A servo press curve control method, system, device and medium

Abstract

The application relates to the field of control and manufacturing, and particularly relates to a servo press curve control method, system, device and medium. The method comprises the following steps: acquiring key point parameters, and connecting the key points based on a polynomial curve to form a process curve; calculating the maximum speed and the maximum acceleration of a motor of a servo press based on the process curve; when the maximum speed is not greater than a preset speed threshold value and the maximum acceleration is not greater than a preset acceleration threshold value, adjusting the following motion of the motor of the servo press based on the process curve, so as to reduce the difference between the process curve and the ideal rotation curve followed by the motor. The application has the effects of improving the flexibility and process adaptability of the servo press, and further improving the production efficiency.

Description

Technical Field

[0001] This application relates to the field of control and manufacturing, and in particular to a servo press curve control method, system, device and medium. Background Technology

[0002] Currently, with the continuous development of the manufacturing industry, servo presses have been widely used in parts processing due to their superior processing performance compared to traditional presses.

[0003] Servo presses can arbitrarily set process curves to meet processing and production needs. Although existing process curve control methods have strong process adaptability, they still lack a certain degree of flexibility and process adaptability when facing the needs of new materials and new metal forming structures, thus reducing production efficiency. Summary of the Invention

[0004] To improve the flexibility and process adaptability of servo presses, thereby increasing production efficiency, this application provides a servo press curve control method, system, equipment, and medium.

[0005] Firstly, this application provides a servo press curve control method, which adopts the following technical solution: A servo press curve control method, comprising: Obtain key point parameters and connect the key points based on a polynomial curve to form a process curve, wherein the key points are the stage division points of the process curve; The maximum speed and maximum acceleration of the motor of the servo press are calculated based on the process curve. When the maximum speed is not greater than a preset speed threshold and the maximum acceleration is not greater than a preset acceleration threshold, the following motion of the servo press motor is adjusted based on the process curve to reduce the difference between the process curve and the ideal rotation curve followed by the motor.

[0006] By adopting the above technical solution, when using a servo press to process materials, the key point parameters of the process curve are obtained, and the process curve is formed by connecting the key points based on a polynomial curve. After the process curve is formed, the maximum speed and maximum acceleration of the servo press motor are calculated based on the process curve. When the speed and acceleration do not exceed the preset thresholds, the following motion of the servo press motor is adjusted according to the process curve. Different process curves can be formed according to different materials, improving the flexibility and process adaptability of the servo press, thereby improving production efficiency.

[0007] Optionally, the step of obtaining key point parameters and connecting key points based on a polynomial curve to form a process curve includes: Obtain the current material; Based on the current material and the preset material-curve parameter database, determine the stage parameters of the process curve; Multiple key points are determined based on the stage parameters, and the key point parameters are calculated, wherein the key point parameters include key point coordinates, key point velocities, and key point accelerations. Based on the key point parameters of adjacent key points, and using the general form of a polynomial, a polynomial curve between the adjacent key points is calculated.

[0008] Optionally, the step of calculating the polynomial curve between adjacent key points based on the key point parameters of adjacent key points and on the general form of a polynomial includes: Wherein, Y1 represents the ordinate value of the first key point among the adjacent key points, X1 represents the abscissa value of the first key point among the adjacent key points, Y2 represents the ordinate value of the second key point among the adjacent key points, and X2 represents the abscissa value of the second key point among the adjacent key points. This represents the constant term of the polynomial curve. This represents the coefficient of the first-order term of the polynomial curve. This represents the coefficient of the quadratic term in the polynomial curve. This represents the coefficients of the cubic term in the polynomial curve. This represents the coefficients of the fourth-order term of the polynomial curve. V1 represents the fifth-order coefficient of the polynomial curve, A1 represents the velocity of the first key point among the adjacent key points, V2 represents the velocity of the second key point among the adjacent key points, and A2 represents the acceleration of the second key point among the adjacent key points. The coefficients of the polynomial curve are obtained based on the above formula, thus obtaining the polynomial curve between the adjacent key points.

[0009] By adopting the above technical solution, the stage parameters of the process curve are determined based on the current materials and the preset material-curve parameter database, and then multiple key points and key point parameters are determined. Based on the key point parameters of adjacent key points and the general form of a polynomial, the polynomial curve between adjacent key points is determined, thereby forming the process curve. This can maximize the flexibility and process adaptability of the process curve.

[0010] Optionally, calculating the maximum speed and maximum acceleration of the servo press motor based on the process curve includes: Calculate the first derivative of the process curve, and determine the maximum speed of the motor of the servo press based on the maximum value of the first derivative; Calculate the second derivative of the process curve, and determine the maximum acceleration of the motor of the servo press based on the maximum value of the second derivative.

[0011] By adopting the above technical solution, the maximum speed and maximum acceleration of the servo press motor are determined according to the first and second derivatives of the process curve, respectively. This lays the foundation for determining whether the maximum speed and maximum acceleration of the motor exceed the limits. The servo press is allowed to operate in curve mode only when the limits are not exceeded, thereby ensuring the safe use of the equipment.

[0012] Optionally, adjusting the following motion of the servo press motor based on the process curve includes: The process curve and the motor following the ideal rotation curve are compared to determine the difference curve between the process curve and the motor following the ideal rotation curve; The difference curve is analyzed, and the analysis result is converted into position control commands to adjust the following motion of the motor of the servo press.

[0013] Optionally, the step of analyzing the difference curve and converting the analysis result into position control commands to adjust the following motion of the motor of the servo press includes: Perform parameter analysis on the difference curve to determine the difference parameters of the difference curve, wherein the difference parameters include difference velocity and difference acceleration; The position control command is determined based on the difference parameters and the preset mapping relationship, wherein the preset mapping relationship is a parameter-position control command mapping relationship; The following motion of the motor of the servo press is adjusted based on the position control command.

[0014] By adopting the above technical solution, after obtaining the process curve, the process curve and the ideal rotation curve of the motor are compared to determine the difference curve. Based on the difference parameters of the difference curve and the preset mapping relationship, the position control command is determined, and then the following motion of the motor is adjusted, which improves the flexibility and process adaptability of the servo press.

[0015] Optionally, after adjusting the following motion of the servo press motor based on the process curve, the process includes: The slider of the servo press is detected in real time using a preset detection device to obtain the detection result; Based on the detection results, the slider is controlled and analyzed to determine the control accuracy of the slider. If the control accuracy exceeds a preset control accuracy threshold, the control parameters of the motor are adjusted according to the control accuracy of the motor. The following motion is controlled based on the adjusted control parameters of the motor.

[0016] By adopting the above technical solution, when controlling the slider, the slider's position is detected in real time based on a preset detection device. The control accuracy of the slider is determined according to the detection results. When the control accuracy exceeds the preset control accuracy threshold, the control parameters of the motor are adjusted according to the control accuracy, thereby controlling the following motion, realizing full closed-loop detection, and improving control accuracy.

[0017] Secondly, this application provides a servo press curve control system, which adopts the following technical solution: A servo press curve control system, comprising: The process curve determination module acquires key point parameters and connects the key points based on a polynomial curve to form a process curve, wherein the key points are the stage division points of the process curve. The calculation module calculates the maximum speed and maximum acceleration of the motor of the servo press based on the process curve; The adjustment module adjusts the following motion of the servo press motor based on the process curve when the maximum speed is not greater than a preset speed threshold and the maximum acceleration is not greater than a preset acceleration threshold, so as to reduce the difference between the process curve and the ideal rotation curve of the motor.

[0018] By adopting the above technical solution, when using a servo press to process materials, the key point parameters of the process curve are obtained, and the process curve is formed by connecting the key points based on a polynomial curve. After the process curve is formed, the maximum speed and maximum acceleration of the servo press motor are calculated based on the process curve. When the speed and acceleration do not exceed the preset thresholds, the following motion of the servo press motor is adjusted according to the process curve. Different process curves can be formed according to different materials, improving the flexibility and process adaptability of the servo press, thereby improving production efficiency.

[0019] Thirdly, this application provides an electronic device that adopts the following technical solution: An electronic device comprising: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: perform any of the methods described above.

[0020] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium includes: a computer program stored thereon that can be loaded by a processor and execute any of the methods described above. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a servo press curve control method according to an embodiment of this application; Figure 2 This is a schematic diagram of the in-mold heating curve and stage parameters of an embodiment of this application; Figure 3 This is a schematic diagram of the multi-link curve and stage parameters of an embodiment of this application; Figure 4 This is a structural block diagram of a servo press curve control system according to an embodiment of this application; Figure 5 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0022] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] like Figure 1 The aforementioned servo press curve control method, the main process of which is described below (steps S101~S103): S101: Obtain key point parameters and connect key points based on polynomial curves to form process curves.

[0025] In this embodiment, the key point parameters include key point coordinates, key point velocity, and key point acceleration. The key point coordinates are represented in Cartesian coordinate system, with the horizontal axis representing the ideal rotation curve angle at the set velocity and the vertical axis representing the slider motion angle. The polynomial curve is a fifth-order polynomial curve. This application obtains the key point parameters and connects and fits adjacent key points based on the fifth-order polynomial curve to form a process curve, and then controls the servo press through the process curve.

[0026] Specifically, the process involves acquiring key point parameters and connecting these key points to form a process curve based on a polynomial curve. This includes: acquiring the current material; determining the stage parameters of the process curve based on the current material and a preset material-curve parameter database; determining multiple key points based on the stage parameters and calculating the key point parameters, which include key point coordinates, key point velocities, and key point accelerations; and calculating the polynomial curve between adjacent key points based on the key point parameters of adjacent key points and the general form of a polynomial.

[0027] In this embodiment, the preset material-curve parameter database includes all preset materials and the stage parameters of the corresponding process curves. The stage parameters of the corresponding process curve can be determined based on the material. The preset material-curve parameter database is set in advance. If the current material does not exist in the preset material-curve parameter database, the stage parameters of the current material are determined based on similar materials or forging processes, and the current material and stage parameters are added to the preset material-curve parameter database. The stage parameters represent the running time, movement speed, and slider angle of different stages, such as the in-mold heating stopping angle and the uniform running speed of the in-mold heating curve.

[0028] Key points include fixed key points and random key points. For example, fixed key points are the start and stop points, while random key points are calculated based on stage parameters.

[0029] For example, the in-mold heating curve represents the servo press slider moving to fit the mold, stopping for a period of time, and then maintaining a certain distance between the slider and the mold while moving at a constant speed. The remaining stages generally involve faster movement. The in-mold heating curve has four stage parameters: the in-mold heating stopping angle d1 (the angle at which the slider fits the mold); the ratio t1 between the in-mold heating stopping time and the time it takes for the slider to complete one stroke; the constant speed speed v1; the constant speed stopping angle d2; and the ratio of the acceleration time to the constant speed time from the stopping stage to the constant speed stage is defined as 1 / f, where f is a parameter set by the manufacturer.

[0030] like Figure 2 This diagram illustrates the in-mold heating curve and its stage parameters. The curve requires six key points to determine its position. Point 1 is a fixed point with x=0, y=360, and V=1. Point 6 is also a fixed point with x=360, y=360, and V=1, where V represents the velocity at the key point. Points 2 and 4 are symmetrical about 180 degrees. Point 2 marks the start of the stopping phase, and point 4 marks the start of the uniform motion phase, allowing us to determine the distance traveled during uniform motion. The horizontal coordinate distance of uniform motion This allows us to determine the x-coordinate of point 2. The ordinate is Y=d1, V=0, and the x-coordinate of point 4 is... , y-axis V=v1. Based on the general formula of a quintic curve and the formula above, the x and y coordinates and velocities of all key points can be determined, including the x-coordinate of point 3. The vertical coordinate is Y=d1, V=0, and the horizontal coordinate of point 5 is... The ordinate is Y=d2, and the velocity is V=v1. The acceleration of the key point is determined by the stage it is in. For example, in the stage where point 2 is located, the slider is stationary and the acceleration is 0. By substituting the x and y coordinates, velocities and accelerations of the adjacent key points into the general form of the fifth-order polynomial, the fifth-order curve between the adjacent key points can be obtained. Based on the fifth-order curves of all adjacent key points, the process curve can be obtained.

[0031] like Figure 3 This is a schematic diagram of a multi-link curve and its stage parameters. The curve has two uniform speed phases with different velocities, while the remaining phases generally move at higher speeds. The curve requires six key points to define its parameters. Point 1 remains a fixed point with X=0, Y=360, V=1; point 6 also remains a fixed point with X=360, Y=360, V=1. The stage parameters are the x and y coordinates of points 2, 3, and 5, which need to be set in advance. Points 2 and 3 are the start and end points of the first uniform speed phase, and point 5 is the end point of the second uniform speed phase. The velocities v2 of points 2 and 3 are determined by their x and y coordinates: point 2 (X2, Y2) and point 3 (X3, Y3). Similarly, the velocities v3 of points 4 and 5 are also determined by their x and y coordinates. Point 4 is the starting point of the second uniform motion segment. Point 5 is (x5, y5), and point 4 is (x4, y4). The coordinates of point 4 are unknown. The ratio of the time of acceleration change between two uniform speed phases to the time of the second uniform speed phase is defined as 1 / e. The coordinates of point 4 can then be calculated. , Based on the above formula, we can obtain The acceleration of a key point is determined by the stage it belongs to. By substituting the x and y coordinates, velocity, and acceleration of adjacent key points into the general form of a fifth-order polynomial, the fifth-order curve between adjacent key points can be obtained. Based on the fifth-order curves of all adjacent key points, the process curve can be obtained.

[0032] In the process of forming process curves, the selection of key points is crucial. Even with the same curve fitting method, different methods of determining key points will result in different process curves, leading to differences in control effects. Therefore, this application provides a method for calculating key points, especially a method for calculating key points of special curves, to ensure the quality of process curves and thus improve control effects.

[0033] Furthermore, based on the keypoint parameters of adjacent keypoints and using the general form of a polynomial, a polynomial curve between adjacent keypoints is calculated, including: Wherein, Y1 represents the ordinate value of the first key point among the adjacent key points, X1 represents the abscissa value of the first key point among the adjacent key points, Y2 represents the ordinate value of the second key point among the adjacent key points, and X2 represents the abscissa value of the second key point among the adjacent key points. This represents the constant term of the polynomial curve. This represents the coefficient of the first-order term of the polynomial curve. This represents the coefficient of the quadratic term in the polynomial curve. This represents the coefficients of the cubic term in the polynomial curve. This represents the coefficients of the fourth-order term of the polynomial curve. V1 represents the fifth-order coefficient of the polynomial curve, A1 represents the velocity of the first key point among the adjacent key points, V2 represents the velocity of the second key point among the adjacent key points, and A2 represents the acceleration of the second key point among the adjacent key points. The coefficients of the polynomial curve are obtained based on the above formula, thus obtaining the polynomial curve between the adjacent key points.

[0034] Since the process curve position interpolation method of servo presses generally uses quadratic curves to connect key points, which has control defects, this application uses quintic curves to connect key points to form process curves. This method has better adaptability to the mechanical characteristics of servo presses and the kinematic and dynamic characteristics of servo motors, making the equipment work more stably.

[0035] S102: Calculate the maximum speed and maximum acceleration of the servo press motor based on the process curve.

[0036] Specifically, the maximum speed and maximum acceleration of the servo press motor are calculated based on the process curve. This includes: calculating the first derivative of the process curve, and determining the maximum speed of the servo press motor based on the maximum value of the first derivative; calculating the second derivative of the process curve, and determining the maximum acceleration of the servo press motor based on the maximum value of the second derivative. Since the generation of the process curve largely considers the compatibility between the process curve and the material, when adjusting the motor's following motion based on the process curve, situations may arise where the motor speed exceeds a preset speed threshold and / or the motor acceleration exceeds a preset acceleration threshold. Prolonged overload operation of the motor can damage it and increase the risk of failure. Therefore, this application determines the maximum speed and maximum acceleration of the servo press motor after determining the process curve to ensure that the motor operates within a safe range and improve the safety of the equipment.

[0037] S103: When the maximum speed is not greater than the preset speed threshold and the maximum acceleration is not greater than the preset acceleration threshold, the following motion of the servo press motor is adjusted based on the process curve.

[0038] In this embodiment, both the preset speed threshold and the preset acceleration threshold are set in advance.

[0039] Specifically, the following motion of the servo press motor is adjusted based on the process curve, including: comparing the process curve and the ideal rotation curve of the motor to determine the difference curve between the process curve and the ideal rotation curve of the motor; analyzing the difference curve and converting the analysis result into position control commands to adjust the following motion of the servo press motor.

[0040] In this embodiment, the ideal rotation curve followed by the motor is an ideal rotation curve that does not consider any external interference and internal losses. This is pre-set. The difference curve is the portion of the process curve and the ideal rotation curve that does not overlap or has a low degree of overlap. The difference curve is analyzed to determine the difference parameters. Based on the velocity and acceleration at each point on the difference curve, the difference velocity and difference acceleration at the corresponding point are determined. For example, in the process curve, point A on the difference curve has a velocity of a1 and an acceleration of b1, corresponding to the difference curve of the ideal rotation curve followed by the motor. Point A has a velocity of a2 and an acceleration of b2. The difference velocity of the point is a1-a2, the difference acceleration is b1-b2, and the position control command is obtained according to the preset mapping relationship and difference parameters.

[0041] Furthermore, the difference curve is analyzed, and the analysis results are converted into position control commands to adjust the following motion of the servo press motor. This includes: performing parameter analysis on the difference curve to determine the difference parameters, including difference velocity and difference acceleration; determining the position control commands based on the difference parameters and a preset mapping relationship, where the preset mapping relationship is a parameter-position control command mapping relationship; and adjusting the following motion of the servo press motor based on the position control commands.

[0042] In this embodiment, the preset mapping relationship is the mapping relationship between differential velocity, differential acceleration and position control command. The corresponding position control command can be determined based on the differential velocity and differential acceleration, which is pre-set.

[0043] Furthermore, after adjusting the following motion of the servo press motor based on the process curve, the process includes: performing real-time position detection of the servo press slider based on a preset detection device to obtain the detection result; performing control analysis on the slider based on the detection result to determine the control accuracy of the slider; if the control accuracy exceeds a preset control accuracy threshold, adjusting the motor control parameters according to the motor control accuracy; and controlling the following motion based on the adjusted motor control parameters.

[0044] In this embodiment, the preset detection device includes an encoder, a grating ruler, etc. Real-time position detection includes initial position detection and real-time motion position detection. The control accuracy is obtained based on the detection results and the expected control results of the process curve, and is (real-time position - expected control position of the process curve) / real-time position. The expected control position of the process curve is determined based on the vertical axis of the process curve. The preset control accuracy threshold is set in advance. To determine whether the control accuracy exceeds the preset control accuracy threshold, the absolute value of the control accuracy is compared with the preset control accuracy threshold. The control parameters of the motor are adjusted. The adjustment direction is determined based on the sign of the control accuracy. For example, if the control accuracy is positive, the motor speed is reduced; if the control accuracy is negative, the motor speed is increased. The adjustment range is determined based on the difference between the absolute value of the control accuracy and the control accuracy threshold.

[0045] In actual control, errors may occur during motor production or aging during use, leading to discrepancies between actual and theoretical control. Therefore, this application uses encoders and grating rulers to determine the real-time position of the slider, thereby identifying the difference between actual and theoretical control and adjusting the actual control to reduce control errors and improve control accuracy.

[0046] Figure 4 This is a structural block diagram of a servo press curve control system 200 provided in an embodiment of this application.

[0047] like Figure 4 As shown, a servo press curve control system 200 mainly includes: The process curve determination module 201 acquires key point parameters and connects the key points based on a polynomial curve to form a process curve, where the key points are the stage division points of the process curve. Calculation module 202 calculates the maximum speed and maximum acceleration of the servo press motor based on the process curve; The adjustment module 203 adjusts the following motion of the servo press motor based on the process curve when the maximum speed is not greater than the preset speed threshold and the maximum acceleration is not greater than the preset acceleration threshold, so as to reduce the difference between the process curve and the ideal rotation curve of the motor.

[0048] In one possible implementation of this application embodiment, the process curve determination module 201 is further specifically used to acquire key point parameters and connect the key points based on a polynomial curve to form a process curve, including: acquiring the current material; determining the stage parameters of the process curve based on the current material and a preset material-curve parameter database; determining multiple key points based on the stage parameters and calculating the key point parameters, wherein the key point parameters include key point coordinates, key point velocity, and key point acceleration; and calculating the polynomial curve between adjacent key points based on the key point parameters of adjacent key points and the general form of a polynomial.

[0049] In one possible implementation of this application embodiment, the process curve determination module 201 is further specifically used to calculate a polynomial curve between adjacent key points based on the key point parameters of adjacent key points and the general form of a polynomial, including: Wherein, Y1 represents the ordinate value of the first key point among the adjacent key points, X1 represents the abscissa value of the first key point among the adjacent key points, Y2 represents the ordinate value of the second key point among the adjacent key points, and X2 represents the abscissa value of the second key point among the adjacent key points. This represents the constant term of the polynomial curve. This represents the coefficient of the first-order term of the polynomial curve. This represents the coefficient of the quadratic term in the polynomial curve. This represents the coefficients of the cubic term in the polynomial curve. This represents the coefficients of the fourth-order term of the polynomial curve. V1 represents the fifth-order coefficient of the polynomial curve, A1 represents the velocity of the first key point among the adjacent key points, V2 represents the velocity of the second key point among the adjacent key points, and A2 represents the acceleration of the second key point among the adjacent key points. The coefficients of the polynomial curve are obtained based on the above formula, thus obtaining the polynomial curve between the adjacent key points.

[0050] In one possible implementation of this application embodiment, the calculation module 202 is further specifically used to calculate the maximum speed and maximum acceleration of the servo press motor based on the process curve, including: calculating the first derivative of the process curve, and determining the maximum speed of the servo press motor based on the maximum value of the first derivative; calculating the second derivative of the process curve, and determining the maximum acceleration of the servo press motor based on the maximum value of the second derivative.

[0051] In one possible implementation of this application embodiment, the adjustment module 203 is further specifically used to adjust the following motion of the motor of the servo press based on the process curve, including: comparing the process curve and the ideal rotation curve of the motor to determine the difference curve between the process curve and the ideal rotation curve of the motor; analyzing the difference curve and converting the analysis result into a position control command to adjust the following motion of the motor of the servo press.

[0052] In one possible implementation of this application embodiment, the adjustment module 203 is further specifically used to analyze the difference curve and convert the analysis result into a position control command to adjust the following motion of the servo press motor. This includes: performing parameter analysis on the difference curve to determine the difference parameters of the difference curve, wherein the difference parameters include difference velocity and difference acceleration; determining the position control command based on the difference parameters and a preset mapping relationship, wherein the preset mapping relationship is a parameter-position control command mapping relationship; and adjusting the following motion of the servo press motor based on the position control command.

[0053] In one possible implementation of this application embodiment, the adjustment module 203 is further specifically used to adjust the following motion of the servo press motor based on the process curve, including: performing real-time position detection of the slider of the servo press based on a preset detection device to obtain the detection result; performing control analysis on the slider based on the detection result to determine the control accuracy of the slider; if the control accuracy exceeds a preset control accuracy threshold, adjusting the control parameters of the motor according to the control accuracy of the motor; and controlling the following motion based on the adjusted control parameters of the motor.

[0054] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0055] This application also describes an electronic device from the perspective of a physical device, such as... Figure 5 As shown, Figure 5 The illustrated electronic device 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.

[0056] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0057] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0058] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0059] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0060] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 5 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0061] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0062] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A servo press curve control method, characterized in that, include: Obtain key point parameters and connect the key points based on a polynomial curve to form a process curve, wherein the key points are the stage division points of the process curve; The maximum speed and maximum acceleration of the motor of the servo press are calculated based on the process curve. When the maximum speed is not greater than a preset speed threshold and the maximum acceleration is not greater than a preset acceleration threshold, the following motion of the motor of the servo press is adjusted based on the process curve to reduce the difference between the process curve and the ideal rotation curve followed by the motor. The step of obtaining key point parameters and connecting key points based on polynomial curves to form a process curve includes: Obtain the current material; Based on the current material and the preset material-curve parameter database, determine the stage parameters of the process curve; Multiple key points are determined based on the stage parameters, and the key point parameters are calculated, wherein the key point parameters include key point coordinates, key point velocities, and key point accelerations. Based on the key point parameters of adjacent key points, and calculated using the general form of a polynomial, a polynomial curve between the adjacent key points is obtained. The step of calculating the polynomial curve between adjacent key points based on the key point parameters of adjacent key points and on the general form of a polynomial includes: ； ； ； ； ； ； Wherein, Y1 represents the ordinate value of the first key point among the adjacent key points, X1 represents the abscissa value of the first key point among the adjacent key points, Y2 represents the ordinate value of the second key point among the adjacent key points, and X2 represents the abscissa value of the second key point among the adjacent key points. This represents the constant term of the polynomial curve. This represents the coefficient of the first-order term of the polynomial curve. This represents the coefficient of the quadratic term in the polynomial curve. This represents the coefficients of the cubic term in the polynomial curve. This represents the coefficients of the fourth-order term of the polynomial curve. V1 represents the fifth-order coefficient of the polynomial curve, A1 represents the velocity of the first key point among the adjacent key points, V2 represents the velocity of the second key point among the adjacent key points, and A2 represents the acceleration of the second key point among the adjacent key points. The coefficients of the polynomial curve are obtained based on the above formula, thus obtaining the polynomial curve between the adjacent key points.

2. The method according to claim 1, characterized in that, The calculation of the maximum speed and maximum acceleration of the servo press motor based on the process curve includes: Calculate the first derivative of the process curve, and determine the maximum speed of the motor of the servo press based on the maximum value of the first derivative; Calculate the second derivative of the process curve, and determine the maximum acceleration of the motor of the servo press based on the maximum value of the second derivative.

3. The method according to claim 1, characterized in that, The adjustment of the following motion of the motor of the servo press based on the process curve includes: The process curve and the motor following the ideal rotation curve are compared to determine the difference curve between the process curve and the motor following the ideal rotation curve; The difference curve is analyzed, and the analysis result is converted into position control commands to adjust the following motion of the motor of the servo press.

4. The method according to claim 3, characterized in that, The step of analyzing the difference curve and converting the analysis result into position control commands to adjust the following motion of the servo press motor includes: Perform parameter analysis on the difference curve to determine the difference parameters of the difference curve, wherein the difference parameters include difference velocity and difference acceleration; The position control command is determined based on the difference parameters and the preset mapping relationship, wherein the preset mapping relationship is a parameter-position control command mapping relationship; The following motion of the motor of the servo press is adjusted based on the position control command.

5. The method according to claim 1, characterized in that, After adjusting the following motion of the servo press motor based on the process curve, the process includes: The slider of the servo press is detected in real time using a preset detection device to obtain the detection result; Based on the detection results, the slider is controlled and analyzed to determine the control accuracy of the slider. If the control accuracy exceeds a preset control accuracy threshold, the control parameters of the motor are adjusted according to the control accuracy of the motor. The following motion is controlled based on the adjusted control parameters of the motor.

6. A servo press curve control system, characterized in that, include: The process curve determination module acquires key point parameters and connects the key points based on a polynomial curve to form a process curve, wherein the key points are the stage division points of the process curve. The calculation module calculates the maximum speed and maximum acceleration of the motor of the servo press based on the process curve; The adjustment module adjusts the following motion of the motor of the servo press based on the process curve when the maximum speed is not greater than a preset speed threshold and the maximum acceleration is not greater than a preset acceleration threshold, so as to reduce the difference between the process curve and the ideal rotation curve of the motor. The process curve determination module is also specifically used to acquire key point parameters and connect the key points based on a polynomial curve to form a process curve, including: Obtain the current material; Based on the current material and the preset material-curve parameter database, determine the stage parameters of the process curve; Multiple key points are determined based on the stage parameters, and the key point parameters are calculated, wherein the key point parameters include key point coordinates, key point velocities, and key point accelerations. The process curve determination module is further specifically used to calculate a polynomial curve between adjacent key points based on the key point parameters of adjacent key points and the general form of a polynomial, including: ； ； ； ； ； ； Wherein, Y1 represents the ordinate value of the first key point among the adjacent key points, X1 represents the abscissa value of the first key point among the adjacent key points, Y2 represents the ordinate value of the second key point among the adjacent key points, and X2 represents the abscissa value of the second key point among the adjacent key points. This represents the constant term of the polynomial curve. This represents the coefficient of the first-order term of the polynomial curve. This represents the coefficient of the quadratic term in the polynomial curve. This represents the coefficients of the cubic term in the polynomial curve. This represents the coefficients of the fourth-order term of the polynomial curve. V1 represents the fifth-order coefficient of the polynomial curve, A1 represents the velocity of the first key point among the adjacent key points, V2 represents the velocity of the second key point among the adjacent key points, and A2 represents the acceleration of the second key point among the adjacent key points. The coefficients of the polynomial curve are obtained based on the above formula, thus obtaining the polynomial curve between the adjacent key points.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, said at least one application being configured to: perform the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in the computer, the computer is caused to perform the method described in any one of claims 1 to 5.

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