation, in the initial stage of the rotation phase, since the initial value of the angular velocity is set to 0, the angular velocity increases from 0, preventing excessive contact force from causing assembly failure between the shaft and the shaft hole. Simultaneously, at the end of the rotation phase, due to the accelerated change in the position of the instantaneous center of velocity, e... -x A value approaching 0 causes the angular velocity to decrease, allowing the shaft to stop at the end of the rotation phase. This prevents misalignment between the shaft and the shaft hole due to uniform speed. Furthermore, through closed-loop feedback of the contact force, the magnitude of the angular velocity can be changed, thus enabling active deceleration when the contact force deviation is large. This helps the shaft hole maintain the preset desired contact force during the rotation phase, thereby controlling the instantaneous change rate of the shaft's own velocity and adapting to external disturbances and changes in its own kinematics.

[0070] The implementation of the various embodiments of the present invention is based on programmed processing by a device with processor functionality. Therefore, in practical engineering, the technical solutions and functions of the various embodiments of the present invention can be encapsulated into various modules. Based on this reality, and building upon the above embodiments, the embodiments of the present invention provide a rotational angular velocity control device suitable for rotary shaft-hole assembly. This shaft-hole rotational assembly angular velocity control device is used to execute the rotational angular velocity control method suitable for rotary shaft-hole assembly in the above method embodiments. See [link to previous section]. Figure 2 The rotational angular velocity control device suitable for rotary shaft hole assembly includes:

[0071] The first main module is used to construct the force analysis diagram and kinematic analysis diagram of the shaft after the shaft and shaft hole come into contact;

[0072] The second main module is used to obtain the coordinates of the instantaneous center of velocity under the current nutation angle and to construct a relationship model with respect to the rate of change of the instantaneous center of velocity under the current nutation angle.

[0073] The third main module uses the ReLU function to obtain the relationship between the current instantaneous velocity center change rate and the instantaneous velocity center change rate at the initial nutation angle, based on the current instantaneous velocity center change rate.

[0074] The fourth main module is used to obtain the expected contact force deviation at the current moment and to construct a balance model about the nutation angle angular velocity based on the relationship between the instantaneous center of velocity change rate at the current moment and the instantaneous center of velocity change rate at the initial moment.

[0075] The fifth main module is used to substitute the expected contact force deviation at the current moment into the balance model to obtain the nutation angle angular velocity.

[0076] The rotational angular velocity control device for rotary shaft-hole assembly provided in this embodiment of the invention adopts... Figure 2 Several modules within the system, through the aforementioned angular velocity balance equations, in the initial stage of the rotation phase, since the initial value of the angular velocity is set to 0, this causes the angular velocity to increase from 0, preventing excessive contact force that could lead to assembly failure between the shaft and the shaft hole. Simultaneously, at the end of the rotation phase, due to the accelerated change in the position of the instantaneous velocity center, e... -x A value approaching 0 causes the angular velocity to decrease, allowing the shaft to stop at the end of the rotation phase. This prevents misalignment between the shaft and the shaft hole due to uniform speed. Furthermore, through closed-loop feedback of the contact force, the magnitude of the angular velocity can be changed, thus enabling active deceleration when the contact force deviation is large. This helps the shaft hole maintain the preset desired contact force during the rotation phase, thereby controlling the instantaneous change rate of the shaft's own velocity and adapting to external disturbances and changes in its own kinematics.

[0077] It should be noted that the apparatus in the device embodiments provided by the present invention can be used not only to implement the methods in the above method embodiments, but also to implement the methods in other method embodiments provided by the present invention. The only difference is that corresponding functional modules are set. The principle is basically the same as that of the above device embodiments provided by the present invention. As long as those skilled in the art can improve the apparatus in the above device embodiments by referring to the specific technical solutions in other method embodiments and combining technical features to obtain corresponding technical means and technical solutions composed of these technical means, on the basis of the above device embodiments, under the premise of ensuring the practicality of the technical solutions, so as to obtain corresponding device-type embodiments for implementing the methods in other method-type embodiments.

[0078] The method in this embodiment of the invention is implemented using an electronic device; therefore, it is necessary to introduce the relevant electronic device. For this purpose, this embodiment of the invention provides an electronic device, such as... Figure 3As shown, the electronic device includes at least one processor, a communication interface, at least one memory, and a communication bus, wherein the at least one processor, the communication interface, and the at least one memory communicate with each other via the communication bus. The at least one processor can invoke logical instructions from the at least one memory to execute all or part of the steps of the rotational angular velocity control method for rotary shaft-hole assembly provided in the foregoing embodiments.

[0079] Furthermore, when the logical instructions in at least one of the aforementioned memories can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various method embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0081] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the multi-axis hole assembly method described in various embodiments or some parts of embodiments.

[0082] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Based on this understanding, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0083] In this patent, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the rotational angular velocity of a shaft-hole assembly in a rotary manner, characterized in that, include: S100. After the shaft and shaft hole come into contact, construct the force analysis diagram and kinematic analysis diagram of the shaft. S200. Obtain the instantaneous center coordinates of the velocity under the current nutation angle, and construct a relationship model with respect to the rate of change of the instantaneous center of velocity under the current nutation angle; S300. Based on the rate of change of the instantaneous center of velocity at the current moment, use the ReLU function to obtain the relationship between the rate of change of the instantaneous center of velocity at the current moment and the rate of change of the instantaneous center of velocity at the initial nutation angle. S400. Obtain the expected contact force deviation at the current moment, and construct a balance model for the nutation angle angular velocity based on the relationship between the instantaneous center of velocity change rate at the current moment and the instantaneous center of velocity change rate at the initial moment. S500: Substitute the desired contact force deviation at the current moment into the balance model to obtain the nutation angle angular velocity; The equilibrium model for the nutation angle and angular velocity is as follows: Where: M θ B is the rotational equivalent mass coefficient. θ Here, η is the rotational equivalent damping coefficient, and η is the damping amplification coefficient. Balanced angular velocity, Let ω be the angular velocity of the nutation angle at the current moment. Let be the angular acceleration of the nutation angle at the previous moment.

2. The rotational angular velocity control method for rotary shaft-hole assembly as described in claim 1, characterized in that, In step S200, the relational model is specifically as follows: In the formula: X is the instantaneous rate of change of velocity at the current nutation angle. icr (θ) represents the coordinates of the instantaneous center of velocity along the bottom surface of the shaft at the current nutation angle. icr (θ) is the coordinate of the instantaneous center of velocity along the shaft axis at the current nutation angle.

3. The rotational angular velocity control method for rotary shaft-hole assembly as described in claim 1, characterized in that, In step S300, the ReLU function is specifically: In the formula: x represents the relationship between the rate of change of the instantaneous center of velocity at the current moment and the rate of change of the instantaneous center of velocity at the initial moment. Let θ0 be the instantaneous rate of change of the velocity center at the initial moment, and θ0 be the magnitude of the nutation angle at the initial moment of the rotation phase. Let θ(t) be the instantaneous rate of change of velocity at the current moment, and let θ(t) be the nutation angle at the current moment.

4. The rotational angular velocity control method for rotary shaft-hole assembly as described in claim 1, characterized in that, The specific steps in step S400 for obtaining the expected contact force deviation at the current moment are as follows: In the formula, ΔF p (t) represents the contact force deviation at the current moment, F p (t) represents the contact force at the current moment. The desired contact force.

5. A rotational angular velocity control device suitable for rotary shaft-hole assembly, used to implement the rotational angular velocity control method for rotary shaft-hole assembly as described in any one of claims 1-4, characterized in that, include: The first main module is used to construct the force analysis diagram and kinematic analysis diagram of the shaft after the shaft and shaft hole come into contact; The second main module is used to obtain the coordinates of the instantaneous center of velocity under the current nutation angle and to construct a relationship model with respect to the rate of change of the instantaneous center of velocity under the current nutation angle. The third main module uses the ReLU function to obtain the relationship between the current instantaneous velocity center change rate and the instantaneous velocity center change rate at the initial nutation angle, based on the current instantaneous velocity center change rate. The fourth main module is used to obtain the expected contact force deviation at the current moment and to construct a balance model about the nutation angle angular velocity based on the relationship between the instantaneous center of velocity change rate at the current moment and the instantaneous center of velocity change rate at the initial moment. The fifth main module is used to substitute the expected contact force deviation at the current moment into the balance model to obtain the nutation angle angular velocity.

6. An electronic device, characterized in that, include: At least one processor, at least one memory, and a communication interface; in The processor, memory, and communication interface communicate with each other; The memory stores program instructions that can be executed by the processor, which calls the program instructions to execute the rotational angular velocity control method for rotary shaft-hole assembly as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions that cause the computer to execute the rotational angular velocity control method for rotary shaft-hole assembly as described in any one of claims 1 to 4.

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