Reducer howling consistency control method, device, equipment and medium

Abstract

The present invention provides a method, device, equipment, and medium for controlling the consistency of speed reducer squeal, wherein the method comprises: obtaining first detection data of a driving gear and second detection data of a driven gear; combining the driving gear with different driven gears to form a gear set, and determining, based on the first detection data and the second detection data, matching parameter data between the driving gear and the driven gear in each gear set; determining, based on the matching parameter data and preset optimization target parameters, the gear set whose matching parameter data is closest to the optimization target parameters as the target gear set; establishing a matching relationship between the driving gear and the driven gear in the target gear set to instruct the speed reducer system to assemble the driving gear and the driven gear according to the matching relationship. This solution can effectively improve the consistency of speed reducer squeal.

Description

Technical Field

[0001] The present application relates to the technical field of speed reducer noise reduction, and in particular to a speed reducer howling consistency control method, device, electronic device and computer-readable storage medium. Background Art

[0002] The automotive industry is currently undergoing a major transformation unseen in a century, with traditional vehicles gradually transitioning towards intelligent and electrified driving. This trend towards intelligent driving places greater emphasis on the driving experience, leading to higher requirements for noise, vibration, and harshness. With the development of electrification, the high-frequency whine of reducer gears becomes more prominent at high motor speeds due to the lack of engine noise masking.

[0003] The principle of reducer whine is that the transmission error is generated by the meshing of the driving gear and the driven gear, and the whine noise is generated through the structural transmission of the gear shaft and the vibration radiation of the box. Therefore, in order to optimize the gear whine, the main consideration from the design point of view is to reduce the source excitation. Reducing the source excitation mainly means reducing the transmission error. Common methods include macro-parameter design and micro-shaping of gears. From a manufacturing perspective, factors such as the wear of machining tools, the installation of tooth blanks, differences in gear grinding processes, and ambient temperature will affect the micro-parameters of the finished gear. Therefore, it is impossible to produce completely consistent gear samples according to standard design parameters. Although gear manufacturers have introduced imported equipment and slowed down the production cycle to improve processing accuracy, the gears produced are all within the qualified parameter range. However, due to the existence of tolerances, the parameters of a considerable number of gears are widely dispersed when paired, which still leads to different whine performance in the car.

[0004] In addition, the traditional gear consistency control method also has the following disadvantages:

[0005] 1. Optimization of gear processing equipment, such as the introduction of imported gear grinding equipment and reduction of tool life, can improve the processing accuracy of individual gears to a certain extent, but it cannot solve the problem of poor meshing consistency of paired gears and will also lead to a significant increase in manufacturing costs;

[0006] 2. Reducing the production cycle, such as reducing the feed amount and feed speed to improve the processing accuracy of a single tooth, will seriously affect the efficiency of gear production;

[0007] 3. Masking some gear whine with poor consistency by adding vehicle acoustic packaging and electric drive packaging not only increases the development cycle and costs, but also increases the cost of each vehicle. Summary of the Invention

[0008] In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, device, equipment and medium for controlling the consistency of reducer howling to solve the above-mentioned technical problems.

[0009] The invention provides a method for controlling the consistency of reducer howling, comprising:

[0010] Acquire first detection data of the driving gear and second detection data of the driven gear;

[0011] Combining the driving gear with different driven gears to form gear sets, and determining matching parameter data between the driving gear and the driven gear in each gear set based on the first detection data and the second detection data;

[0012] Based on the matching parameter data and the preset optimization target parameter, determining the gear set whose matching parameter data is closest to the optimization target parameter as the target gear set;

[0013] A matching relationship is established between the driving gear and the driven gear in the target gear set to instruct the reducer system to assemble the driving gear and the driven gear according to the matching relationship.

[0014] In one embodiment of the present invention, based on the matching parameter data and a preset optimization target parameter, determining the gear set whose matching parameter data is closest to the optimization target parameter as the target gear set includes:

[0015] Based on the matching parameter data, determining the matching tolerance of each key parameter affecting the whine in each gear set;

[0016] Based on the fitting tolerance and the optimization target parameter, determining the gear set whose fitting tolerance is within the range of the optimization target parameter as the selected gear set;

[0017] Among the selected gear sets, the gear set whose matching parameter data is closest to the optimized target parameter is determined as the target gear set.

[0018] In one embodiment of the present invention, among the selected gear sets, determining the gear set having the matching parameter data closest to the optimization target parameter as the target gear set includes:

[0019] In the selected gear sets, based on the matching tolerances of the gear sets and the weights of the impacts of the key parameters on the whine, respectively determining the comprehensive impact values ​​of the gear sets;

[0020] The comprehensive influence values ​​of the gear sets in the selected gear sets are compared, and the gear set with the smallest comprehensive influence value is determined as the target gear set according to the comparison result.

[0021] In one embodiment of the present invention, based on the fit tolerances of the gear sets and the weights of the key parameters on the squeal, the comprehensive impact values ​​of the gear sets are determined. The calculation formula for the comprehensive impact value Q is:

[0022] Q=K1*j1+K2*j2+K3*j3+…+Kn*jn

[0023] in,

[0024] K1~Kn are the key parameters that affect howling;

[0025] j1~jn are the weight values ​​of the corresponding key parameters.

[0026] In one embodiment of the present invention, after establishing a matching relationship between the driving gear and the driven gear in the target gear set, the method further includes:

[0027] Obtain the off-line inspection data of the electric drive after the electric drive and reducer are assembled;

[0028] An off-line detection index of the electric drive is determined according to the off-line detection data to instruct the electric drive to intercept abnormal howling.

[0029] In one embodiment of the present invention, determining an off-line detection index of the electric drive according to the off-line detection data includes:

[0030] Determining the average value and standard deviation of the off-line detection data of each electric drive according to the off-line detection data;

[0031] The offline detection indicator is determined based on the average value and the standard deviation.

[0032] In one embodiment of the present invention, when determining the offline detection index based on the mean value and the standard deviation, the calculation formula of the offline detection index M is:

[0033] M=X+nδ

[0034] in,

[0035] X is the average value of the off-line test data of each electric drive;

[0036] δ is the standard deviation of the off-line test data of each electric drive;

[0037] n is the detection coefficient.

[0038] The reducer howling consistency control device provided by the present invention includes:

[0039] An information acquisition module, configured to acquire first detection data of the driving gear and second detection data of the driven gear;

[0040] a first processing module, configured to combine the driving gear with different driven gears to form gear sets, and determine matching parameter data between the driving gear and the driven gear in each gear set based on the first detection data and the second detection data;

[0041] A second processing module is configured to determine, based on the matching parameter data and a preset optimization target parameter, a gear set having matching parameter data closest to the optimization target parameter as a target gear set;

[0042] The third processing module is used to establish a matching relationship between the driving gear and the driven gear in the target gear set, so as to instruct the reducer system to assemble the driving gear and the driven gear according to the matching relationship.

[0043] The electronic device provided by the present invention includes:

[0044] one or more processors;

[0045] A storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the reducer howling consistency control method.

[0046] The computer-readable storage medium provided by the present invention stores a computer program thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute the reducer howling consistency control method.

[0047] Beneficial effects of the present invention:

[0048] Since there are design deviations between the driving gears and driven gears off the production line and the standard design parameters, if the driving gears and driven gears are assembled directly and arbitrarily, poor whistling consistency may result. In this application, the driving gears and driven gears off the production line are subjected to parameter detection to obtain first detection data and second detection data, and then the matching parameter data is determined based on the first detection data and the second detection data. After that, the matching parameter data and the optimized target parameters are compared to determine the target gear set with a matching relationship, and the gears in the target gear set are used to assemble the same reducer to improve the whistling consistency. Compared with the existing technology, this solution does not require imported gear grinding equipment, cutting tools and other equipment, and the entire process has no effect on gear processing. It has the advantages of simple gear matching logic and low cost.

[0049] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0051] Figure 1 It is a flowchart of a speed reducer howling consistency control method shown in an exemplary embodiment of the present application.

[0052] Figure 2 FIG. 1 is a flow chart of determining a target gear set according to an exemplary embodiment of the present application.

[0053] Figure 3 A flow chart of target gear set determination is shown for another exemplary embodiment of the present application.

[0054] Figure 4 The flowchart of determining offline detection indicators is shown as an exemplary embodiment of the present application.

[0055] Figure 5 It is a block diagram of a speed reducer howling consistency control device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0056] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0057] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0058] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0059] See also Figure 1 , Figure 1 It is a flowchart of a speed reducer howling consistency control method shown in an exemplary embodiment of the present application.

[0060] like Figure 1 As shown, in an exemplary embodiment, the speed reducer howling consistency control method includes at least steps S110 to S140, which are described in detail as follows:

[0061] Step S110 , obtaining first detection data of the driving gear and second detection data of the driven gear.

[0062] It is worth noting that the detection data of the driving gear and the driven gear are obtained in order to analyze the matching condition of the driving gear and the driven gear.

[0063] Step S120 , combining the driving gear with different driven gears into gear sets, and determining matching parameter data between the driving gear and the driven gear in each gear set based on the first detection data and the second detection data.

[0064] In this embodiment, in order to understand the reasons why the howling may occur after the driving gear and the driven gear are matched, the matching parameter data are determined.

[0065] Step S130 : Based on the matching parameter data and the preset optimization target parameters, the gear set whose matching parameter data is closest to the optimization target parameters is determined as the target gear set.

[0066] In this embodiment, when the mating parameter data meets the optimized target parameters, the corresponding driving gear and driven gear will both produce less whistling noise. However, to further reduce the noise generated by the mating between the driving gear and the driven gear, the gear set with the mating parameter data closest to the optimized target parameters is selected as the target gear set. The other gear sets not selected as the target gear set are released from their association and returned to the corresponding gear library for the next round of target gear set determination.

[0067] Step S140 , establishing a matching relationship between the driving gear and the driven gear in the target gear set, so as to instruct the reducer system to assemble the driving gear and the driven gear according to the matching relationship.

[0068] In the embodiment, assembling the gear sets in a paired relationship can effectively reduce the howling of the assembled reducer.

[0069] In an exemplary embodiment, before acquiring the first detection data of the driving gear and the second detection data of the driven gear in step S110 , the method further includes steps S101 to S103 .

[0070] Step S101: number the driving gear and driven gear of the reducer coming off the production line, and automatically scan and register them into the automation system.

[0071] In this embodiment, the driving gear and the driven gear are numbered separately to facilitate system management.

[0072] In step S102, the master and slave gears after scanning and registration are respectively passed through the gear micro-parameter detection station for metrological parameter detection, and the detection results are synchronously uploaded to the automation system and matched with the corresponding gears.

[0073] It is worth mentioning that the metrological parameters of the driving gear and the driven gear are detected in order to understand the various parameters of the gears.

[0074] Step S103: Select and determine the type of key microscopic parameters (referred to as key parameters) that affect gear meshing squeal and write them into the system. Based on the original design tolerance of the mating gear (manufacturing errors are taken into account, so the gear design tolerance is larger), set the optimization target of the tolerance for the consistency control of the mating gear squeal and input it into the automation system.

[0075] It is worth noting that the gear design tolerance takes into account manufacturing errors, so the gear design tolerance is large. The tolerance optimization target, because it meets the requirements of the noise consistency evaluation, has a small tolerance.

[0076] Figure 2 FIG. 1 is a flow chart of determining a target gear set according to an exemplary embodiment of the present application.

[0077] like Figure 2 As shown, in step S130, based on the matching parameter data and the preset optimization target parameters, the process of determining the gear set whose matching parameter data is closest to the optimization target parameters as the target gear set includes at least steps S210 to S230.

[0078] Step S210: determining the fit tolerance of each key parameter affecting the whine in each gear set based on the fit parameter data.

[0079] It is worth noting that the fit tolerance is the tolerance after optimizing the original design tolerance of the mating gears according to the tolerance optimization target.

[0080] Step S220 : Based on the fit tolerance and the optimization target parameter, a gear set having a fit tolerance within the optimization target parameter range is determined as a selected gear set.

[0081] In this embodiment, the matching tolerances of the gears in the selected gear set all meet the optimization target.

[0082] In step S230 , among the selected gear sets, the gear set whose matching parameter data is closest to the optimized target parameter is determined as the target gear set.

[0083] In this embodiment, only the gear set whose matching parameter data is closest to the optimized target parameter is determined as the target gear set to effectively achieve howling consistency.

[0084] Figure 3 A flow chart of target gear set determination is shown for another exemplary embodiment of the present application.

[0085] like Figure 3 As shown, in step S230 , the process of determining the gear set whose matching parameter data is closest to the optimized target parameter as the target gear set includes at least steps S310 and S320 .

[0086] Step S310 : determining the comprehensive impact value of each gear set in the selected gear set based on the fit tolerance of each gear set and the weight value of each key parameter's impact on the howling.

[0087] It is worth noting that the key parameter having a greater impact on howling has a higher weight value, and the key parameter having a smaller impact on howling has a smaller weight value.

[0088] Exemplarily, the sum of the weight values ​​of the key parameters is 1.

[0089] In step S320, the comprehensive influence values ​​of the gear sets in the selected gear sets are compared, and the gear set with the smallest comprehensive influence value is determined as the target gear set according to the comparison result.

[0090] In this embodiment, the gear set with the smallest comprehensive influence value is determined as the target gear set, which can effectively improve the howling consistency.

[0091] In an exemplary embodiment, based on the fit tolerances of each gear set and the weighted values ​​of the impact of each key parameter on the whine, the comprehensive impact value of each gear set is determined, and the calculation formula of the comprehensive impact value Q is:

[0092] Q=K1*j1+K2*j2+K3*j3+…+Kn*jn

[0093] in,

[0094] K1~Kn are the key parameters that affect howling;

[0095] j1~jn are the weight values ​​of the corresponding key parameters.

[0096] Exemplarily, the key parameters include tooth direction inclination, tooth direction crowning, tooth profile inclination, and tooth profile crowning.

[0097] For example, if the tolerance weight coefficients of tooth inclination, tooth crown, tooth profile inclination, and tooth profile crown are set to 0.3, 0.3, 0.2, and 0.2 respectively, and the measurement tolerances are 3um, -2um, 1um, and 2um respectively, the comprehensive impact value is calculated to be 2.1um.

[0098] Figure 4 The flowchart of determining offline detection indicators is shown as an exemplary embodiment of the present application.

[0099] like Figure 4 As shown, in step S140, after establishing a matching relationship between the driving gear and the driven gear in the target gear set, the method further includes steps S410 and S420.

[0100] Step S410: Obtain offline inspection data of the electric drive after the electric drive and the reducer are assembled.

[0101] In this embodiment, the off-line testing data is obtained through EOL (End of Line Testing System) off-line testing and uploaded to the system.

[0102] Step S420: determining an off-line detection index of the electric drive according to the off-line detection data to instruct the electric drive to intercept abnormal howling.

[0103] At present, most OEMs have adopted the method of electric drive EOL offline detection, and control the consistency of reducer howling by setting the one-dimensional peak index of the corresponding order and the two-dimensional order slicing curve standard. However, due to the poor consistency of the gear meshing howling itself, the set standards are "neither high nor low". If the standard is set too high, it will lead to a high end-of-line qualification rate, high maintenance rate and maintenance costs, and will also affect production efficiency; if the standard is set too low, some electric drives with obvious howling will flow into the market, causing a large number of customer complaints and after-sales repairs, and thus affecting the brand image. In this embodiment, a version of high-standard end-of-line detection indicators is formulated based on multi-sample data, which can not only ensure a high end-of-line qualification rate, but also intercept abnormal howling electric drives.

[0104] In an exemplary embodiment, in step S420, the process of determining the off-line detection index of the electric drive based on the off-line detection data at least includes: determining the average value and standard deviation of the off-line detection data of each electric drive based on each off-line detection data; and determining the off-line detection index based on the average value and the standard deviation.

[0105] In this embodiment, based on the average value and the standard value, the offline detection index is re-determined to intercept abnormal howling electric drive.

[0106] In an exemplary embodiment, the calculation formula of the offline detection index M is:

[0107] M=X+n

[0108] in,

[0109] X is the average value of the off-line test data of each electric drive;

[0110] δ is the standard deviation of the off-line test data of each electric drive;

[0111] n is the detection coefficient.

[0112] In this embodiment, based on the multi-sample offline detection data and in accordance with the formulation principle of M=x+nδ, a version of high-standard offline detection indicators can be formulated, which can not only ensure a high offline qualification rate, but also intercept abnormal howling electric drive.

[0113] For example, the average value x=1.5, the standard deviation δ=0.6, and the off-line detection index M is set to 3.3 according to the detection coefficient n=3. Even if the reducer passes the off-line test, the howling consistency performance is poor; but after controlling the consistency level, the off-line detection mean is reduced to x=1.3 (experimental test data), and the standard deviation is also reduced to δ=0.3. Therefore, according to the same detection coefficient n=3, the off-line detection index M can be set to 2.2 for interception to ensure the howling consistency level of the factory electric drive.

[0114] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0115] Figure 5 It is a block diagram of a speed reducer howling consistency control device shown in an exemplary embodiment of the present application.

[0116] like Figure 5 As shown, the exemplary speed reducer howling consistency control device includes:

[0117] An information acquisition module 510 is used to acquire first detection data of the driving gear and second detection data of the driven gear;

[0118] A first processing module 520 is configured to combine the driving gear with different driven gears to form gear sets, and determine matching parameter data between the driving gear and the driven gear in each gear set based on the first detection data and the second detection data;

[0119] A second processing module 530 is configured to determine, based on the matching parameter data and the preset optimization target parameters, a gear set having matching parameter data closest to the optimization target parameters as a target gear set;

[0120] The third processing module 540 is used to establish a matching relationship between the driving gear and the driven gear in the target gear set, so as to instruct the reducer system to assemble the driving gear and the driven gear according to the matching relationship.

[0121] In this exemplary speed reducer squeal consistency control device, manufacturing deviations exist between the driving and driven gears produced off the production line and the standard design parameters. Therefore, if the driving and driven gears are directly assembled, poor squeal consistency may result. In this application, the parameters of the driving and driven gears produced off the production line are matched, and the successfully matched driving and driven gears are treated as components of the same speed reducer to improve squeal consistency.

[0122] It should be noted that the speed reducer howling consistency control device provided in the above embodiment and the speed reducer howling consistency control method provided in the above embodiment are based on the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here. In actual applications, the speed reducer howling consistency control device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0123] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the reducer howling consistency control method provided in the above-mentioned embodiments.

[0124] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When executed by a computer processor, the computer program causes the computer to execute the aforementioned speed reducer squeal consistency control method. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0125] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the speed reducer howling consistency control method provided in each of the above embodiments.

[0126] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for controlling the consistency of speed reducer howling, characterized in that: The method comprises: Acquire first detection data of the driving gear and second detection data of the driven gear; Combining the driving gear with different driven gears to form gear sets, and determining matching parameter data between the driving gear and the driven gear in each gear set based on the first detection data and the second detection data; Based on the matching parameter data and the preset optimization target parameter, determining the gear set whose matching parameter data is closest to the optimization target parameter as the target gear set; Establishing a matching relationship between the driving gear and the driven gear in the target gear set to instruct the reducer system to assemble the driving gear and the driven gear according to the matching relationship; Wherein, based on the matching parameter data and the preset optimization target parameters, determining the gear set whose matching parameter data is closest to the optimization target parameters as the target gear set includes: Based on the matching parameter data, determining the matching tolerance of each key parameter affecting the whine in each gear set; Based on the fitting tolerance and the optimization target parameter, determining the gear set whose fitting tolerance is within the range of the optimization target parameter as the selected gear set; Among the selected gear sets, the gear set whose matching parameter data is closest to the optimized target parameter is determined as the target gear set.

2. The speed reducer howling consistency control method according to claim 1, characterized in that: Among the selected gear sets, determining the gear set whose matching parameter data is closest to the optimized target parameter as the target gear set comprises: In the selected gear sets, based on the matching tolerances of the gear sets and the weights of the impacts of the key parameters on the whine, respectively determining the comprehensive impact values ​​of the gear sets; The comprehensive influence values ​​of the gear sets in the selected gear sets are compared, and the gear set with the smallest comprehensive influence value is determined as the target gear set according to the comparison result.

3. The speed reducer howling consistency control method according to claim 2, characterized in that: Based on the fit tolerances of each gear set and the weighted values ​​of the impact of each key parameter on the whine, when the comprehensive impact value of each gear set is determined, the calculation formula of the comprehensive impact value Q is: Q=K1*j1+ K2*j2+ K3*j3+……+Kn*jn in, K1~Kn are the fitting tolerances of key parameters that affect howling; j1~jn are the weight values ​​of the corresponding key parameters.

4. The speed reducer howling consistency control method according to claim 1, characterized in that: After establishing a matching relationship between the driving gear and the driven gear in the target gear set, the method further includes: Obtain the off-line inspection data of the electric drive after the electric drive and reducer are assembled; An off-line detection index of the electric drive is determined according to the off-line detection data to instruct the electric drive to intercept abnormal howling.

5. The speed reducer howling consistency control method according to claim 4, characterized in that: Determine the off-line detection indicators of the electric drive based on the off-line detection data, including: Determining the average value and standard deviation of the off-line detection data of each electric drive according to the off-line detection data; The offline detection indicator is determined based on the average value and the standard deviation.

6. The speed reducer howling consistency control method according to claim 5, characterized in that: When determining the offline detection index based on the mean value and the standard deviation, the calculation formula of the offline detection index M is: in, X is the average value of the off-line test data of each electric drive; δ is the standard deviation of the off-line test data of each electric drive; n is the detection coefficient.

7. A speed reducer howling consistency control device, characterized in that: The device comprises: An information acquisition module, configured to acquire first detection data of the driving gear and second detection data of the driven gear; a first processing module, configured to combine the driving gear with different driven gears to form gear sets, and determine matching parameter data between the driving gear and the driven gear in each gear set based on the first detection data and the second detection data; A second processing module is configured to determine, based on the matching parameter data and a preset optimization target parameter, a gear set having matching parameter data closest to the optimization target parameter as a target gear set; a third processing module, configured to establish a matching relationship between the driving gear and the driven gear in the target gear set, so as to instruct the reducer system to assemble the driving gear and the driven gear according to the matching relationship; Wherein, based on the matching parameter data and the preset optimization target parameters, determining the gear set whose matching parameter data is closest to the optimization target parameters as the target gear set includes: Based on the matching parameter data, determining the matching tolerance of each key parameter affecting the whine in each gear set; Based on the fitting tolerance and the optimization target parameter, determining the gear set whose fitting tolerance is within the range of the optimization target parameter as the selected gear set; Among the selected gear sets, the gear set whose matching parameter data is closest to the optimized target parameter is determined as the target gear set.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the speed reducer howling consistency control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the speed reducer howling consistency control method according to any one of claims 1 to 6.

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