Dynamic balance device control system and method

Abstract

The invention relates to the technical field of numerical control machine tools, in particular to a dynamic balance device control system and method, and the method comprises the steps: obtaining the displacement data of a working part of a numerical control machine tool in the vertical direction, calculating the stress of the working part, adjusting the deformation of a spring connected to the working part, and controlling the spring to apply a reaction force; constructing a working part bounce threshold value and self-adaptive spring elastic force calculation model, and reversely solving the expansion and contraction amount of the electric cylinder; introducing a spring elastic force loss factor, constructing a spring elastic force loss balance model, and calculating and compensating the spring elastic force loss; and training a support vector regression model by adopting a machine learning algorithm, predicting a spring elastic force loss factor, and calculating a real-time balance counter-acting force provided by the spring in combination with the working part displacement so as to realize the self-adaptive active control of the working part vibration. The method can effectively improve the machining precision and stability of the numerical control machine tool and prolong the service life of equipment.

Description

Technical Field

[0001] The invention relates to the technical field of numerically controlled machine tools, and in particular to a control system and method for a dynamic balancing device. Background Art

[0002] CNC machine tools are important equipment in modern manufacturing and are widely used in the processing of various workpieces. During the operation of CNC machine tools, due to the influence of cutting force, vibration and other factors, the working parts of CNC machine tools will produce certain displacement and deformation; this displacement and deformation will affect the processing accuracy and quality, and long-term displacement will cause irreversible damage to the motor of CNC machine tools. Therefore, it is necessary to monitor and balance the stress state of the working parts of CNC machine tools in real time to ensure processing performance and maintain the normal operation of CNC machine tools.

[0003] At present, the traditional technical solution is to install airbags or hydraulic devices on the working part of CNC machine tools and use the force of air pressure or hydraulic pressure to balance the external force. However, the traditional solution has the defects of slow response speed and low control accuracy, which is difficult to meet the requirements of high-speed and high-precision processing. At the same time, the airbags or hydraulic devices are large in size and occupy a lot of space, which is not conducive to the miniaturization and integration of CNC machine tools.

[0004] Therefore, there is an urgent need for a control method and system that can monitor the stress state of the working part of a CNC machine tool in real time, and dynamically adjust the elastic element parameters according to the actual stress conditions and the characteristics of the elastic element to achieve force balance of the working part.

[0005] In view of this, the present invention provides a control system and method for a dynamic balancing device. Summary of the invention

[0006] To achieve the above objectives, the present invention provides a dynamic balancing device control system and method, and the specific technical solutions are as follows:

[0007] A dynamic balancing device control method, comprising:

[0008] Obtaining the displacement data of the working part of the CNC machine tool in the vertical direction during operation, calculating the force data of the working part of the CNC machine tool according to the displacement data, and applying a reaction force to the working part of the CNC machine tool through a spring;

[0009] The spring deformation is adjusted by an electric cylinder, and the spring force is controlled by the spring deformation based on Hooke's law.

[0010] Construct the bouncing threshold of the working part of the CNC machine tool, and based on the acquired reaction force required by the working part of the CNC machine tool in the vertical direction, construct an adaptive spring force calculation model to reversely solve the extension and contraction amount of the electric cylinder;

[0011] Construct a spring force loss balance model, calculate the spring force loss at different times based on the spring working time, working times and force conditions, and calculate the compensation value of the spring deformation according to the spring force loss;

[0012] Build and train a machine learning algorithm to calculate the spring force loss factor. Based on the displacement of the working part of the CNC machine tool and the spring force loss factor, calculate the reaction force provided by the spring force on the working part of the CNC machine tool to achieve the force balance of the working part of the CNC machine tool in the vertical direction.

[0013] Preferably, the displacement data of the working part of the CNC machine tool in the vertical direction is obtained, the force data of the working part of the CNC machine tool is calculated according to the displacement data, and the resultant external force received by the working part of the CNC machine tool in the vertical direction is calculated according to Newton's second law;

[0014] A reaction force is applied to the working part of the CNC machine tool through a spring. In order to balance the force on the working part of the CNC machine tool in the vertical direction, a supporting force equal to the resultant external force and opposite in direction is provided through the spring;

[0015] The top of the spring is connected to the top of the electric cylinder, and the bottom of the spring is connected to the working part of the CNC machine tool, and elastically deforms in the vertical direction; when the working part of the CNC machine tool is fixed, the spring controls the spring deformation through the expansion and contraction of the electric cylinder;

[0016] The electric cylinder is used to adjust the spring deformation. By controlling the expansion and contraction of the electric cylinder, the spring deformation is changed so that the reaction force provided by the spring meets the force balance requirement of the working part of the CNC machine tool.

[0017] Preferably, the displacement of the working part of the CNC machine tool during operation is collected by a displacement sensor ; Construct the bounce threshold of the working part of the CNC machine tool and define the bounce threshold of the working part of the CNC machine tool in the vertical direction , when the CNC machine tool working part is Displacement in time When , it is considered that a bounce occurs;

[0018] Assume that the mass of the working part of the CNC machine tool is , the total external force on the working part of the CNC machine tool in the vertical direction is , according to Newton's second law: ;in is the acceleration of the working part of the CNC machine tool in the vertical direction, and the displacement collected by the displacement sensor About Time The second derivative of is obtained;

[0019] Apply reaction force to the working part of the CNC machine tool through the spring, and set the spring to provide vertical upward support force According to Hooke's law, the spring force and deformation Proportional to: ;in is the spring stiffness coefficient;

[0020] In order to balance the vertical force on the working part of the CNC machine tool, a spring is used to provide a force that is equal to the combined external force. Equal and opposite supporting forces : ;

[0021] Control the spring deformation to achieve force balance of the working part of the CNC machine tool. It can be seen that by solving the deformation of the control spring ,make satisfy: , achieving force balance.

[0022] Preferably, according to the displacement of the working part of the CNC machine tool in the vertical direction , calculate the total external force ;

[0023] Since the spring stiffness coefficient is not a constant, an adaptive spring force calculation model is constructed to define the nonlinear stiffness coefficient function of the spring. , the nonlinear stiffness coefficient function Expressed as a piecewise function:

[0024]

[0025] in for Preset force segmentation points, for The corresponding stiffness coefficients;

[0026] The nonlinear stiffness coefficient function Substituting into Hooke's law, we get the adaptive spring force calculation model: ;

[0027] Reverse solution of the electric cylinder extension and contraction amount, using the adaptive spring force calculation model To provide the required reaction force , spring deformation Need to meet: ;

[0028] Extension and retraction of electric cylinder Spring deformation Equal, that is ;

[0029] The required spring deformation calculated , control the extension and retraction of the electric cylinder , the spring can provide the required reaction force to achieve force balance in the working part of the CNC machine tool.

[0030] Preferably, since the spring will produce elastic force loss when working, a spring elastic force loss factor is introduced to compensate for the elastic force loss of the spring when working;

[0031] Define the spring loss factor , indicating the length of time the spring has worked , Number of work And the force In the case of , the loss ratio of elastic force relative to the initial value;

[0032] Construct a spring force loss balance model and use it in the adaptive spring force calculation model Based on this, the elastic loss factor is introduced , and the spring force calculation model considering the elastic force loss is obtained: ;in is the actual spring force after considering the elastic force loss;

[0033] Calculate the elastic force loss of the spring at different times, according to the working time of the spring , Number of work And the stress , substitute into the elastic loss factor expression, calculate the elastic loss factor at different times; Substitute the spring force calculation model that takes into account the elastic force loss to obtain the actual spring force ;

[0034] Calculate the compensation value of the spring deformation using the spring force calculation model that takes into account the spring force loss It can be seen that in order to compensate for the elastic force loss, the actual spring force Achieve the required support ,Right now , the spring deformation to make compensation; , get the compensation value of the spring deformation : ; Compensation value of electric cylinder extension ;

[0035] The extension and contraction amount of the electric cylinder Increase the compensation value of the electric cylinder extension , the expansion and contraction amount of the electric cylinder after compensation Substitute it into the electric cylinder control, that is, take the elastic force loss into consideration, and realize the force balance of the working part of the CNC machine tool in the vertical direction.

[0036] Preferably, historical working data of the spring is collected, including the working time of the spring , Number of work , force and the corresponding elastic loss factor , forming a data set;

[0037] Select the working time , Number of work and force As input features, elastic loss factor As the output target; randomly divide the data set into training set and test set;

[0038] Construct a support vector regression (SVR) model, select the Gaussian kernel function as the kernel function of the SVR model, introduce slack variables, and construct the optimization target of the SVR model; transform the optimization problem into a dual problem, and introduce the Lagrange multiplier to solve it;

[0039] Train and optimize the support vector regression (SVR) model. Use the training set data to solve the dual problem of the SVR model to obtain the optimal Lagrange multiplier and model parameters of the SVR model. Use the test set data to evaluate the trained SVR model, calculate the error between the predicted value and the true value, and use the mean square error, mean absolute error, and determination coefficient indicators to evaluate the model's prediction performance.

[0040] According to the model evaluation results, adjust the hyperparameters of the SVR model, including the penalty coefficient, the parameters of the loss function, and the bandwidth parameter of the kernel function; use the grid search optimization method to search for the optimal hyperparameter combination in the hyperparameter space; repeat the model training and evaluation steps until the expected prediction performance is obtained.

[0041] Preferably, the trained model is used to calculate the elastic loss factor, and the trained SVR model is deployed to the control system of the CNC machine tool to realize the online prediction function;

[0042] During the operation of the CNC machine tool, the working time of the spring is collected in real time , Number of work and force , which is input into the SVR model to obtain the predicted elastic loss factor ;

[0043] Elasticity loss compensation, the predicted elasticity loss factor Substitute the spring deformation into the compensation formula:

[0044]

[0045] Calculate the real-time spring deformation compensation value , the calculated spring deformation compensation value The force is transmitted to the electric cylinder to adjust the extension and contraction of the electric cylinder to compensate for the loss of spring force.

[0046] A dynamic balancing device control system, which is used to implement the dynamic balancing device control method, comprises: a displacement data acquisition module, a spring deformation adjustment module, a spring deformation calculation module, a compensation value calculation module and an elastic force loss factor calculation module;

[0047] The displacement data acquisition module is used to acquire the displacement data of the working part of the CNC machine tool in the vertical direction when the CNC machine tool is working, calculate the force data of the working part of the CNC machine tool according to the displacement data, and apply a reaction force to the working part of the CNC machine tool through a spring;

[0048] The spring deformation adjustment module uses an electric cylinder to adjust the spring deformation, and controls the spring force through the spring deformation based on Hooke's law;

[0049] The spring deformation calculation module is used to construct a bouncing threshold of the CNC machine tool working part, and based on the acquired reaction force required by the CNC machine tool working part in the vertical direction, construct an adaptive spring elastic force calculation model to reversely solve the extension and contraction amount of the electric cylinder;

[0050] The compensation value calculation module is used to construct a spring elastic force loss balance model, calculate the elastic force loss of the spring at different times based on the spring working time, working times and force conditions, and calculate the compensation value of the spring deformation according to the elastic force loss;

[0051] The elastic force loss factor calculation module is used to construct and train a machine learning algorithm, calculate the spring elastic force loss factor, and calculate the reaction force provided by the spring elastic force on the working part of the CNC machine tool based on the displacement of the working part of the CNC machine tool and the spring elastic force loss factor, so as to achieve the force balance of the working part of the CNC machine tool in the vertical direction.

[0052] An electronic device comprises: a processor and a memory, wherein the memory stores a computer program that can be called by the processor; the processor executes the dynamic balancing device control method by calling the computer program stored in the memory.

[0053] A computer-readable storage medium stores instructions, and when the instructions are run on a computer, the computer executes the dynamic balancing device control method.

[0054] Beneficial effects of the present invention: The present invention realizes real-time monitoring of the stress state of the working part of a CNC machine tool by acquiring displacement data and calculating force data, provides a data basis for subsequent dynamic balance control, and improves the pertinence and effectiveness of control.

[0055] The present invention adopts an electric cylinder to adjust the spring deformation, controls the spring force based on Hooke's law, and realizes applying a precisely controllable reaction force to the working part of the CNC machine tool, thereby improving the flexibility and accuracy of force balance control.

[0056] The present invention constructs a bounce threshold and an adaptive spring force calculation model, and achieves precise control of the reaction force required for the working part of a CNC machine tool by inversely solving the extension and contraction amount of the electric cylinder, thereby improving the adaptive ability and control performance of the system.

[0057] The present invention constructs a spring force loss balance model, takes into account the spring working time, number of times and force conditions, calculates the spring force loss and compensates for it, ensures the spring force stability during long-term use, and improves the reliability of the system.

[0058] The present invention constructs and trains a machine learning algorithm, calculates the spring elastic force loss factor, calculates the reaction force provided by the spring in combination with the displacement and the loss factor, realizes intelligent adaptive balance control of the working part of a CNC machine tool, and improves control accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A flow chart of a dynamic balancing device control method provided by the present invention;

[0060] Figure 2 This is a structural diagram of a dynamic balancing device control system provided by the present invention. DETAILED DESCRIPTION

[0061] In order to better understand the present invention, a more detailed description will be made of various aspects of the present invention with reference to the accompanying drawings. It should be understood that these detailed descriptions are only descriptions of exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0062] In the accompanying drawings, the size, dimensions and shapes of the elements have been slightly adjusted for ease of illustration. The accompanying drawings are for illustration only and are not strictly drawn to scale. As used herein, the terms "substantially", "approximately" and similar terms are used as terms of approximation, not as terms of degree, and are intended to illustrate the inherent deviations in measurements or calculations that will be recognized by those of ordinary skill in the art. In addition, in the present invention, the order in which the steps are described does not necessarily represent the order in which these processes occur in actual operation, unless otherwise specified or can be derived from the context.

[0063] It should also be understood that expressions such as "comprises", "including", "having", "includes" and / or "comprising" are open rather than closed expressions in this specification, which indicate the presence of the stated features, elements and / or components, but do not exclude the presence of one or more other features, elements, components and / or combinations thereof. In addition, when expressions such as "at least one of..." appear after a list of listed features, they modify the entire list of features rather than just the individual elements in the list. In addition, when describing embodiments of the present invention, "may" is used to mean "one or more embodiments of the present invention". And, the term "exemplary" is intended to refer to an example or illustration.

[0064] Unless otherwise defined, all terms (including engineering terms and scientific and technological terms) used in this document have the same meaning as commonly understood by ordinary technicians in the field to which the present invention belongs. It should also be understood that unless otherwise clearly stated in the present invention, words defined in commonly used dictionaries should be interpreted as having the same meaning as their meaning in the context of the relevant technology, and should not be interpreted in an idealized or overly formal sense.

[0065] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0066] Example 1

[0067] Reference Figure 1 , the first embodiment of the present invention provides a dynamic balancing device control method.

[0068] S1: Obtain the displacement data of the working part of the CNC machine tool in the vertical direction during operation, calculate the force data of the working part of the CNC machine tool according to the displacement data, and apply a reaction force to the working part of the CNC machine tool through a spring.

[0069] Obtain the displacement data of the working part of the CNC machine tool in the vertical direction, install a displacement sensor on the working part of the CNC machine tool, and collect the displacement of the working part of the CNC machine tool in the vertical direction in real time; the displacement sensor can choose high-precision sensors such as inductive, capacitive, and photoelectric sensors.

[0070] The force data of the working part of the CNC machine tool is calculated according to the displacement data, and the resultant external force on the working part of the CNC machine tool in the vertical direction is calculated according to Newton's second law.

[0071] A reaction force is applied to the working part of the CNC machine tool through a spring. In order to balance the force on the working part of the CNC machine tool in the vertical direction, a supporting force equal to and opposite to the resultant external force is provided by the spring.

[0072] In step S1, a high-precision displacement sensor is installed on the working part of the CNC machine tool to collect the displacement data in the vertical direction in real time, and the force on the working part is calculated based on the displacement data. Then, a reaction force is applied by a spring to achieve real-time monitoring and dynamic balance of the force state of the working part of the CNC machine tool, improve processing accuracy and stability, and reduce vibration and noise.

[0073] S2: An electric cylinder is used to adjust the spring deformation. Based on Hooke's law, the spring force is controlled by the spring deformation.

[0074] The top of the spring is connected to the top of the electric cylinder, and the bottom of the spring is connected to the working part of the CNC machine tool, and elastic deformation is performed in the vertical direction; when the working part of the CNC machine tool is fixed and the working part of the CNC machine tool moves very little in the vertical direction, the spring controls the spring deformation through the expansion and contraction of the electric cylinder, thereby controlling the change in the spring elastic force.

[0075] The electric cylinder is used to adjust the spring deformation. By controlling the expansion and contraction of the electric cylinder, the spring deformation is changed so that the reaction force provided by the spring meets the force balance requirement of the working part of the CNC machine tool.

[0076] In step S2, an electric cylinder is used to adjust the spring deformation. Based on Hooke's law, the spring force is precisely adjusted by controlling the spring deformation, so as to exert a precisely controllable balancing reaction force on the working part of the CNC machine tool. Compared with passive elastic elements, adjusting the spring deformation by an electric cylinder has the advantages of fast response speed, high control accuracy, and strong adaptability, which can significantly improve the dynamic balance control performance of the working part of the CNC machine tool.

[0077] S3: Construct the bouncing threshold of the working part of the CNC machine tool, and based on the acquired reaction force required by the working part of the CNC machine tool in the vertical direction, construct an adaptive spring force calculation model to reversely calculate the extension and contraction amount of the electric cylinder.

[0078] The displacement sensor is used to collect the displacement of the working part of the CNC machine tool during operation. , construct the bounce threshold of the CNC machine tool working part, and define the bounce threshold of the CNC machine tool working part in the vertical direction , when the CNC machine tool working part is Displacement in time When a bounce occurs, the bounce threshold It can be set according to the specific working conditions of the CNC machine tool, processing accuracy requirements and other factors.

[0079] Assume that the mass of the working part of the CNC machine tool is , the total external force on the working part of the CNC machine tool in the vertical direction is , according to Newton's second law: ;in is the acceleration of the working part of the CNC machine tool in the vertical direction, and the displacement collected by the displacement sensor About Time The second derivative of is obtained;

[0080] Apply reaction force to the working part of the CNC machine tool through the spring, and set the spring to provide vertical upward support force According to Hooke's law, the spring force and deformation Proportional to: ;in is the spring stiffness coefficient, which is an inherent property of the spring;

[0081] In order to balance the vertical force on the working part of the CNC machine tool, a spring is used to provide a force that is equal to the combined external force. Equal and opposite supporting forces : ;

[0082] Control the spring deformation to achieve force balance of the working part of the CNC machine tool. It can be seen that by solving the deformation of the control spring ,make satisfy: , achieving force balance.

[0083] According to the displacement of the working part of the CNC machine tool in the vertical direction , calculate the total external force ; To achieve force balance, the spring is used to provide An equal and opposite reaction force ,Right now .

[0084] Since the spring stiffness coefficient is not a constant, an adaptive spring force calculation model is constructed to define the nonlinear stiffness coefficient function of the spring. , so that the spring stiffness coefficient changes with the spring force The nonlinear stiffness coefficient function Expressed as a piecewise function:

[0085]

[0086] in for Preset force segmentation points, for The corresponding stiffness coefficient.

[0087] The nonlinear stiffness coefficient function Substituting into Hooke's law, we get the adaptive spring force calculation model: .

[0088] Reverse solution of the electric cylinder extension and contraction amount, using the adaptive spring force calculation model To provide the required reaction force , spring deformation Need to meet: .

[0089] Extension and retraction of electric cylinder Spring deformation Equal, that is .

[0090] The required spring deformation calculated , control the extension and retraction of the electric cylinder , the spring can provide the required reaction force to achieve force balance in the working part of the CNC machine tool.

[0091] By constructing the bouncing threshold of the working part of the CNC machine tool , determine whether the working part of the CNC machine tool bounces and obtain the required reaction force , using the adaptive spring force calculation model Solve for the required spring deformation , and control the extension and contraction of the electric cylinder , the dynamic balance of the force on the working part of the CNC machine tool in the vertical direction can be achieved, avoiding or greatly reducing the bouncing of the working part of the CNC machine tool when it is working.

[0092] In step S3, the bouncing threshold of the working part of the CNC machine tool is constructed, the required balancing reaction force is calculated based on the displacement sensor data, and an adaptive spring force calculation model is established. The nonlinear characteristics of the spring stiffness coefficient are considered, and the extension and retraction of the electric cylinder are reversely solved. This realizes the adaptive dynamic balance control of the force on the working part of the CNC machine tool, effectively avoids or reduces the bouncing phenomenon of the working part, and improves the processing quality and equipment reliability.

[0093] S4: Construct a spring force loss balance model, calculate the spring at different times based on the spring working time, working times and force conditions, and calculate the compensation value of the spring deformation according to the elastic force loss.

[0094] Since the spring will produce elastic force loss when working, the spring elastic force loss factor is introduced to compensate for the elastic force loss of the spring when working.

[0095] Define the spring loss factor , indicating the length of time the spring has worked , Number of work And the force In the case of , the loss ratio of elastic force relative to the initial value; the working times are: each time the spring completes extension and contraction is recorded as one working time.

[0096] Construct a spring force loss balance model and use it in the adaptive spring force calculation model Based on this, the elastic loss factor is introduced , and the spring force calculation model considering the elastic force loss is obtained: ;in is the actual spring force after considering the elastic force loss.

[0097] Calculate the elastic force loss of the spring at different times, according to the working time of the spring , Number of work And the stress , substitute into the elastic loss factor expression, calculate the elastic loss factor at different times; Substitute the spring force calculation model that takes into account the elastic force loss to obtain the actual spring force .

[0098] Calculate the compensation value of the spring deformation using the spring force calculation model that takes into account the spring force loss It can be seen that in order to compensate for the elastic force loss, the actual spring force Achieve the required support ,Right now , the spring deformation Make compensation.

[0099] make , get the compensation value of the spring deformation : ; Compensation value of electric cylinder extension .

[0100] The extension and contraction amount of the electric cylinder Increase the compensation value of the electric cylinder extension , the expansion and contraction amount of the electric cylinder after compensation Substitute it into the electric cylinder control, that is, take the elastic force loss into consideration, and realize the force balance of the working part of the CNC machine tool in the vertical direction.

[0101] In step S4, the spring force loss factor is introduced to construct a spring force loss balance model. The force loss is calculated based on the spring working time, number of times and force conditions. By solving the spring deformation compensation value and controlling the expansion and contraction amount of the electric cylinder, automatic compensation for the spring force loss is achieved, ensuring the long-term stability and consistency of the force balance control of the working part of the CNC machine tool and extending the service life of the equipment.

[0102] S5: Build and train a machine learning algorithm to calculate the spring force loss factor. According to the displacement of the working part of the CNC machine tool and the spring force loss factor, calculate the reaction force provided by the spring force on the working part of the CNC machine tool to achieve the force balance of the working part of the CNC machine tool in the vertical direction.

[0103] Collect historical working data of springs, including the working time of springs , Number of work , force and the corresponding elastic loss factor , forming a data set.

[0104] Select the working time , Number of work and force As input features, elastic loss factor As the output target; the data set is randomly divided into a training set and a test set, and the ratio of the training set to the test set can be set according to the actual situation.

[0105] A support vector regression (SVR) model was constructed, the Gaussian kernel function was selected as the kernel function of the SVR model, slack variables were introduced, and the optimization objective of the SVR model was constructed; the optimization problem was transformed into a dual problem, and the Lagrange multiplier was introduced for solution.

[0106] Train and optimize the support vector regression SVR model. Use the training set data to solve the dual problem of the SVR model to obtain the optimal Lagrange multiplier and model parameters of the SVR model. Use the test set data to evaluate the trained SVR model and calculate the error between the predicted value and the true value. Use the mean square error (MSE), mean absolute error (MAE), and determination coefficient ( ) indicators to evaluate the prediction performance of the model.

[0107] According to the model evaluation results, adjust the hyperparameters of the SVR model, including the penalty coefficient, the parameters of the loss function, and the bandwidth parameter of the kernel function, to improve the performance of the model; use grid search, random search, or Bayesian optimization methods to search for the optimal hyperparameter combination in the hyperparameter space; repeat the model training and evaluation steps until the expected prediction performance is obtained.

[0108] The trained model is used to calculate the elastic loss factor, and the trained SVR model is deployed to the control system of the CNC machine tool to realize the online prediction function.

[0109] During the operation of the CNC machine tool, the working time of the spring is collected in real time , Number of work and force , which is input into the SVR model to obtain the predicted elastic loss factor , the predicted elastic loss factor Substitute the spring deformation into the compensation formula:

[0110]

[0111] Calculate the real-time spring deformation compensation value , the calculated spring deformation compensation value The force is transmitted to the electric cylinder to adjust the extension and contraction of the electric cylinder to compensate for the loss of spring force.

[0112] During the long-term operation of the CNC machine tool, the working data of the spring is continuously collected, and the SVR model is retrained and updated regularly to adapt to changes in spring performance. The performance of the prediction model is regularly evaluated, and the model structure is adjusted and optimized when necessary to maintain the prediction accuracy and reliability of the model.

[0113] Step S5 uses machine learning methods to build and train a support vector regression (SVR) model, using the spring working time, number of times and force as input to predict the elastic force loss factor, and combines the displacement of the working part of the CNC machine tool to calculate the real-time balance reaction force provided by the spring, thus realizing intelligent adaptive dynamic balance control of the force of the working part of the CNC machine tool. Through continuous learning and model updating, the intelligence level and long-term reliability of the control system can be continuously improved.

[0114] Example 2

[0115] Reference Figure 2 , the second embodiment of the present invention provides a dynamic balancing device control system.

[0116] The system comprises: a displacement data acquisition module, a spring deformation adjustment module, a spring deformation calculation module, a compensation value calculation module and an elastic force loss factor calculation module.

[0117] The displacement data acquisition module is used to acquire the displacement data of the working part of the CNC machine tool in the vertical direction during operation, calculate the force data of the working part of the CNC machine tool according to the displacement data, and apply a reaction force to the working part of the CNC machine tool through a spring.

[0118] The spring deformation adjustment module adopts an electric cylinder to adjust the spring deformation, and controls the spring force through the spring deformation based on Hooke's law.

[0119] The spring deformation calculation module is used to construct a bouncing threshold of the working part of the CNC machine tool, and based on the acquired reaction force required by the working part of the CNC machine tool in the vertical direction, construct an adaptive spring elastic force calculation model to reversely calculate the extension and contraction amount of the electric cylinder.

[0120] The compensation value calculation module is used to construct a spring elastic force loss balance model, calculate the elastic force loss of the spring at different times based on the spring working time, working times and force conditions, and calculate the compensation value of the spring deformation according to the elastic force loss.

[0121] The elastic force loss factor calculation module is used to construct and train a machine learning algorithm, calculate the spring elastic force loss factor, and calculate the reaction force provided by the spring elastic force on the working part of the CNC machine tool based on the displacement of the working part of the CNC machine tool and the spring elastic force loss factor, so as to achieve the force balance of the working part of the CNC machine tool in the vertical direction.

[0122] Example 3

[0123] The present invention also provides an electronic device. The electronic device may include one or more processors and one or more memories. The memories store computer-readable codes, and when the computer-readable codes are run by the one or more processors, the dynamic balancing device control method described above may be executed.

[0124] The method or system according to the embodiment of the present invention may also be implemented with the aid of the architecture of the electronic device of the present invention.

[0125] An electronic device may include a bus, one or more CPUs, read-only memory (ROM), random access memory (RAM), a communication port for connecting to a network, input / output components, a hard disk, and the like.

[0126] A storage device in an electronic device, such as a ROM or a hard disk, can store a dynamic balancing device control method provided by the present invention.

[0127] A control method for a dynamic balancing device comprises: obtaining displacement data of a working part of a numerical control machine tool in a vertical direction when the working part is working, calculating force data of the working part of the numerical control machine tool according to the displacement data, and applying a reaction force to the working part of the numerical control machine tool through a spring; using an electric cylinder to adjust the spring deformation, and based on Hooke's law, controlling the spring elastic force through the spring deformation; constructing a bouncing threshold of the working part of the numerical control machine tool, and based on the acquired reaction force required by the working part of the numerical control machine tool in the vertical direction, constructing an adaptive spring elastic force calculation model, and inversely solving the expansion and contraction amount of the electric cylinder; constructing a spring elastic force loss balance model, calculating the elastic force loss of the spring at different times based on the working time, working times and force conditions of the spring, and calculating the compensation value of the spring deformation according to the elastic force loss; constructing and training a machine learning algorithm, calculating the spring elastic force loss factor, and calculating the reaction force provided by the spring elastic force to the working part of the numerical control machine tool according to the displacement of the working part of the numerical control machine tool and the spring elastic force loss factor, so as to achieve the force balance of the working part of the numerical control machine tool in the vertical direction.

[0128] Furthermore, the electronic device may also include a user interface. Of course, the architecture of the present invention is only exemplary, and when implementing different devices, one or more components in the electronic device disclosed in the present invention may be omitted according to actual needs.

[0129] Example 4

[0130] The invention also discloses a computer-readable storage medium.

[0131] The computer-readable storage medium has computer-readable instructions stored thereon.

[0132] When the computer-readable instructions are executed by a processor, a dynamic balancing device control method according to an embodiment of the present invention described with reference to the above drawings may be executed.

[0133] The storage medium includes, but is not limited to, for example, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. In addition, according to an embodiment of the present invention, the process described above with reference to the flowchart may be implemented as a computer software program.

[0134] For example, the present invention provides a non-transitory machine-readable storage medium, which stores machine-readable instructions, and the machine-readable instructions can be run by a processor to execute instructions corresponding to the method steps provided by the present invention, such as: obtaining the displacement data of the working part of the CNC machine tool in the vertical direction when working, calculating the force data of the working part of the CNC machine tool according to the displacement data, and applying a reaction force to the working part of the CNC machine tool through a spring; using an electric cylinder to adjust the spring deformation, and based on Hooke's law, controlling the spring force through the spring deformation; constructing a bouncing threshold of the working part of the CNC machine tool, and based on the acquired data, calculating the force data of the working part of the CNC machine tool; and The reaction force required by the working part of the CNC machine tool in the vertical direction is calculated, and an adaptive spring force calculation model is constructed to reversely solve the expansion and contraction amount of the electric cylinder; a spring force loss balance model is constructed, and the spring force loss at different times is calculated based on the spring working time, working times and force conditions, and the compensation value of the spring deformation is calculated according to the force loss; a machine learning algorithm is constructed and trained to calculate the spring force loss factor, and the reaction force provided by the spring force to the working part of the CNC machine tool is calculated according to the displacement of the working part of the CNC machine tool and the spring force loss factor, so as to achieve the force balance of the working part of the CNC machine tool in the vertical direction.

[0135] When the computer program is executed by the central processing unit (CPU), the above functions defined in the method of the present invention are performed. The method, apparatus, and device of the present invention may be implemented in many ways. For example, the method, apparatus, and device of the present invention may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware.

[0136] The above sequence for the steps of the method is for illustration only, and the steps of the method of the present invention are not limited to the sequence specifically described above unless otherwise specifically stated.

[0137] In addition, in some embodiments, the present invention can also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present invention. Therefore, the present invention also covers a recording medium storing a program for executing the method according to the present invention.

[0138] In addition, the parts of the above technical solutions provided in the embodiments of the present invention that are consistent with the implementation principles of the corresponding technical solutions in the prior art are not described in detail to avoid excessive redundancy.

[0139] The specific implementation modes as described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation mode of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a dynamic balancing device, characterized in that: include: Obtaining the displacement data of the working part of the CNC machine tool in the vertical direction during operation, calculating the force data of the working part of the CNC machine tool according to the displacement data, and applying a reaction force to the working part of the CNC machine tool through a spring; The spring deformation is adjusted by an electric cylinder, and the spring force is controlled by the spring deformation based on Hooke's law. Construct the bouncing threshold of the working part of the CNC machine tool, and based on the acquired reaction force required by the working part of the CNC machine tool in the vertical direction, construct an adaptive spring force calculation model to reversely solve the extension and contraction amount of the electric cylinder; Construct a spring force loss balance model, calculate the spring force loss at different times based on the spring working time, working times and force conditions, and calculate the compensation value of the spring deformation according to the spring force loss; Build and train a machine learning algorithm to calculate the spring force loss factor. Based on the displacement of the working part of the CNC machine tool and the spring force loss factor, calculate the reaction force provided by the spring force on the working part of the CNC machine tool to achieve the force balance of the working part of the CNC machine tool in the vertical direction.

2. A dynamic balancing device control method according to claim 1, characterized in that: Obtain the displacement data of the working part of the CNC machine tool in the vertical direction, calculate the force data of the working part of the CNC machine tool according to the displacement data, and calculate the resultant external force of the working part of the CNC machine tool in the vertical direction according to Newton's second law; A reaction force is applied to the working part of the CNC machine tool through a spring. In order to balance the force on the working part of the CNC machine tool in the vertical direction, a supporting force equal to the resultant external force and opposite in direction is provided through the spring; The top of the spring is connected to the top of the electric cylinder, and the bottom of the spring is connected to the working part of the CNC machine tool, and elastically deforms in the vertical direction; when the working part of the CNC machine tool is fixed, the spring controls the spring deformation through the expansion and contraction of the electric cylinder; The electric cylinder is used to adjust the spring deformation. By controlling the expansion and contraction of the electric cylinder, the spring deformation is changed so that the reaction force provided by the spring meets the force balance requirement of the working part of the CNC machine tool.

3. A dynamic balancing device control method according to claim 2, characterized in that: The displacement sensor is used to collect the displacement of the working part of the CNC machine tool during operation. ; Construct the bounce threshold of the working part of the CNC machine tool and define the bounce threshold of the working part of the CNC machine tool in the vertical direction , when the CNC machine tool working part is Displacement in time When , it is considered that a bounce occurs; Assume that the mass of the working part of the CNC machine tool is , the total external force on the working part of the CNC machine tool in the vertical direction is , according to Newton's second law: ;in is the acceleration of the working part of the CNC machine tool in the vertical direction, and the displacement collected by the displacement sensor About Time The second derivative of is obtained; Apply reaction force to the working part of the CNC machine tool through the spring, and set the spring to provide vertical upward support force According to Hooke's law, the spring force and deformation Proportional to: ;in is the spring stiffness coefficient; In order to balance the vertical force on the working part of the CNC machine tool, a spring is used to provide a force that is equal to the combined external force. Equal and opposite supporting forces : ; Control the spring deformation to achieve force balance of the working part of the CNC machine tool. It can be seen that by solving the deformation of the control spring ,make satisfy: , achieving force balance.

4. A dynamic balancing device control method according to claim 3, characterized in that: According to the displacement of the working part of the CNC machine tool in the vertical direction , calculate the total external force ; Construct an adaptive spring force calculation model and define the nonlinear stiffness coefficient function of the spring , the nonlinear stiffness coefficient function Expressed as a piecewise function: ； in for Preset force segmentation points, for The corresponding stiffness coefficients; The nonlinear stiffness coefficient function Substituting into Hooke's law, we get the adaptive spring force calculation model: ; Reverse solution of the electric cylinder extension and contraction amount, using the adaptive spring force calculation model To provide the required reaction force , spring deformation Need to meet: ; Extension and retraction of electric cylinder Spring deformation Equal, that is ; The required spring deformation calculated , control the extension and retraction of the electric cylinder , so that the spring provides the required reaction force to achieve force balance in the working part of the CNC machine tool.

5. A dynamic balancing device control method according to claim 4, characterized in that: Introduce spring force loss factor to compensate for the spring force loss when working; Define the spring loss factor , indicating the length of time the spring has worked , Number of work And the force In the case of , the loss ratio of elastic force relative to the initial value; Construct a spring force loss balance model and use it in the adaptive spring force calculation model Based on this, the elastic loss factor is introduced , and the spring force calculation model considering the elastic force loss is obtained: ;in is the actual spring force after considering the elastic force loss; Calculate the elastic force loss of the spring at different times, according to the working time of the spring , Number of work And the stress , substitute into the elastic loss factor expression, calculate the elastic loss factor at different times; Substitute the spring force calculation model that takes into account the elastic force loss to obtain the actual spring force ; Calculate the compensation value of the spring deformation using the spring force calculation model that takes into account the spring force loss It can be seen that in order to compensate for the elastic force loss, the actual spring force Achieve the required support ,Right now , the spring deformation to make compensation; , get the compensation value of the spring deformation : ; Compensation value of electric cylinder extension ; The extension and contraction amount of the electric cylinder Increase the compensation value of the electric cylinder extension amount , the expansion and contraction amount of the electric cylinder after compensation Substitute it into the electric cylinder control, that is, take the elastic force loss into consideration, and realize the force balance of the working part of the CNC machine tool in the vertical direction.

6. A dynamic balancing device control method according to claim 5, characterized in that: Collect historical working data of springs, including the working time of springs , Number of work , force and the corresponding elastic loss factor , forming a data set; Select the working time , Number of work and force As input features, elastic loss factor As the output target; randomly divide the data set into training set and test set; Construct a support vector regression SVR model, select the Gaussian kernel function as the kernel function of the SVR model, introduce relaxation variables, and construct the optimization target of the SVR model; The optimization problem is transformed into a dual problem and Lagrange multipliers are introduced to solve it; Train and optimize the support vector regression (SVR) model. Use the training set data to solve the dual problem of the SVR model to obtain the optimal Lagrange multiplier and model parameters of the SVR model. Use the test set data to evaluate the trained SVR model, calculate the error between the predicted value and the true value, and use the mean square error, mean absolute error, and determination coefficient indicators to evaluate the model's prediction performance. According to the model evaluation results, adjust the hyperparameters of the SVR model, including the penalty coefficient, the parameters of the loss function, and the bandwidth parameter of the kernel function; use the grid search optimization method to search for the optimal hyperparameter combination in the hyperparameter space; repeat the model training and evaluation steps until the expected prediction performance is obtained.

7. A dynamic balancing device control method according to claim 6, characterized in that: The trained model is used to calculate the elastic loss factor, and the trained SVR model is deployed to the control system of the CNC machine tool to realize the online prediction function; During the operation of the CNC machine tool, the working time of the spring is collected in real time , Number of work and force , which is input into the SVR model to obtain the predicted elastic loss factor ; Elasticity loss compensation, the predicted elasticity loss factor Substitute the spring deformation into the compensation formula: ； Calculate the real-time spring deformation compensation value , the calculated spring deformation compensation value The force is transmitted to the electric cylinder to adjust the extension and contraction of the electric cylinder to compensate for the loss of spring force.

8. A dynamic balancing device control system, used to implement a dynamic balancing device control method according to any one of claims 1 to 7, characterized in that: include: Displacement data acquisition module, spring deformation adjustment module, spring deformation calculation module, compensation value calculation module and elastic force loss factor calculation module; The displacement data acquisition module is used to acquire the displacement data of the working part of the CNC machine tool in the vertical direction when the CNC machine tool is working, calculate the force data of the working part of the CNC machine tool according to the displacement data, and apply a reaction force to the working part of the CNC machine tool through a spring; The spring deformation adjustment module uses an electric cylinder to adjust the spring deformation, and controls the spring force through the spring deformation based on Hooke's law; The spring deformation calculation module is used to construct a bouncing threshold of the CNC machine tool working part, and based on the acquired reaction force required by the CNC machine tool working part in the vertical direction, construct an adaptive spring elastic force calculation model to reversely solve the extension and contraction amount of the electric cylinder; The compensation value calculation module is used to construct a spring elastic force loss balance model, calculate the elastic force loss of the spring at different times based on the spring working time, working times and force conditions, and calculate the compensation value of the spring deformation according to the elastic force loss; The elastic force loss factor calculation module is used to construct and train a machine learning algorithm, calculate the spring elastic force loss factor, and calculate the reaction force provided by the spring elastic force on the working part of the CNC machine tool based on the displacement of the working part of the CNC machine tool and the spring elastic force loss factor, so as to achieve the force balance of the working part of the CNC machine tool in the vertical direction.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a computer program that can be called by the processor; the processor executes a dynamic balancing device control method as described in any one of claims 1 to 7 by calling the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer executes a dynamic balancing device control method as claimed in any one of claims 1 to 7.

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