Glass chamfering processing method based on feedback regulation

Abstract

The present application relates to the field of data processing technology, and specifically to a glass chamfering method based on feedback regulation, the method comprising: obtaining chamfering processing data during the chamfering process of the circular holes of each photovoltaic glass in the same batch, including the rotation speed and vibration frequency of each spindle; analyzing the relative deviation variation characteristics of the chamfering processing data of the spindles at different positions during the processing of the glass circular hole chamfering machine to construct a synchronous relative deviation coefficient; analyzing the relative offset of the chamfering processing data between the spindles at different positions according to the synchronous relative deviation coefficient to obtain the chamfering state relative coefficient; feedback regulating the process parameters of the spindles at different positions of the glass circular hole chamfering machine according to the chamfering state relative coefficient to process the glass chamfer. The present application can improve the precision of the chamfering of the circular holes of photovoltaic glass.

Description

Technical Field

[0001] The present application relates to the technical field of data processing, and in particular to a glass chamfering processing method based on feedback regulation. Background Art

[0002] With the rapid development of the photovoltaic industry, the requirements for the processing and production of photovoltaic glass are gradually increasing. Nowadays, the processing of circular hole chamfering of photovoltaic glass often adopts a chamfering processing method based on machine vision, that is, the circular hole of the photovoltaic glass to be processed is positioned by machine vision, and the circular hole of the photovoltaic glass is chamfered based on the positioning result using a PLC control system, thereby realizing the automated production process of circular hole chamfering of photovoltaic glass and improving the production and processing efficiency of photovoltaic glass.

[0003] However, in the process of chamfering the circular holes of photovoltaic glass based on machine vision, the feedback control of the chamfering process of the circular holes of photovoltaic glass may be affected by environmental interference factors, which may lead to large deviations in the feedback results of process parameters. The vibration of the machine or the unstable changes in the spindle parameters during the processing will affect the accuracy of the current chamfering processing state analysis. Therefore, when using the traditional feedback control method to analyze the error of the circular hole chamfering processing, only the error of the current data is used as the feedback signal for adjustment, which may result in large deviations between the inner edge and the outer edge of the chamfer at different positions after the circular hole chamfering processing, thereby reducing the accuracy of the circular hole chamfering processing of photovoltaic glass and affecting the quality of photovoltaic glass production and processing. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a glass chamfering method based on feedback regulation to solve the existing problems.

[0005] The glass chamfering processing method based on feedback adjustment of the present application adopts the following technical solution:

[0006] An embodiment of the present application provides a glass chamfering method based on feedback regulation, the method comprising the following steps:

[0007] Obtain the chamfering processing data of the circular hole chamfering process of each photovoltaic glass in the same batch, including the rotation speed and vibration frequency of each spindle;

[0008] The relative deviation variation characteristics of the spindle chamfering processing data at different positions in the glass round hole chamfering machine are analyzed to construct the synchronous relative deviation coefficient;

[0009] Analyze the relative offset of chamfering processing data between spindles at different positions according to the synchronous relative deviation coefficient to obtain the chamfering state relative coefficient;

[0010] According to the chamfering state relative coefficient, feedback adjustment is performed on the process parameters of the spindles at different positions of the glass round hole chamfering machine to process the glass chamfer.

[0011] Optionally, the construction of the synchronization relative deviation coefficient further includes:

[0012] Construct the vibration frequency data sequence of each spindle;

[0013] Analyze the difference between the vibration frequency data sequence of each main axis and the vibration frequency data sequence of each other main axis, and record it as the first vibration difference;

[0014] Analyze the difference between the fluctuation degree of the vibration frequency data sequence of each main axis and the fluctuation degree of the vibration frequency data sequence of other main axes, and record it as the second vibration difference;

[0015] The first vibration difference and the second vibration difference obtained by analyzing each main axis and all other main axes are forwardly fused to obtain the synchronous relative deviation coefficient of each main axis.

[0016] Optionally, the construction of the vibration frequency data sequence of each spindle further includes:

[0017] The vibration frequencies collected by each spindle are arranged in ascending order according to the collection time to construct a vibration frequency data sequence for each spindle.

[0018] Optionally, the acquisition of the chamfer state relative coefficient further includes:

[0019] Constructing the trend characteristic data sequence of each spindle based on the singular value decomposition of the speed data sequence of each spindle;

[0020] The distance between the trend characteristic data sequence of each main axis and the trend characteristic data sequence of other main axes is taken as the trend difference coefficient between each main axis and other main axes;

[0021] The similarity between the singular vector of the speed data sequence of each spindle and the singular vector of the speed data sequence of other spindles is used as the state characteristic difference coefficient between each spindle and other spindles;

[0022] Obtaining a feedback deviation coefficient of each main axis based on the trend difference coefficient and the state characteristic difference coefficient;

[0023] The chamfering state relative coefficient of each spindle is determined based on the feedback deviation coefficient and the synchronization relative deviation coefficient.

[0024] Optionally, the rotation speed data sequence of each spindle is composed of rotation speed data collected by each spindle.

[0025] Optionally, the feedback deviation coefficient of each spindle further includes:

[0026] The average of the accumulated results of the ratio of the trend difference coefficient to the state characteristic difference coefficient on each main axis and all other main axes is used as the feedback deviation coefficient of each main axis.

[0027] Optionally, the chamfer state relative coefficient of each spindle is a result of forward fusion of the feedback deviation coefficient and the synchronization relative deviation coefficient of each spindle.

[0028] Optionally, the feedback adjustment of the process parameters of the spindles at different positions of the glass round hole chamfering machine further includes:

[0029] Determine the feedback correction weight of each spindle according to the relative coefficient of the chamfer state of each spindle;

[0030] Determine a first error coefficient for each spindle based on a difference between a rotation speed of the rotation speed data sequence of each spindle and a preset rotation speed;

[0031] Determine a second error coefficient for each spindle based on the difference between the current rotation speed of each spindle and the preset rotation speed;

[0032] An error feedback result at a current moment is determined based on the first error coefficient and the second error coefficient.

[0033] Optionally, the feedback correction weight of each spindle is the proportion of the chamfer state relative coefficient of each spindle in the chamfer state relative coefficients of all spindles.

[0034] Optionally, the calculation formula of the error feedback result is: ,in, is the feedback correction weight for each spindle, are the first and second error coefficients of each spindle, Indicates the error feedback result of each spindle at the current moment.

[0035] This application has at least the following beneficial effects:

[0036] The present application takes into account that the process time of glass chamfering is short, and the deviation analysis of the glass chamfering processing state only through the deviation analysis of the actual collected data at the current moment will have a large error. Therefore, a feedback correction mechanism is set in the process of glass chamfering processing. The feedback correction mechanism performs relative deviation characteristic analysis on the collected data at the set analysis position, and comprehensively analyzes the relative state deviation of different spindles and the resonant synchronization characteristic deviation of the same machine to correct the deviation of the feedback adjustment process. This avoids the problem of large feedback control error of glass chamfering processing due to only using the deviation between the actual data at the current moment in the processing process and the set value as the error feedback result within a short glass chamfering processing time. This reduces the deviation of the chamfered inner edge and the chamfered outer edge at different positions after the circular hole chamfering processing, and improves the accuracy of the circular hole chamfering processing of photovoltaic glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A flow chart of the steps of the glass chamfering method based on feedback regulation provided in this application;

[0039] Figure 2 Schematic diagram of the position of relative deviation analysis between different spindles;

[0040] Figure 3 Construct a flow chart for the relative coefficient of the chamfer state;

[0041] Figure 4 Schematic diagram for comparison of speed control data. DETAILED DESCRIPTION

[0042] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of the glass chamfering processing method based on feedback adjustment proposed by the present application, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0043] Unless otherwise defined, terms such as "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a circuit structure, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such articles or devices. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the article or device comprising the element. In addition, the term "and\or" used herein includes any and all combinations of one or more related listed items. All technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present application belongs.

[0044] The specific scheme of the glass chamfering method based on feedback regulation provided by the present application is described in detail below with reference to the accompanying drawings.

[0045] An embodiment of the present application provides a glass chamfering method based on feedback adjustment. For details, please refer to Figure 1 , the method comprises the following steps:

[0046] Step 1: Obtain chamfering processing data during the chamfering process of the circular holes of each photovoltaic glass in the same batch.

[0047] During the processing of the same batch of photovoltaic glass, the chamfering of the round holes of the photovoltaic glass is mainly completed by a glass round hole chamfering machine, which is composed of 11 servo motors, 9 of which are used for the movement of three groups of chamfering robots in the XYZ directions, and 2 are used for the transmission system for loading and unloading. The glass round hole chamfering machine has 3 high-speed electric spindles for chamfering. Since the round hole processing of different spindles in the process of chamfering the round holes of photovoltaic glass is performed on the same machine on the same piece of photovoltaic glass, the chamfering processing data between different spindles should be consistent, and the chamfering processing data includes the rotation speed data and vibration frequency data of the spindle during grinding.

[0048] Furthermore, if there is a deviation in the chamfering processing data between different spindles, it may be caused by a large deviation in one or more of the spindles due to noise interference. There are direct or indirect mutual influence and change characteristics between different spindles. Therefore, in the chamfering process of photovoltaic glass, the speed sensor and vibration frequency sensor are used to collect the speed data and vibration frequency data of each spindle respectively. When the chamfering process is run to the feedback correction position, the speed data and vibration frequency data collected by each spindle are sequenced in ascending time order as the speed data sequence and vibration frequency data sequence of each spindle respectively.

[0049] It should be noted that, since the glass chamfering process time is short, the relative deviation analysis between different spindles in each processing process is as follows Figure 2 As shown, Figure 2 The schematic diagram of circular hole chamfering processing is shown in Figure 1. Figure 2 Number 0 indicates the initial position of chamfering, number 1 indicates the feedback correction position during the processing, that is, a feedback correction mechanism is set at the position marked 1; numbers 2 and 3 indicate the inner edge of chamfering and the outer edge of chamfering, respectively, and the direction of circular hole chamfering is clockwise.

[0050] At this point, the rotation speed data sequence and vibration frequency data sequence of each spindle during the chamfering process are obtained.

[0051] Step 2: Analyze the relative deviation change characteristics of the spindle chamfering processing data at different positions during the glass round hole chamfering machine processing to construct the synchronous relative deviation coefficient.

[0052] During the chamfering of circular holes in photovoltaic glass, all spindles perform grinding operations simultaneously after positioning. Therefore, the state changes between different spindles affect the collected data. By comparing the relative deviation change characteristics between the speed data and vibration frequency data collected by different spindles, the relative degree of influence of environmental interference on data collection can be reflected, and then the chamfering processing errors of different spindles can be accurately analyzed to optimize the feedback control process and achieve precise control of glass chamfering.

[0053] Normally, when using a glass round hole chamfering machine to perform glass chamfering, the vibration frequencies of different spindles tend to be consistent, that is, the vibration frequency characteristics of different spindles show synchronous change characteristics. Relative to the speed data of each spindle, the deviation of the vibration frequency is analyzed from the synchronous characteristics of the resonance angle of the same machine. The relative deviation of each spindle.

[0054] Furthermore, the relative synchronization deviation coefficient is calculated using the vibration frequency deviation between different spindles. The specific calculation and analysis process is as follows:

[0055] For each spindle's vibration frequency data sequence, analyze the difference between each spindle's vibration frequency data sequence and each other spindle's vibration frequency data sequence, and record it as the first vibration difference. In this embodiment, the Manhattan distance between the vibration frequency data sequence and each other spindle's vibration frequency data sequence is used as the first vibration difference. The implementer may also use a difference measurement method such as the DTW distance between sequences, and this application does not impose any special restrictions. Among them, the larger the first vibration difference, the more it indicates that from the analysis of the vibration data difference between different spindles, the working state of the current spindle relative to other spindles on the same chamfering machine has deviated;

[0056] Analyze the difference between the degree of fluctuation of the vibration frequency data sequence of each spindle and the degree of fluctuation of the vibration frequency data sequence of other spindles, and record it as the second vibration difference. Preferably, in this embodiment, the coefficient of variation of all elements in the vibration frequency data sequence is calculated to characterize the degree of fluctuation of the vibration frequency data sequence, and the absolute value of the difference between the coefficient of variation corresponding to the vibration frequency data sequence and the vibration frequency data sequence of each other spindle is taken as the second vibration difference, indicating that from the analysis of the difference in data change characteristics between different spindles, the current spindle has an asynchronous change trend characteristic relative to other spindles located on the same chamfering machine. As other implementation methods, the implementer may use variance and standard deviation to characterize the degree of fluctuation of the sequence, aiming to achieve the purpose of being able to reflect the degree of fluctuation or discreteness of the sequence;

[0057] The synchronous relative deviation coefficient of each spindle is composed of the first vibration difference and the second vibration difference, and the synchronous relative deviation coefficient is proportional to the first vibration difference and the second vibration difference, respectively. That is, the first vibration difference and the second vibration difference analyzed between each spindle and all other spindles are forward fused to obtain the synchronous relative deviation coefficient of each spindle.

[0058] Specifically, in the embodiment of the present application, the average of the accumulated results of the product of the first vibration difference and the second vibration difference corresponding to each main axis on all other main axes is taken as the synchronization relative deviation coefficient of each main axis.

[0059] It should be noted that the larger the synchronization relative deviation coefficient is, the greater the degree of asynchronous change of the current spindle is based on the resonance characteristic analysis.

[0060] Step three: Analyze the relative offset of the chamfering processing data between the spindles at different positions according to the synchronous relative deviation coefficient, and obtain the chamfering state relative coefficient.

[0061] Furthermore, due to the requirements of glass chamfering processing, the time for each glass chamfering processing is relatively short. Considering the glass chamfering processing in a relatively short time is mainly based on the deviation of the current moment data relative to the standard value, ignoring the relative deviation of the interference factors in the entire processing process. Therefore, a feedback correction mechanism is set in the process of each glass chamfering processing. Through the above-mentioned synchronous deviation analysis based on resonance characteristics, combined with the periodicity, trend and random fluctuation differences of the current speed data of each spindle, the relative coefficient of the chamfering state is calculated. The relative deviation that still exists based on feedback control is reflected by the relative coefficient of the chamfering state. The specific calculation and analysis process is as follows:

[0062] For the speed data sequence of each spindle, the speed data sequence of each spindle is used as input, and the singular spectrum analysis algorithm is used to obtain the singular values ​​and singular vectors of the speed data sequence of each spindle, and a sequence composed of all the singular values ​​in descending order is used as the trend feature data sequence of each spindle, and the distance between the trend feature data sequence of each spindle and the trend feature data sequences of other spindles is used as the trend difference coefficient between each spindle and other spindles;

[0063] In this embodiment, the distance adopts DTW distance, and the implementer may also adopt Hamming distance, Levenshtein distance, etc. to evaluate the distance relationship between two sequences. The singular values ​​of the speed data sequences of different spindles reflect the difference comparison of energy trend changes of different components. The larger the trend difference coefficient, the more likely the relative state of feedback control of the current rotating shaft is to deviate;

[0064] The similarity of the singular vectors of the speed data sequences of each spindle and the other spindles is used as the state characteristic difference coefficient between each spindle and the other spindles;

[0065] In this embodiment, the similarity adopts cosine similarity. As other implementations, Jaccard similarity coefficient, the inverse of Euclidean distance, etc. may be adopted. It should be noted that in actual application, the smaller the Euclidean distance between two vectors, the higher the similarity between the two vectors, that is, the distance and the similarity are negatively correlated. The singular vectors of the speed data sequences of different spindles reflect the differences in characteristics such as periodicity and phase of different spindle speeds. The larger the state characteristic difference coefficient, the offset of the feedback control of the current spindle exists;

[0066] The average of the ratio of the trend difference coefficient of each spindle to the state characteristic difference coefficient on all other spindles is taken as the feedback deviation coefficient of each spindle. The feedback deviation coefficient takes into account the periodicity, trend and random fluctuation differences of the working parameters between different spindles.

[0067] The result of the forward fusion of the feedback deviation coefficient of each spindle and the synchronous relative deviation coefficient is used as the chamfering state relative coefficient of each spindle;

[0068] In this embodiment, the product of the feedback deviation coefficient corresponding to each spindle and the synchronization relative deviation coefficient is used as the chamfer state relative coefficient of each spindle.

[0069] As another implementation, the chamfer state relative coefficient of each spindle may be the sum of the feedback deviation coefficient and the synchronization relative deviation coefficient corresponding to each spindle.

[0070] It should be noted that the chamfering state relative coefficient comprehensively analyzes the feedback characteristic deviation of the chamfering processing parameters and the resonance characteristic deviation of different spindles. The larger the chamfering state relative coefficient is, the more the chamfering processing state of the current spindle for feedback control is offset.

[0071] At this point, the relative coefficient of the chamfer state is obtained.

[0072] For details, please refer to the diagram of the relative coefficient construction process of the chamfer state. Figure 3 .

[0073] Step 4: Feedback and adjust the process parameters of the spindle at different positions of the glass round hole chamfering machine according to the relative coefficient of the chamfering state, and complete the glass chamfering processing based on the feedback adjustment result.

[0074] Based on the analysis of step three above, since the time of each glass chamfering process is short, the deviation error of the chamfering processing state reflected only by the difference between the actual chamfering speed of each spindle at the current moment in the processing and the set value is large, which may cause a large deviation in the chamfering processing feedback control and reduce the processing accuracy.

[0075] Therefore, the relative coefficient of the chamfering state of each spindle is obtained by state analysis of the collected data, and the feedback control of the machining process of each spindle is corrected according to the relative coefficient of the chamfering state. The specific correction process is as follows:

[0076] First, for each spindle, the proportion of the chamfer state relative coefficient of each spindle in the chamfer state relative coefficient of all spindles is used as the feedback correction weight of each spindle, denoted as , the larger the feedback correction weight is, the more accurately the overall data difference up to the feedback correction position can reflect the state of the spindle at the current position;

[0077] Then, the first error coefficient of each spindle is determined based on the difference between the speed in the speed data sequence of each spindle and the preset speed. In this embodiment, the absolute value of the difference between the mean of all elements in the speed data sequence of each spindle and the preset speed is taken as the first error coefficient, which is recorded as ;

[0078] Further, the second error coefficient of each spindle is determined based on the difference between the current speed of each spindle and the preset speed. In this embodiment, the absolute value of the difference between the current speed data of each spindle and the preset speed is taken as the second error coefficient of each spindle, which is recorded as ;

[0079] Finally, the calculation relationship of the error feedback result of each spindle at the current moment is: ,in, It indicates the error feedback result of the spindle at the current moment, and the PID controller of the PLC adjustment system is used for feedback adjustment according to the error feedback result. It should be noted that the preset speed is the speed setting value, which is selected by the implementer according to the actual application scenario. In this embodiment, it is set to 3000 rpm.

[0080] Specifically, a schematic diagram showing the comparison of the speed control data after adding the feedback correction mechanism in the glass chamfering process and before adding the feedback correction mechanism is shown in FIG. Figure 4 As shown, Figure 4 The horizontal axis is time, in seconds; the vertical axis is speed, in r / min; This is the speed data change curve without adding feedback correction mechanism. This is the speed data change curve of adding the feedback correction mechanism. The position of the mechanism adding the feedback correction is the position where the running time is 5s.

[0081] It should be noted that the control parameters (proportional, integral and differential control parameters) of the PID controller in the PLC control system can be determined by the attenuation curve method. Therefore, in the process of using the PLC control system to perform feedback control on the chamfering process of each photovoltaic glass, the above-mentioned correction adjustment is performed on the feedback correction position of the chamfering process of each spindle to complete the chamfering process of the photovoltaic glass.

[0082] It is understood that references to "one embodiment" or "some embodiments" etc. described in the specification of the present application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, if "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appear in different places in this specification, they do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0083] It should be noted that the sequence of the above-mentioned embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-tasking and parallel processing are also possible or may be advantageous. At the same time, the size of the sequence number of each step in the embodiment 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 in this specification.

[0084] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. Glass chamfering processing method based on feedback adjustment, It is characterized in that The method comprises the following steps: Obtain the chamfering processing data of the circular hole chamfering process of each photovoltaic glass in the same batch, including the rotation speed and vibration frequency of each spindle; The relative deviation variation characteristics of the spindle chamfering processing data at different positions in the glass round hole chamfering machine are analyzed to construct the synchronous relative deviation coefficient; Analyze the relative offset of chamfering processing data between spindles at different positions according to the synchronous relative deviation coefficient to obtain the chamfering state relative coefficient; Feedback adjustment is performed on the process parameters of the spindles at different positions of the glass round hole chamfering machine according to the chamfering state relative coefficient to process the glass chamfer; The construction of the synchronous relative deviation coefficient further includes: Construct the vibration frequency data series of each spindle; Analyze the difference between the vibration frequency data sequence of each main axis and the vibration frequency data sequence of each other main axis, and record it as the first vibration difference; Analyze the difference between the fluctuation degree of the vibration frequency data sequence of each main axis and the fluctuation degree of the vibration frequency data sequence of other main axes, and record it as the second vibration difference; Forward fusion is performed on the first vibration difference and the second vibration difference obtained by analyzing each main axis with all other main axes to obtain a synchronous relative deviation coefficient of each main axis; The acquisition of the relative coefficient of the chamfer state further includes: Constructing the trend characteristic data sequence of each spindle based on the singular value decomposition of the speed data sequence of each spindle; The distance between the trend characteristic data sequence of each main axis and the trend characteristic data sequence of other main axes is taken as the trend difference coefficient between each main axis and other main axes; The similarity between the singular vector of the speed data sequence of each spindle and the singular vector of the speed data sequence of other spindles is used as the state characteristic difference coefficient between each spindle and other spindles; Obtaining a feedback deviation coefficient of each main axis based on the trend difference coefficient and the state characteristic difference coefficient; The chamfering state relative coefficient of each spindle is determined based on the feedback deviation coefficient and the synchronization relative deviation coefficient.

2. The glass chamfering method based on feedback regulation as claimed in claim 1, It is characterized in that The construction of the vibration frequency data sequence of each spindle further includes: The vibration frequencies collected by each spindle are arranged in ascending order according to the collection time to construct a vibration frequency data sequence for each spindle.

3. The glass chamfering method based on feedback regulation as claimed in claim 1, It is characterized in that The rotation speed data sequence of each spindle is composed of the rotation speed data collected by each spindle.

4. The glass chamfering method based on feedback regulation as claimed in claim 1, It is characterized in that The feedback deviation coefficient of each spindle further includes: The average of the accumulated results of the ratio of the trend difference coefficient to the state characteristic difference coefficient on each main axis and all other main axes is used as the feedback deviation coefficient of each main axis.

5. The glass chamfering method based on feedback regulation as claimed in claim 1, It is characterized in that The chamfer state relative coefficient of each spindle is the result of the forward fusion of the feedback deviation coefficient and the synchronization relative deviation coefficient of each spindle.

6. The glass chamfering method based on feedback regulation as claimed in claim 3, It is characterized in that The feedback adjustment of the process parameters of the spindles at different positions of the glass round hole chamfering machine further includes: Determine the feedback correction weight of each spindle according to the relative coefficient of the chamfer state of each spindle; Determine a first error coefficient for each spindle based on a difference between a rotation speed of the rotation speed data sequence of each spindle and a preset rotation speed; Determine a second error coefficient for each spindle based on the difference between the current rotation speed of each spindle and the preset rotation speed; An error feedback result at a current moment is determined based on the first error coefficient and the second error coefficient.

7. The glass chamfering method based on feedback regulation as claimed in claim 6, It is characterized in that The feedback correction weight of each spindle is the proportion of the chamfer state relative coefficient of each spindle in the chamfer state relative coefficients of all spindles.

8. The glass chamfering method based on feedback regulation as claimed in claim 7, It is characterized in that The calculation formula of the error feedback result is: ,in, is the feedback correction weight of the main axis, are the first and second error coefficients of the spindle, Indicates the error feedback result of the spindle at the current moment.

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