Crystal processing method and device based on force potential fusion

Abstract

The application discloses a kind of based on force-position fusion's crystal processing method and device.The application designs force-position fusion crystal processing control module in lifting motor driver to form special servo motor driver, and corresponding processing parameters are transmitted to special servo motor driver by host computer controller, and the processing torque of force-position fusion crystal processing control module is exported according to processing parameter output setting, and the position of grinding disc is detected in real time, and timely stop processing and retreat after reaching the set processing depth.The method of the application can dynamically adjust the processing torque according to the size of each processing surface, and ensure that the output torque is less than the torque of the clamp.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of crystal processing, and particularly relates to a crystal processing method and device based on force-position fusion. BACKGROUND

[0002] With the increasing use of crystal products in daily life and the continuous progress of science and technology, the crystal processing industry is facing higher quality requirements.

[0003] Traditional crystal processing adopts a position control method for processing. In such a method, after the crystal workpiece is rotated to the surface to be processed, the host computer controller sends a certain number of pulse signals to the lifting motor driver device according to the set frequency, so that the lifting motor drives the grinding disc to grind the crystal workpiece upward until the set processing depth is reached. However, in this process, the grinding speed of the grinding disc may be lower than the propulsion speed of the lifting motor, which can easily cause problems such as deformation of the clamp and excessive wear of the grinding disc. At the same time, in order to ensure the processing quality, the technical workers need to set the polishing time of each processing surface according to experience, and the setting of the polishing time depends on the experience of workers, which can easily cause unstable quality. Therefore, affected by factors such as clamp deformation, grinding disc wear and manual experience, the problems of over-grinding or under-grinding often occur, which causes unstable processing quality of crystal products, and aggravates the wear of the grinding disc and the consumption of power. SUMMARY

[0004] In order to solve the above problems, the application provides a crystal processing method and device based on force-position fusion. The method can dynamically adjust the processing torque according to the size of each processing surface, and ensure that the output torque is less than the torque borne by the clamp, so that the lifting motor drives the grinding disc to grind the crystal workpiece in a constant torque mode to make the propulsion speed of the grinding disc less than the grinding speed, and the position of the grinding disc is detected in real time. When the detection reaches the set processing depth, the lifting motor stops working to complete the processing of the processing surface, and then the grinding disc retreats to the set safe position.

[0005] The traditional position detection method is that the host computer controller requests current position information from the lifting motor driver device through communication, but due to communication delay, over-grinding problems are often caused. In order to solve the problems of dynamic adjustment of the machining torque of each machining surface and real-time detection of the position of the grinding disc, the application provides a special servo motor driver device for crystal machining based on force-position fusion. The existing crystal machining device is controlled by a host computer controller to control the motor drivers of each shaft: the rotating surface motor driver, the swing angle motor driver, the shift motor driver and the lifting motor driver to drive the rotating surface motor, the swing angle motor, the shift motor and the lifting motor to operate, and the lifting motor drives the grinding disc to machine the crystal. The force-position fusion crystal machining control module is designed in the lifting motor driver to form a special servo motor driver, and the corresponding machining parameters are transmitted to the special servo motor driver by the host computer controller. The force-position fusion crystal machining control module outputs the set machining torque according to the machining parameters, and detects the position of the grinding disc in real time. When the set machining depth is reached, the machining is stopped in time and the position is retreated, effectively improving the problems of over-grinding or under-grinding of the grinding disc.

[0006] The application provides a crystal machining method and device based on force-position fusion, which improves the problems of over-grinding or under-grinding, reduces the loss of the grinding disc and the consumption of power, and improves the quality of crystal product machining.

[0007] In order to realize the above functions, the application provides a special servo motor driver device for crystal machining based on force-position fusion, which comprises a hardware part and a software part.

[0008] The hardware part comprises:

[0009] A power rectification and voltage reduction module is used to rectify input 220V alternating current into direct current as bus power supply, and reduce the voltage to supply power to other modules;

[0010] A communication circuit module is used for communication between the special servo motor driver device and the host computer controller of the crystal machining device;

[0011] A memory module is used to save the machining parameters sent by the host computer controller;

[0012] An intelligent power module is used to receive control signals and output driving signals;

[0013] A current acquisition module is used to acquire and condition the current of the motor winding inside the lifting motor of the crystal machining device;

[0014] An encoder acquisition module is used to acquire and condition the signal of the encoder inside the lifting motor of the crystal machining device;

[0015] A main control calculation module is used to process the signals of each hardware module and calculate each software module;

[0016] The software part comprises:

[0017] A communication software module for processing signals of the communication circuit module, communicating with the host computer controller, and saving the grinding torque, machining depth and other machining parameters to the storage module;

[0018] A current calculation module for performing software filtering and coordinate transformation on the signals collected by the current collection module to obtain the actual dq-axis currents of the motor winding;

[0019] An angle calculation module for filtering and processing the signals collected by the encoder collection module to obtain the angular position of the lifting motor rotor;

[0020] A force-position fusion crystal machining control module for performing calculation and processing of force-position fusion-based crystal machining.

[0021] Preferably, the force-position fusion crystal machining control module is implemented as follows:

[0022] The force-position fusion crystal machining control module reads the grinding torque set for the machining surface saved in the storage module, converts to obtain the corresponding reference dq-axis current, and performs PI calculation on the reference dq-axis current and the actual dq-axis current obtained by the current calculation module to obtain the dq-axis voltage u d 、u q , wherein the torque-current conversion expression is:

[0023]

[0024] wherein T e represents torque, represents q-axis torque current, represents d-axis excitation current, and ψ f represents flux linkage;

[0025] The dq-axis coupling amount is calculated, and the voltage feedforward decoupling is performed on the dq-axis voltage to obtain u′ d 、u′ q , which ensures accurate and stable output torque, specifically:

[0026] The d-axis coupling term is calculated, and the formula is:

[0027] C d = ω e L q i q

[0028] wherein ω e represents rotor speed;

[0029] The q-axis coupling term is calculated, and the formula is:

[0030] Cq = -ω e (L d i d +ψ f )

[0031] The dq-axis voltage calculated by the PI is subtracted from the coupling term, and the formula is:

[0032]

[0033] wherein u d represents the d-axis voltage calculated by the PI, u q represents the q-axis voltage calculated by the PI, u′ d represents the d-axis voltage after voltage feed-forward decoupling, and u′ q represents the q-axis voltage after voltage feed-forward decoupling.

[0034] The u′ d and u′ q after voltage feed-forward decoupling are subjected to SVPWM modulation to obtain control pulses, which are transmitted to the intelligent power module to drive the lifting motor to drive the grinding disc to process the workpiece in a constant torque mode.

[0035] Meanwhile, the force-position fusion crystal processing control module receives the rotor angle position data of the lifting motor output by the angle calculation module, calculates the current position of the grinding disc, and reads the processing depth parameters of the processing surface set in the storage, and when it is detected that the grinding disc runs to the set processing depth, the lifting motor stops working.

[0036] A crystal processing method based on force-position fusion, comprising the following steps:

[0037] S1, initializing and resetting each shaft motor of the crystal processing device;

[0038] S2, setting processing parameters in the upper computer controller of the crystal processing device, including: row surface, processing surface processing torque, processing depth, rotation angle, swing angle, and retreat position;

[0039] S3, rotating the workpiece by the rotation angle motor and the swing angle motor, and transmitting the processing surface grinding torque and the processing depth parameters to the special servo motor driver by the upper computer controller;

[0040] S4, after the workpiece is rotated to the position, the special servo motor driver controls the lifting motor to drive the grinding disc to rise in a constant torque mode according to the set torque;

[0041] S5, the force-position fusion crystal processing control module detects the position of the grinding disc in real time, and when the grinding disc reaches the set processing depth, the lifting motor stops working;

[0042] S6, the grinding disc is retreated to a set safe position by the lifting motor, the processing of the processing surface is completed, and a completion signal is sent to the upper computer controller;

[0043] S7, the steps S3 to S6 are repeated, that is, the processing of each processing surface is realized;

[0044] S8, all processing surfaces are completed, and each shaft motor is reset;

[0045] Preferably, the specific steps of S4 are as follows:

[0046] S4.1, the grinding torque of the processing surface transmitted by the upper computer controller in step S3 is saved into the storage module through the communication software module;

[0047] S4.2, the force-position fusion crystal processing control module reads the set grinding torque of the processing surface saved in the storage module, converts to obtain the corresponding reference dq-axis current, and performs PI calculation on the reference dq-axis current and the actual dq-axis current obtained by the current calculation module to obtain the dq-axis voltage u d 、u q , wherein the torque expression is:

[0048]

[0049] wherein T e represents torque, p n represents the number of pole pairs, i q represents q-axis torque current, i d represents d-axis excitation current, L d represents d-axis inductance, L q represents q-axis inductance, ψ f represents flux linkage;

[0050] Let the d-axis excitation current i d in formula (1) be and the q-axis torque current be the number of pole pairs p n be 2, then formula (1) can be rewritten as:

[0051]

[0052] The set torque is converted into a reference current value, and formula (2) is rewritten as:

[0053]

[0054] S4.3, the dq-axis coupling amount is calculated, and the voltage feedforward decoupling of the dq-axis voltage is performed to obtain u′ d 、u′ q , so as to ensure the accurate and stable output torque;

[0055] The d-axis coupling term is calculated according to the formula:

[0056] C d = ω e L q i q (4)

[0057] Wherein ω e represents the rotor speed;

[0058] The q-axis coupling term is calculated according to the formula:

[0059] C q = - ω e (L d i d + ψ f ) (5)

[0060] The dq-axis voltage calculated by the PI is subtracted by the coupling term according to the formula:

[0061]

[0062] Wherein u d represents the d-axis voltage calculated by the PI, u q represents the q-axis voltage calculated by the PI, u′ d represents the d-axis voltage after voltage feedforward decoupling, and u′ q represents the q-axis voltage after voltage feedforward decoupling.

[0063] S4.4, the u′ d and u′ q after voltage feedforward decoupling are modulated by SVPWM to obtain control pulses, which are transmitted to the intelligent power module, and the intelligent power module drives the lifting motor to drive the grinding disc to process the workpiece in the constant torque mode.

[0064] Preferably, S5 is specifically implemented as follows: the force-position fusion crystal processing control module receives the lifting motor rotor angle position data output by the angle calculation module, calculates the current position of the grinding disc, and reads the machining surface set machining depth parameters saved in the memory, and when it is detected that the grinding disc runs to the set machining depth, the lifting motor is controlled to stop working.

[0065] The present application has the following advantages:

[0066] The crystal processing method based on force-position fusion provided by the application can dynamically adjust the processing torque according to the size of each processing surface, and ensure that the output torque is less than the torque borne by the clamp, so that the lifting motor drives the grinding disc to grind the crystal workpiece in a constant torque mode, so that the advancing speed of the grinding disc is less than the grinding speed, and the position of the grinding disc is detected in real time, and when the detection reaches the set processing depth, the lifting motor stops working to complete the processing of the processing surface, and then the grinding disc retreats to the set safe position.

[0067] The special servo motor driver device for crystal processing based on force-position fusion provided by the application is designed in the lifting motor driver to form a special servo motor driver, and the corresponding processing parameters are transmitted to the special servo motor driver through the upper computer controller, the processing torque is output according to the processing parameters by the force-position fusion crystal processing control module, and the position of the grinding disc is detected in real time, and the processing is stopped in time and the position is retreated when the set processing depth is reached.

[0068] The application improves the problem of over-grinding or under-grinding, reduces the loss of the grinding disc and the consumption of power, and improves the quality of crystal product processing. BRIEF DESCRIPTION OF DRAWINGS

[0069] The accompanying drawings are an integral part of the application and serve to provide a further understanding of the application, the illustrative embodiments of the application and their description serve to explain the application, but do not constitute an improper limitation on the application. Obviously, the accompanying drawings in the following description are only some embodiments of the application, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0070] Figure 1 is a flow chart of a crystal processing method based on force-position fusion provided by an embodiment of the application;

[0071] Figure 2 is a hardware structure diagram of a crystal processing device based on force-position fusion provided by an embodiment of the application;

[0072] Figure 3 is a software structure diagram of a crystal processing device based on force-position fusion provided by an embodiment of the application; DETAILED DESCRIPTION

[0073] In order to make the purpose, technical scheme and advantages of the embodiments of the application clearer, the technical scheme in the embodiments will be described in detail below with reference to the drawings in the embodiments of the application, and the following embodiments are used to illustrate the application, but not to limit the scope of the application.

[0074] The specific embodiment of the application will be further described in detail as follows:

[0075] As Figure 1 shown, the application provides a crystal processing method based on force-position fusion, the steps are as follows:

[0076] S1, the crystal processing device each axis motor initialization reset;

[0077] S2, set the processing parameters in the crystal processing device host computer controller, including: line surface, processing torque, processing depth, rotation angle, swing angle, retreat position;

[0078] S3, the crystal processing device rotation angle motor and swing angle motor drive workpiece rotation, the host computer controller transmits the processing surface grinding torque, processing depth parameters to the special servo motor driver;

[0079] S4, after the workpiece rotates to the position, the special servo motor driver controls the lifting motor to rise in constant torque mode according to the set torque;

[0080] S5, the force-position fusion crystal processing control module detects the position of the grinding disc in real time, and when the grinding disc reaches the set processing depth, the lifting motor stops working;

[0081] S6, the lifting motor drives the grinding disc to retreat to the set safety position, completes the processing of the processing surface, and sends a completion signal to the host computer controller;

[0082] S7, repeat steps S3 to S6, that is, realize the processing of each processing surface;

[0083] S8, complete all processing surfaces, reset each axis motor and turn off the auxiliary processing equipment;

[0084] In order to realize the above functions, the application provides a special servo driver device for crystal processing based on force-position fusion, characterized in that, as Figure 2 shown, the hardware part includes:

[0085] Power rectification and voltage reduction module, for rectifying input 220V alternating current into direct current as bus power supply, and reducing voltage to supply power to other modules;

[0086] Communication circuit module, for special servo motor driver and host computer controller communication;

[0087] Memory module, for saving the processing parameters sent by the host computer controller;

[0088] Intelligent power module, for receiving control signal and outputting driving signal;

[0089] Current acquisition module, for collecting and conditioning the current of the motor winding inside the lifting motor;

[0090] An encoder acquisition module is configured to acquire and process signals of an internal encoder of the lifting motor.

[0091] A main control calculation module is configured to process signals of the hardware modules and perform calculations of the software modules.

[0092] As shown in Figure 3 the software part includes:

[0093] A communication software module is configured to process signals of the communication circuit module, communicate with the host computer, and save the grinding torque and the machining depth machining parameter to the storage module.

[0094] A current calculation module is configured to perform software filtering and coordinate transformation on the signals acquired by the current acquisition module to obtain actual dq-axis currents of the motor winding.

[0095] An angle calculation module is configured to filter and process the signals acquired by the encoder acquisition module to obtain the angular position of the rotor of the lifting motor.

[0096] A force-position fusion crystal machining control module is configured to perform calculations and processing of force-position fusion-based crystal machining.

[0097] In a specific implementation, S4, after the workpiece is rotated into position, the special servo motor driver drives the lifting motor to ascend the grinding disc in a constant torque mode according to the set torque, specifically:

[0098] S4.1, the machining surface grinding torque and the machining depth machining parameter transmitted by the host computer controller in step S3 are saved to the storage module through the communication software module.

[0099] S4.2, the force-position fusion crystal machining control module reads the set grinding torque of the machining surface saved in the storage module, converts to obtain the corresponding reference dq-axis current, and performs PI calculation on the reference dq-axis current and the actual dq-axis current obtained by the current calculation module to obtain dq-axis voltage d , u q , wherein the torque expression is:

[0100]

[0101] wherein T e represents torque, p n represents the number of pole pairs, i q represents q-axis torque current, i d represents d-axis excitation current, L d represents d-axis inductance, L q represents q-axis inductance, ψ f represents flux linkage.

[0102] Let the d-axis excitation current id For And q-axis torque current is The number of pole pairs p n For 2, formula (1) can be rewritten as:

[0103]

[0104] The set torque is converted into a reference current value, and formula (2) is rewritten as:

[0105]

[0106] S4.3, calculate the dq-axis coupling amount, and decouple the voltage feedforward of the dq-axis voltage to obtain u′ d , u′ q , to ensure accurate and stable output torque;

[0107] Calculate the d-axis coupling term, and the formula is:

[0108] C d = ω e L q i q (4)

[0109] Where ω e represents the rotor speed;

[0110] Calculate the q-axis coupling term, and the formula is:

[0111] C q =-ω e (L d i d +ψ f ) (5)

[0112] Subtract the coupling term from the dq-axis voltage output by the PI controller, and the formula is:

[0113]

[0114] Where u d represents the d-axis voltage calculated by PI, u q represents the q-axis voltage calculated by PI, u′ d represents the d-axis voltage after voltage feedforward decoupling, and u′ q represents the q-axis voltage after voltage feedforward decoupling;

[0115] S4.4, modulate u′ d , u′ q after voltage feedforward decoupling by SVPWM to obtain control pulses, and transmit them to the intelligent power module. The intelligent power module drives the lifting motor to drive the grinding disc to process the workpiece in constant torque mode;

[0116] In a specific implementation, S5, the force-position fusion crystal processing control module detects the position of the grinding disc in real time, and the lifting motor stops working when the grinding disc reaches the set processing depth, specifically: the force-position fusion crystal processing control module receives the lifting motor rotor angle position data output by the angle calculation module, calculates the current position of the grinding disc, and reads the processing surface set processing depth parameters saved in the storage, and controls the lifting motor to stop working when it is detected that the grinding disc runs to the set processing depth.

[0117] In a specific implementation, the force-position fusion crystal processing control module is used for calculation and processing of force-position fusion based crystal processing, specifically:

[0118] The force-position fusion crystal processing control module reads the processing surface set grinding torque saved in the storage module, converts to obtain the corresponding reference dq axis current, and performs PI calculation on the reference dq axis current and the actual dq axis current obtained by the current calculation module to obtain the dq axis voltage u d 、u q , wherein the torque-current conversion expression is:

[0119]

[0120] Wherein, T e represents torque, represents q-axis torque current, represents d-axis excitation current, and ψ f represents flux linkage;

[0121] The coupling amount of the dq axis is calculated, and the voltage feedforward decoupling of the dq axis voltage is obtained u′ d 、u′ q to ensure accurate and stable output torque, specifically:

[0122] The d-axis coupling term is calculated, and the formula is:

[0123] C d = ω e L q i q

[0124] Wherein ω e represents rotor speed;

[0125] The q-axis coupling term is calculated, and the formula is:

[0126] C q =-ω e (L d i d +ψ f )

[0127] The dq-axis voltage calculated by the PI is subtracted by the coupling term, and the formula is:

[0128]

[0129] Wherein, u d represents the d-axis voltage calculated by the PI, u q represents the q-axis voltage calculated by the PI, u′ d represents the d-axis voltage after voltage feed-forward decoupling, u′ q represents the q-axis voltage after voltage feed-forward decoupling;

[0130] The u′ d and u′ q after voltage feed-forward decoupling are modulated by SVPWM to obtain control pulses and are transmitted to the intelligent power module to drive the lifting motor to drive the grinding disc to process the workpiece in the constant torque mode;

[0131] Meanwhile, the force-position fusion crystal processing control module receives the rotor angle position data of the lifting motor output by the angle calculation module, calculates the current position of the grinding disc, and reads the machining depth parameters of the machining surface set in the storage, and when it is detected that the grinding disc runs to the set machining depth, the lifting motor stops working.

[0132] The above description of the drawings and the detailed description of the present application as an example of the present application are used to explain the present application, but do not limit the meaning or scope of the present application described in the claims. Therefore, those skilled in the art should understand that various forms and details can be made without departing from the spirit and scope of the present application defined by the appended claims.

Claims

1. A servo motor driver device for crystal processing based on force-position fusion, characterized in that, Includes both hardware and software components; The hardware components include: The power rectification and step-down module is used to rectify the input 220V AC power into DC power as the bus power supply, and step down the voltage to supply power to other modules; A communication circuit module is used for communication between a dedicated servo motor driver and the host computer controller of the crystal processing equipment. The memory module is used to store the processing parameters sent by the host computer controller; The intelligent power module is used to receive control signals and output drive signals; The current acquisition module is used to acquire and regulate the current in the motor windings inside the lifting motor of the crystal processing device. The encoder acquisition module is used to acquire and process signals from the encoder inside the lifting motor of the crystal processing device. The main control computing module is used to process signals from various hardware modules and perform calculations for various software modules. The software component includes: The communication software module is used to process the signals of the communication circuit module, communicate with the host computer controller, and save the grinding torque and machining depth parameters to the memory module. The current calculation module is used to perform software filtering and coordinate transformation on the signal acquired by the current acquisition module to obtain the actual dq axis current of the motor winding. The angle calculation module is used to filter and process the signal acquired by the encoder acquisition module to obtain the angular position of the lifting motor rotor. The force-position fusion crystal processing control module is used for calculation and processing of crystal processing based on force-position fusion. The lifting motor drives the grinding disc to process the workpiece in a constant torque mode; Meanwhile, the force-position fusion crystal processing control module receives the rotor angle position data of the lifting motor output by the angle calculation module, calculates the current position of the grinding disc, and reads the processing depth parameters of the processing surface set in the memory. When it is detected that the grinding disc has run to the set processing depth, it controls the lifting motor to stop working. The force-position fusion crystal processing control module is implemented as follows: The force-position fusion crystal machining control module reads the grinding torque set for the machining surface stored in the memory module, calculates the corresponding reference dq-axis current, and performs a PI calculation on the reference dq-axis current and the actual dq-axis current obtained by the current calculation module to obtain the dq-axis voltage u. d u q The torque-current conversion expression is as follows: Among them, T e Indicates torque, Represents the q-axis torque current. ψ represents the d-axis excitation current. f Indicates magnetic flux; Calculate the dq-axis coupling and perform voltage feedforward decoupling on the dq-axis voltage to obtain u′. d 、u′ q To ensure accurate and stable output torque, specifically: The formula for calculating the d-axis coupling term is: C d =ω e L q i q Where ω e Indicates the rotor speed; The formula for calculating the q-axis coupling term is: C q =-ω e (L d I d +ψ f ) Subtracting the coupling term from the dq-axis voltage calculated by PI, the formula is: Among them, u d u represents the d-axis voltage calculated by PI. q This represents the q-axis voltage calculated by PI, u′ d U′ represents the d-axis voltage after voltage feedforward decoupling. q This represents the q-axis voltage after voltage feedforward decoupling; u′ after voltage feedforward decoupling d 、u′ q SVPWM modulation is performed to obtain control pulses, which are then transmitted to the intelligent power module to drive the lifting motor to process the workpiece by the grinding disc in a constant torque mode.

2. A crystal processing method based on force-position fusion, employing the force-position fusion-based servo motor driver device for crystal processing as described in claim 1, characterized in that, Includes the following steps: S1, Initialize and reset the motors of each axis of the crystal processing device; S2, set the processing parameters in the host computer controller of the crystal processing device, including: surface, processing torque, processing depth, rotation angle, swing angle, and retraction position; S3, the rotary motor and swing motor of the crystal processing device drive the workpiece to rotate, and the host computer controller transmits the grinding torque and processing depth parameters of the processing surface to the dedicated servo motor driver. S4. Once the workpiece has rotated to the correct position, the dedicated servo motor driver controls the lifting motor to drive the grinding disc upward in a constant torque mode according to the set torque. S5, the force-position fusion crystal processing control module detects the position of the grinding disc in real time. When the grinding disc reaches the set processing depth, the lifting motor stops working. S6, the lifting motor drives the grinding disc to retract to the set safe position, completing the processing of the surface and sending a completion signal to the host computer controller; S7. Repeat steps S3 to S6 to complete the processing of each surface. S8, complete all machined surfaces, and reset all axis motors.

3. The crystal processing method based on force-position fusion according to claim 2, characterized in that, The specific steps for S4 are as follows: S4.1, The grinding torque and machining depth parameters of the machining surface transmitted by the host computer controller in step S3 are saved to the memory module through the communication software module; S4.2, the force-position fusion crystal machining control module reads the grinding torque set for the machining surface stored in the memory module, calculates the corresponding reference dq-axis current, and performs PI calculation on the reference dq-axis current and the actual dq-axis current processed by the current calculation module to obtain the dq-axis voltage u. d u q The torque expression is: Among them, T e p represents torque. n Represents the extreme logarithm, i q i represents the q-axis torque current. d L represents the d-axis excitation current. d L represents the d-axis inductance. q ψ represents the q-axis inductance. f Indicates magnetic flux; Let the d-axis excitation current i in formula (1) d for and q-axis torque current is pole number p n If the value is 2, then formula (1) can be rewritten as: Converting the set torque into a reference current value, formula (2) can be rewritten as follows: S4.3, calculate the dq-axis coupling, and perform voltage feedforward decoupling on the dq-axis voltage to obtain u′. d 、u′ q This ensures accurate and stable output torque. The formula for calculating the d-axis coupling term is: C d =ω e L q i q (4) Where ω e Indicates the rotor speed; The formula for calculating the q-axis coupling term is: C q =-ω e (L d I d +ψ f ) (5) Subtracting the coupling term from the dq-axis voltage calculated by PI, the formula is: Among them, u d u represents the d-axis voltage calculated by PI. q This represents the q-axis voltage calculated by PI, u′ d U′ represents the d-axis voltage after voltage feedforward decoupling. q This represents the q-axis voltage after voltage feedforward decoupling; S4.4, decouple u′ from voltage feedforward d 、u′ q SVPWM modulation is performed to obtain control pulses, which are then transmitted to the intelligent power module. The intelligent power module drives the lifting motor to move the grinding disc to process the workpiece in a constant torque mode.

4. The crystal processing method based on force-position fusion according to claim 3, characterized in that, The S5 implementation is as follows: The force-position fusion crystal processing control module receives the rotor angle position data of the lifting motor output by the angle calculation module, calculates the current position of the grinding disc, and reads the processing depth parameters of the processing surface set in the memory. When the grinding disc is detected to have run to the set processing depth, the lifting motor is controlled to stop working.

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