Synchronization control method and system based on dynamic phase difference, terminal and storage medium

Abstract

The present application relates to the technical field of punch production, and particularly provides a synchronous control method and system based on dynamic phase difference, a terminal and a storage medium, comprising: obtaining an angle difference between a target press and a reference press; calculating a difference value between the angle difference and a preset phase difference; if the difference value exceeds a preset threshold, calculating a compensation value based on the difference value and the preset phase difference; and adjusting the speed of the target press based on the compensation value. The present application reduces the frequency of press speed adjustment by dynamically adjusting the phase difference between the presses, and adjusts the press speed in the form of compensation to make the speed fluctuation of the press more gentle.

Description

Technical Field

[0001] This invention belongs to the field of stamping production technology, specifically relating to a synchronous control method, system, terminal, and storage medium based on dynamic phase difference. Background Technology

[0002] In traditional control methods, whether using common real axis or common imaginary axis control, the phase difference between each press is uniform (60° or 90°). This fixed phase difference makes optimal motion planning impossible, the space allocated to the feeding system cannot be fully utilized, and it significantly restricts the improvement of the overall production line cycle time. The feeding system must accelerate and decelerate between the front and rear presses, which is detrimental to its stable operation. Therefore, developing variable phase synchronous control is essential to rationally utilize the feeding space, improve the overall production line cycle time, and achieve stable feeding system operation and optimal performance. Summary of the Invention

[0003] To address the frequent acceleration and deceleration problems inherent in existing fixed phase difference control methods, this invention provides a synchronization control method, system, terminal, and storage medium based on dynamic phase difference. By dynamically adjusting the phase difference between the presses, the aforementioned technical problems can be solved.

[0004] In a first aspect, the present invention provides a synchronization control method based on dynamic phase difference, comprising:

[0005] Obtain the angle difference between the target press and the reference press;

[0006] Calculate the difference between the angle difference and the preset phase difference;

[0007] If the difference exceeds a preset threshold, a compensation value is calculated based on the difference and a preset phase difference;

[0008] The speed of the target press is adjusted based on the compensation value.

[0009] In an optional implementation, before obtaining the angular difference between the target press and the reference press, the method further includes:

[0010] Extract the interference feature points of the mold, and adjust the press stroke curve based on the interference feature points to maintain a safe anti-collision distance between the interference feature points and the press;

[0011] Based on the press stroke curve, the phase difference between presses is planned using a whole-line optimization method.

[0012] In an optional implementation, obtaining the angular difference between the target press and the reference press includes:

[0013] The angle difference between the target press and the reference press is calculated by acquiring the slider position using an encoder installed on the eccentric shaft of the press.

[0014] In an optional implementation, if the difference exceeds a preset threshold, a compensation value is calculated based on the difference and a preset phase difference, including:

[0015] The compensation value is calculated using the compensation value calculation formula, which includes:

[0016] P = K * β * G

[0017] Wherein, the proportionality coefficient K = (1 + β / 5);

[0018] β is the angular difference between the target press and the reference press, where the reference press is the first press, and β = α1 + ... + α i-1 -(∠ P1 -∠ Pi ), α i-1 ∠ represents the phase difference between the i-th press and the (i-1)-th press. P1 Indicates the angle of the first press, ∠ Pi Indicates the angle of the i-th press;

[0019] The gain factor G is a fixed factor set based on the characteristics of the frequency converter and actual debugging experience.

[0020] In an optional implementation, adjusting the speed of the target press based on the compensation value includes:

[0021] The sum of the current speed of the target press and the compensation value is used as the target speed and input to the PLC of the target press to adjust the actual speed of the target press to the target speed.

[0022] Secondly, the present invention provides a synchronization control system based on dynamic phase difference, comprising:

[0023] Angle calculation module is used to obtain the angle difference between the target press and the reference press;

[0024] The difference calculation module is used to calculate the difference between the angle difference and the preset phase difference;

[0025] The compensation calculation module is used to calculate a compensation value based on the difference and a preset phase difference if the difference exceeds a preset threshold.

[0026] A speed adjustment module is used to adjust the speed of the target press based on the compensation value.

[0027] In an optional implementation, the system further includes:

[0028] The stroke planning module is used to extract the interference feature points of the mold and adjust the press stroke curve based on the interference feature points so that the interference feature points and the press maintain a safe distance from collision.

[0029] The line optimization module is used to plan the phase difference between presses based on the press stroke curve using a line optimization method.

[0030] In an optional implementation, the angle calculation module includes:

[0031] An angle detection unit is used to calculate the angle difference between the target press and the reference press by acquiring the slider position through an encoder installed on the eccentric shaft of the press.

[0032] In an optional implementation, if the difference exceeds a preset threshold, a compensation value is calculated based on the difference and a preset phase difference, including:

[0033] The compensation value is calculated using the compensation value calculation formula, which includes:

[0034] P = K * β * G

[0035] Wherein, the proportionality coefficient K = (1 + β / 5);

[0036] β is the angular difference between the target press and the reference press, where the reference press is the first press, and β = α1 + ... + α i-1 -(∠ P1 -∠ Pi ), α i-1 ∠ represents the phase difference between the i-th press and the (i-1)-th press. P1 Indicates the angle of the first press, ∠ Pi Indicates the angle of the i-th press;

[0037] The gain factor G is a fixed factor set based on the characteristics of the frequency converter and actual debugging experience.

[0038] In an optional implementation, adjusting the speed of the target press based on the compensation value includes:

[0039] The sum of the current speed of the target press and the compensation value is used as the target speed and input to the PLC of the target press to adjust the actual speed of the target press to the target speed.

[0040] Thirdly, a terminal is provided, including:

[0041] Processor, memory, among which,

[0042] This memory is used to store computer programs.

[0043] The processor is used to retrieve and run the computer program from memory, causing the terminal to perform the terminal method described above.

[0044] Fourthly, a computer storage medium is provided, wherein instructions are stored therein, which, when executed on a computer, cause the computer to perform the methods described in the above aspects.

[0045] The beneficial effect of the present invention is that the synchronization control method, system, terminal and storage medium based on dynamic phase difference provided by the present invention reduces the frequency of press speed adjustment by dynamically adjusting the phase difference between presses, and adjusts the press speed in a compensatory manner to make the press speed fluctuation smoother.

[0046] Furthermore, the design principle of this invention is reliable, the structure is simple, and it has a very wide range of application prospects. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic flowchart of a method according to an embodiment of the present invention.

[0049] Figure 2 This is an exemplary travel curve diagram of a method according to an embodiment of the present invention.

[0050] Figure 3 This is a schematic block diagram of a system according to an embodiment of the present invention.

[0051] Figure 4 This is a schematic diagram of the structure of a terminal provided in an embodiment of the present invention. Detailed Implementation

[0052] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0054] The synchronization control method based on dynamic phase difference provided in this embodiment of the invention is executed by a computer device, and correspondingly, the synchronization control system based on dynamic phase difference runs in the computer device.

[0055] Figure 1 This is a schematic flowchart illustrating a method according to an embodiment of the present invention. Wherein, Figure 1 The executing entity can be a synchronous control system based on dynamic phase difference. Depending on different requirements, the order of steps in this flowchart can be changed, and some can be omitted.

[0056] like Figure 1 As shown, the method includes:

[0057] Step 110: Obtain the angle difference between the target press and the reference press;

[0058] Step 120: Calculate the difference between the angle difference and the preset phase difference;

[0059] Step 130: If the difference exceeds a preset threshold, calculate a compensation value based on the difference and a preset phase difference;

[0060] Step 140: Adjust the speed of the target press based on the compensation value.

[0061] To facilitate understanding of the present invention, the following description further illustrates the synchronous control method based on dynamic phase difference provided by the present invention, using the principle of the synchronous control method based on dynamic phase difference and the process of synchronous control of the press system based on dynamic phase difference in the embodiments.

[0062] Specifically, the synchronization control method based on dynamic phase difference includes:

[0063] S 1. Extract the interference feature points of the mold, and adjust the press stroke curve based on the interference feature points to maintain a safe anti-collision distance between the interference feature points and the press; based on the press stroke curve, use a whole-line optimization method to plan the phase difference between the presses.

[0064] Based on the mold's external dimensions, extract the locations of mold interference. For example, extract points 1, 2, and 3 protruding on the mold outline as feature points of the mold's external shape. These three feature points are the key spatial points for the feeding system and mold operation. Combine the press's stroke curve to plan the mold opening distance. Based on the opening distance, rationally plan the operating time of the feeding system to make full use of the opening distance.

[0065] like Figure 2 As shown, point 2 to point 3 represents the material entry curve of the feeding press. During this period, the feeding press is in an ascending state. The curve planning uses the mold's shape features to plan the trajectory of the feeding system during this segment, ensuring a reasonable safety distance when entering the feeding press and preventing collisions in case of abnormal stops. Similarly, point 6 to point 7 represents the material exit curve. During this period, the feeding system is in a descending state. The curve planning uses the mold's shape features to plan the trajectory of the feeding system when leaving the feeding press, ensuring a reasonable safety distance between the feeding system and the mold when exiting the press and preventing collisions in case of abnormal stops.

[0066] After planning the motion trajectory of the feeding system between the presses, the whole line optimization method is adopted to plan the running cycle and synchronous phase difference. At this time, the phase difference between the presses is planned as follows: the phase difference between press 1 and press 2 is α1, the phase difference between press 2 and press 3 is α2, the phase difference between press 3 and press 4 is α3, and the phase difference between press 4 and press 5 is α4.

[0067] S2. Obtain the angle difference between the target press and the reference press.

[0068] The synchronization controller in the synchronization control system detects the angle of the press by acquiring the slider position signal of the encoder mounted on the eccentric shaft of each press.

[0069] S3. Calculate the difference between the angle difference and the preset phase difference.

[0070] Synchronous control of the stamping equipment is achieved through master / slave synchronous control. Before starting the entire stamping line, the main motors of each press run at the set speed.

[0071] When the stamping line starts running (taking five machines as an example), the phase differences between the stamping machines are α1, α2, α3, and α4, respectively. The running speed of the presses is adjusted by controlling and detecting the angle differences between the stamping machines through a synchronous controller, so that the angle difference between each press is maintained at α. x Within ±5° (5° is the minimum safe distance for interference between the feeding system and the mold).

[0072] The difference calculation method is as follows: the angle difference between the third press and the first press is ∠ P1-∠ P3 If the preset phase difference is α1 + α2, then the angle difference β = α1 + α2 - (∠) P1 -∠ P3 ).

[0073] S3. If the difference exceeds a preset threshold, a compensation value is calculated based on the difference and the preset phase difference.

[0074] If the angle difference β exceeds α x If the angle is ±5°, it indicates that the press speed needs adjustment; if it does not exceed α... x If the angle is ±5°, then there is no need to adjust the press speed.

[0075] For example, the required phase difference between press 1 and press 2 is α1. If the actual angle difference is greater than α1, it indicates that press 2 is moving too fast, and its position exceeds the position of press 1 + α1. Press 2 needs to decelerate, so the compensation value is negative, reducing the speed of press 2 to meet the requirement of a phase difference of α1 between press 1 and press 2. Conversely, if the actual angle difference is less than α1, it indicates that press 2 is moving too slowly and needs to accelerate. Therefore, the compensation value is positive, increasing the speed of press 2. The press speed is the set cycle time plus the compensation value.

[0076] The compensation value is calculated using the compensation value calculation formula, which includes:

[0077] P = K * β * G

[0078] Wherein, the proportionality coefficient K = (1 + β / 5);

[0079] β is the angular difference between the target press and the reference press, where the reference press is the first press, and β = α1 + ... + α i-1 -(∠ P1 -∠ Pi ), α i-1 ∠ represents the phase difference between the i-th press and the (i-1)-th press. P1 Indicates the angle of the first press, ∠ Pi Indicates the angle of the i-th press;

[0080] The gain factor G is a fixed factor set according to the characteristics of the frequency converter and actual debugging experience, and can be set to 300.

[0081] S4. Adjust the speed of the target press based on the compensation value.

[0082] The sum of the current speed of the target press and the compensation value is used as the target speed and input to the PLC of the target press to adjust the actual speed of the target press to the target speed.

[0083] Specifically, after calculating the compensation value, the set speed of the press is: Press speed = Set speed + Speed ​​compensation.

[0084] As needed, selection can be made between various stamping machines (or each stamping machine can be synchronously controlled according to a virtual spindle). In master-slave synchronous control, the synchronization following time and synchronization error range of the master spindle and each slave axis can be set, and corresponding monitoring can be performed. An alarm will be triggered when the synchronization error exceeds the set range.

[0085] In some embodiments, the synchronization control system 300 based on dynamic phase difference may include multiple functional modules composed of computer program segments. The computer programs for each program segment in the synchronization control system 300 based on dynamic phase difference may be stored in the memory of a computer device and executed by at least one processor to perform (see details). Figure 1 (Description) Function of synchronization control based on dynamic phase difference.

[0086] In this embodiment, the synchronization control system 300 based on dynamic phase difference can be divided into multiple functional modules according to its functions, such as... Figure 3 As shown. The functional modules may include: an angle calculation module 310, a difference calculation module 320, a compensation calculation module 330, and a speed adjustment module 340. The module referred to in this invention is a series of computer program segments that can be executed by at least one processor and perform a fixed function, and are stored in memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0087] Angle calculation module 310 is used to obtain the angle difference between the target press and the reference press;

[0088] The difference calculation module 320 is used to calculate the difference between the angle difference and the preset phase difference;

[0089] The compensation calculation module 330 is used to calculate a compensation value based on the difference and a preset phase difference if the difference exceeds a preset threshold.

[0090] Speed ​​adjustment module 340 is used to adjust the speed of the target press based on the compensation value.

[0091] Optionally, as an embodiment of the present invention, the system further includes:

[0092] The stroke planning module is used to extract the interference feature points of the mold and adjust the press stroke curve based on the interference feature points so that the interference feature points and the press maintain a safe distance from collision.

[0093] The line optimization module is used to plan the phase difference between presses based on the press stroke curve using a line optimization method.

[0094] Optionally, as an embodiment of the present invention, the angle calculation module includes:

[0095] An angle detection unit is used to calculate the angle difference between the target press and the reference press by acquiring the slider position through an encoder installed on the eccentric shaft of the press.

[0096] Optionally, as an embodiment of the present invention, if the difference exceeds a preset threshold, a compensation value is calculated based on the difference and a preset phase difference, including:

[0097] The compensation value is calculated using the compensation value calculation formula, which includes:

[0098] P = K * β * G

[0099] Wherein, the proportionality coefficient K = (1 + β / 5);

[0100] β is the angular difference between the target press and the reference press, where the reference press is the first press, and β = α1 + ... + α i-1 -(∠ P1 -∠ Pi ), α i-1 ∠ represents the phase difference between the i-th press and the (i-1)-th press. P1 Indicates the angle of the first press, ∠ Pi Indicates the angle of the i-th press;

[0101] The gain factor G is a fixed factor set based on the characteristics of the frequency converter and actual debugging experience.

[0102] Optionally, as an embodiment of the present invention, the sum of the current speed of the target press and the compensation value is input to the PLC of the target press as the target speed, so as to adjust the actual speed of the target press to the target speed.

[0103] Figure 4 This is a schematic diagram of the structure of a terminal 400 provided in an embodiment of the present invention. The terminal 400 can be used to execute the synchronization control method based on dynamic phase difference provided in the embodiment of the present invention.

[0104] The terminal 400 may include a processor 410, a memory 420, and a communication module 430. These components communicate via one or more buses. Those skilled in the art will understand that the server structure shown in the figure does not constitute a limitation of the present invention. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0105] The memory 420 can be used to store the execution instructions of the processor 410. The memory 420 can be implemented by any type of volatile or non-volatile memory terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. When the execution instructions in the memory 420 are executed by the processor 410, the terminal 400 is able to perform some or all of the steps in the above method embodiments.

[0106] The processor 410 serves as the control center of the storage terminal, connecting various parts of the electronic terminal via various interfaces and lines. It executes software programs and / or modules stored in the memory 420, and calls data stored in the memory to perform various functions of the electronic terminal and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 410 may consist only of a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0107] The communication module 430 is used to establish a communication channel, enabling the storage terminal to communicate with other terminals. It receives user data sent by other terminals or sends user data to other terminals.

[0108] The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps provided in the embodiments of the present invention. The storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0109] Therefore, the present invention reduces the frequency of press speed adjustment by dynamically adjusting the phase difference between presses, and adjusts the press speed in a compensatory manner to make the press speed fluctuation smoother. The technical effects achieved by this embodiment can be found in the description above, and will not be repeated here.

[0110] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software and necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or any other medium capable of storing program code. It includes several instructions to cause a computer terminal (which may be a personal computer, a server, or a second terminal, a network terminal, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0111] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

[0112] In the embodiments provided by this invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or modules may be electrical, mechanical, or other forms.

[0113] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0114] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0115] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the invention should also be covered within the protection scope of the invention. Therefore, the protection scope of the invention should be determined by the scope of the claims.

Claims

1. A synchronization control method based on dynamic phase difference, characterized in that, include: Obtain the angle difference between the target press and the reference press; Calculate the difference between the angle difference and the preset phase difference; If the difference exceeds a preset threshold, a compensation value is calculated based on the difference and a preset phase difference; Adjust the speed of the target press based on the compensation value; Before obtaining the angular difference between the target press and the reference press, the method further includes: The process involves extracting interference feature points from the mold and adjusting the press stroke curve based on these points to maintain a safe anti-collision distance between the interference feature points and the press. This includes: extracting protruding points on the mold contour as interference feature points; and planning the press stroke curve into a material entry curve and a material exit curve based on these interference feature points. The material entry curve corresponds to the rising state of the material entry press, and the curve planning ensures that an abnormal stop during material entry will not result in a collision with the mold. The material exit curve corresponds to the descending state of the material feeding press, and the curve planning ensures that an abnormal stop during material exit will not result in a collision with the mold. Based on the press stroke curve, the phase difference between the presses is planned using a whole-line optimization method, and the phase difference between the presses is used as a preset phase difference.

2. The method according to claim 1, characterized in that, Obtain the angle difference between the target press and the reference press, including: The angle difference between the target press and the reference press is calculated by acquiring the slider position using an encoder installed on the eccentric shaft of the press.

3. The method according to claim 1, characterized in that, If the difference exceeds a preset threshold, a compensation value is calculated based on the difference and a preset phase difference, including: The compensation value is calculated using the compensation value calculation formula, which includes: P = K*β*G Wherein, the proportionality coefficient K = (1 + β / 5); β is the angular difference between the target press and the reference press, where the reference press is the first press, and β = α1 + ... + α i-1 -(∠ P1 -∠ Pi ), α i-1 ∠ represents the phase difference between the i-th press and the (i-1)-th press. P1 Indicates the angle of the first press, ∠ Pi Indicates the angle of the i-th press; The gain factor G is a fixed factor set based on the characteristics of the frequency converter and actual debugging experience.

4. The method according to claim 3, characterized in that, Adjusting the speed of the target press based on the compensation value includes: The sum of the current speed of the target press and the compensation value is used as the target speed and input to the PLC of the target press to adjust the actual speed of the target press to the target speed.

5. A synchronization control system based on dynamic phase difference, characterized in that, include: Angle calculation module is used to obtain the angle difference between the target press and the reference press; The difference calculation module is used to calculate the difference between the angle difference and the preset phase difference; The compensation calculation module is used to calculate a compensation value based on the difference and a preset phase difference if the difference exceeds a preset threshold. The speed adjustment module is used to adjust the speed of the target press based on the compensation value; The system also includes: The stroke planning module is used to extract interference feature points of the mold and adjust the press stroke curve based on these interference feature points to maintain a safe anti-collision distance between the interference feature points and the press. This extraction of interference feature points and adjustment of the press stroke curve includes: extracting protruding points on the mold contour as interference feature points; and planning the press stroke curve into a material entry curve and a material exit curve based on these interference feature points. The material entry curve corresponds to the rising state of the material entry press, and the curve planning ensures that an abnormal stop during material entry into the material entry press will not result in a collision with the mold. The material exit curve corresponds to the descending state of the material feeding press, and the curve planning ensures that an abnormal stop during material exit from the press will not result in a collision with the mold. The line optimization module is used to plan the phase difference between presses based on the press stroke curve using a line optimization method, and to use the phase difference between presses as a preset phase difference.

6. The system according to claim 5, characterized in that, The angle calculation module includes: An angle detection unit is used to calculate the angle difference between the target press and the reference press by acquiring the slider position through an encoder installed on the eccentric shaft of the press.

7. A terminal, characterized in that, include: processor; Memory used to store the processor's execution instructions; The processor is configured to perform the method according to any one of claims 1-4.

8. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-4.

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