Brake disc casting and molding control method, casting equipment and system

Abstract

The present application relates to the technical field of brake disc casting and molding control, and specifically to a brake disc casting and molding control method, casting equipment, and system. The method comprises: obtaining the tipping angle and vibration frequency of the tipper at each sampling moment during the brake disc casting process, and obtaining the modal fluctuation vector of the tipping angle at each sampling moment, analyzing the correlation between the modal fluctuation vector and the vibration frequency at each sampling moment, combining the average level of the modal fluctuation vector to obtain the tipping interference degree, and then obtaining the casting abnormality at each sampling moment; calculating the abnormal growth rate and abnormal decrease rate of the casting at each sampling moment according to the change of the casting abnormality, analyzing the difference between the tipping angle at the previous sampling moment and the abnormal growth rate and abnormal decrease rate, obtaining the feedback tipping angle on the tipper at each sampling moment, and adjusting the tipping angle on the tipper. The present application can improve the control accuracy of brake disc casting and molding.

Description

Technical Field

[0001] The present application relates to the technical field of brake disc casting and molding control, and in particular to a brake disc casting and molding control method, casting equipment, and system. Background Art

[0002] Brake discs, also known as brake discs, are key components of automotive brakes. Their quality directly impacts driving safety and comfort, making them crucial for safe driving. Controlling the casting process during actual brake disc production can effectively improve their quality and performance.

[0003] To effectively reduce surface defects such as cracks and pores in brake disc castings, the pouring angle of the pourer must be controlled and adjusted during the casting process. However, due to the nonlinearity and uncertainty of the casting system, as well as control interference factors, existing technologies are unable to accurately control the pouring angle of the pourer during the casting process. This results in large quantitative errors in the casting operation, overshooting of the alloy liquid, and splashing of the alloy liquid caused by unstable casting speeds, which in turn leads to poor quality and performance of the cast brake disc. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a brake disc casting and molding control method, casting equipment and system. The technical solutions adopted are as follows:

[0005] In a first aspect, an embodiment of the present application provides a brake disc casting and molding control method, comprising the following steps:

[0006] Obtain the pouring angle and vibration frequency of the pourer at each sampling moment during the brake disc casting process;

[0007] Performing modal analysis on the rate of change of the pouring angle at each sampling moment to obtain the modal vector of the rate of change of the pouring angle at each sampling moment, analyzing the degree of fluctuation of each element in the modal vector of the rate of change to obtain the modal fluctuation vector of the pouring angle at each sampling moment, analyzing the correlation between the modal fluctuation vector and the vibration frequency at each sampling moment, combining the average level of the element values in the modal fluctuation vector to obtain the pouring interference degree on the pourer at each sampling moment, and analyzing the discrete degree of all the said pouring interference degrees within a preset time period before each sampling moment to obtain the pouring abnormality degree at each sampling moment;

[0008] According to the changes in all the casting abnormalities within the preset time period before each sampling moment, the abnormal growth rate and abnormal decrease rate of the casting at each sampling moment are calculated, and the differences between the pouring angle of the pourer at the previous sampling moment and the abnormal growth rate and abnormal decrease rate are analyzed to obtain the feedback pouring angle on the pourer at each sampling moment, and a PID controller is used to control and adjust the pouring angle on the pourer.

[0009] Preferably, the method for obtaining the modal vector of the rate of change of the tilt angle at each sampling moment is:

[0010] Arrange the dumping angles of all sampling moments within a preset time period before each sampling moment in chronological order to form a dumping angle vector of the dumper at each sampling moment;

[0011] Perform curve fitting on the tilt angle vector at each sampling moment, and calculate the slope of each data point in the fitting curve. The slopes of all data points in the fitting curve are combined in chronological order to form the tilt angle change rate vector at each sampling moment.

[0012] The tilt angle change rate vector at each sampling moment is subjected to modal decomposition to obtain the tilt angle change rate modal vector at each sampling moment.

[0013] Preferably, the method for obtaining the modal fluctuation vector of the tilt angle at each sampling moment is:

[0014] For each change modal vector of the tilt angle at each sampling moment, the difference between each element in the change rate modal vector and the mean of the change rate modal vector is combined into a modal fluctuation vector in chronological order.

[0015] Preferably, the calculation method of the dumping interference degree on the dumper at each sampling moment is:

[0016] Where, is the dumping interference degree on the dumper at the t-th sampling moment, is the modal fluctuation vector number of the dumping angle on the dumper at the t-th sampling moment, is the exponential normalization function, is the correlation between the jth modal fluctuation vector of the tilt angle at the tth sampling moment and the vibration frequency vector at the tth sampling moment, the correlation is obtained by the grey correlation analysis algorithm, and the vibration frequency vector is a vector composed of the vibration frequencies of all sampling moments within a preset time period before the tth sampling moment arranged in chronological order, is the mean of the absolute values of all elements in the j-th modal fluctuation vector of the tilt angle at the t-th sampling moment.

[0017] Preferably, the method for obtaining the pouring abnormality at each sampling moment is:

[0018] Calculate the discrete coefficient of the pouring interference degree on the pourer at all sampling moments within a preset time period before each sampling moment, and use the product of the discrete coefficient and the pouring interference degree as the pouring abnormality degree at each sampling moment.

[0019] Preferably, the method for obtaining the abnormal growth rate is:

[0020] The pouring anomaly degrees of all sampling moments within a preset time period before each sampling moment are combined into a pouring anomaly vector for each sampling moment in chronological order;

[0021] The proportion of all positive numbers in the first-order difference vector of the casting abnormality vector at each sampling moment to the total number of elements in the first-order difference vector is counted and used as the abnormal growth rate of casting at each sampling moment.

[0022] Preferably, the abnormal decrease ratio is the ratio of the number of all negative values in the first-order difference vector to the number of all elements in the first-order difference vector.

[0023] Preferably, the calculation method of the feedback dumping angle on the dumper at each sampling moment is:

[0024] ;

[0025] Where, is the feedback dumping angle on the dumper at the current sampling moment, is the tipping angle on the tipper at the previous sampling moment of the current moment, is the abnormal growth rate of the pouring at the current sampling moment, is the abnormal drop ratio of pouring at the current sampling moment, The tilt angle is adjustable and its value range is 0 to .

[0026] In a second aspect, an embodiment of the present application further provides a brake disc casting and molding control system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above methods when executing the computer program.

[0027] In a third aspect, an embodiment of the present application further provides a brake disc casting and molding device, wherein a computer program is stored in the device, and when the computer program is executed by a processor, the steps of any one of the above-mentioned brake disc casting and molding control methods are implemented.

[0028] As can be seen from the above, the brake disc casting control method, casting equipment and system provided by this application have at least the following beneficial effects:

[0029] The present application can accurately identify the dumping interference characteristics on the dumper during the brake disc casting process, so that when the dumping interference on the dumper has a large impact, the dumping angle on the dumper can be accurately adjusted in time to avoid delays in the control and adjustment of the dumping angle on the dumper;

[0030] This application constructs the casting anomaly degree during the brake disc casting process to reflect the nonlinearity, uncertainty and control interference factors in the casting system. It also takes into account the casting anomaly characteristics during the brake disc casting process, and performs feedback adjustment on the pouring angle on the pourer, thereby reducing the impact of nonlinearity, uncertainty and control interference factors in the casting system and improving the accuracy of controlling the pouring angle on the pourer.

[0031] The present application more accurately feedback-adjusts the pouring angle on the pourer through the increase or decrease of abnormal pouring characteristics during the brake disc pouring process, which can effectively reduce the quantitative error in the pouring operation and avoid the splashing of alloy liquid caused by over-pouring of alloy liquid and unstable speed. At the same time, it can ensure the fluidity of the alloy liquid during the pouring process, thereby improving the quality and performance of the brake disc after casting. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0033] Figure 1 A flow chart of the steps of a brake disc casting and molding control method provided in this application;

[0034] Figure 2 Schematic diagram of the process of obtaining the modal vector of the rate of change of the tilt angle at each sampling moment provided in this application. DETAILED DESCRIPTION

[0035] To further illustrate the technical means and effectiveness of this application's objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the specific implementation, structure, features, and effectiveness of a brake disc casting control method, casting equipment, and system proposed in this application. In the following description, references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0036] Unless otherwise specified and limited, terms such as "comprises", "includes" 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 includes other elements not explicitly listed, or also includes elements inherent to such article or device. In the absence of further restrictions, an element defined by the sentence "comprises 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 this application belongs.

[0037] The following describes in detail a brake disc casting and molding control method, casting equipment and system provided by the present application with reference to the accompanying drawings.

[0038] See also Figure 1 , which shows a flow chart of a brake disc casting and molding control method provided by an embodiment of the present application, including the following steps:

[0039] Step 1: Obtain the pouring angle and vibration frequency of the pourer at each sampling moment during the brake disc casting process.

[0040] During the casting process of the brake disc, the tilt angle and vibration frequency of the tipper during the casting process of the brake disc are collected through the inclination sensor and the vibration sensor. In this embodiment, the collection frequency is 100Hz, and the tilt angles and vibration frequencies of all sampling moments within the preset time length before each sampling moment are stored in chronological order. The storage form is vector form, and the tilt angle vector and vibration frequency vector of the tipper at each sampling moment are obtained. In this embodiment, the preset time length is 1 second. At the same time, the implementer can determine the sampling frequency of the tilt angle according to actual conditions.

[0041] Step 2: Perform modal analysis on the rate of change of the tipping angle at each sampling moment, obtain the modal vector of the rate of change of the tipping angle at each sampling moment, analyze the fluctuation degree of each element in the modal vector of the rate of change, obtain the modal fluctuation vector of the tipping angle at each sampling moment, analyze the correlation between the modal fluctuation vector and the vibration frequency at each sampling moment, combine the average level of the element values in the modal fluctuation vector, obtain the tipping interference degree on the tipper at each sampling moment, and analyze the discrete degree of all the said tipping interference degrees within the preset time length before each sampling moment, and then obtain the casting abnormality degree at each sampling moment.

[0042] The pouring process is characterized by nonlinearity and uncertainty. Generally, the real-time operation of the drive motor can easily cause the robotic arm to vibrate, leading to interference in the pouring angle of the pourer. This can result in large quantitative errors in the pouring operation, overshooting of the alloy liquid, and splashing of the alloy liquid due to unstable speeds. This ultimately leads to poor quality and performance of the cast brake disc. Therefore, in order to improve the quality and performance of the cast brake disc, the pouring angle of the pourer during the brake disc casting process must be more accurately controlled to avoid overshooting and splashing of the alloy liquid due to unstable speeds.

[0043] Furthermore, the dumping interference characteristics during the pouring process were analyzed, and the dumping angle vectors at each sampling moment were curve fitted using MATLAB software. The fitting curve corresponding to the dumping angle vector at each sampling moment was obtained, and the slope of each data point in the fitting curve was calculated. The slopes of all data points in the fitting curve were combined into a tilt angle change rate vector at each sampling moment in chronological order. Each element in the tilt angle change rate vector reflects the speed of change of the dumper's dumper during the pouring of the brake disc. If the dumper is affected by vibration interference at this time, the more complex the change rate characteristics of the dumper's dumping angle are, the more likely it is that the alloy liquid will overshoot casting and the speed will be unstable, resulting in splashing of the alloy liquid.

[0044] Due to the complexity of the rate of change of the tilt angle on the pourer during the brake disc casting process, the tilt angle change rate vector at each sampling moment is input into the modal decomposition algorithm, and the modal decomposition algorithm is used to obtain the modal vector of the rate of change of the tilt angle at each sampling moment. The modal decomposition algorithm can be an EMD modal decomposition algorithm (Empirical Mode Decomposition) or a VMD modal decomposition algorithm (Variational Mode Decomposition). This embodiment does not make specific limitations. In this embodiment, the EMD modal decomposition algorithm is selected to perform modal decomposition on the tilt angle change rate vector. The EMD modal decomposition algorithm uses an iterative convergence method to obtain all modal vectors of the rate of change of the tilt angle on the pourer at each sampling moment.

[0045] The schematic diagram of the acquisition process of the modal vector of the rate of change of the tilt angle at each sampling moment is as follows: Figure 2 shown.

[0046] Each rate of change modal vector reflects the modal characteristics of the rate of change of the pouring angle on the pourer in different frequency ranges. If the fluctuation characteristics of the modal data in each rate of change modal vector are more obvious and the correlation between the fluctuation characteristics and the vibration frequency on the pourer is stronger, it can be more obvious that the brake disc casting is more affected by the interference of the robot arm vibration. At this time, it is more necessary to adjust the pouring angle of the pourer to avoid over-pouring of alloy liquid and splashing of alloy liquid caused by unstable speed.

[0047] Furthermore, for each change modal vector of the tilt angle at each sampling moment, the difference between each element in the j-th change rate modal vector and its mean is calculated and recorded as the fluctuation value of each element. The fluctuation value reflects the fluctuation characteristics of each element in the change rate modal vector, which has magnitude and direction. The sequence composed of the fluctuation values of all elements in chronological order is recorded as the j-th modal fluctuation vector of the tilt angle at each sampling moment. The modal fluctuation vector reflects the modal fluctuation characteristics of the tilt angle change rate under the influence of vibration interference.

[0048] Furthermore, the grey relation analysis (GRA) algorithm is used to obtain the correlation between the modal fluctuation vector and the vibration frequency vector. The vibration frequency vector of the tipper at the t-th sampling moment is used as the parent sequence, and the modal fluctuation vectors of the tipping angle on the tipper at the t-th sampling moment are used as subsequences. The parent sequence and the subsequences are input into the grey relation analysis algorithm. The grey relation analysis algorithm outputs the correlation between the j-th modal fluctuation vector corresponding to the t-th sampling moment and its vibration frequency vector. The grey relation analysis algorithm is a well-known technology and the specific process will not be repeated here.

[0049] Through the above analysis, according to the modal fluctuation characteristics of the tilting angle change rate under the influence of vibration interference on the tilting device, and the correlation between the fluctuation characteristics and the vibration frequency on the tilting device, the tilting interference degree on the tilting device at each sampling moment is calculated:

[0050] ;

[0051] Where, is the dumping interference degree on the dumper at the t-th sampling moment, is the modal fluctuation vector number of the dumping angle on the dumper at the t-th sampling moment, is the exponential normalization function, is the correlation between the jth modal wave vector of the tilt angle at the tth sampling moment and the vibration frequency vector at the tth sampling moment, is the mean of the absolute values of all elements in the j-th modal fluctuation vector of the tilt angle at the t-th sampling moment.

[0052] The dumping interference degree reflects the extent to which the dumping angle on the dumper is affected by the interference of the robotic arm during the brake disc casting process. The greater the dumping angle on the dumper is affected by the interference of the robotic arm, the more likely it is that the alloy liquid will be overshot and splashed due to speed instability.

[0053] Generally speaking, if the degree of dispersion of the pouring angle on the pourer affected by the pouring interference of the robotic arm in a short period of time at each sampling moment is more significant, and the degree of interference of the robotic arm on the pouring of the alloy liquid on the pourer is higher, the abnormal characteristics of the brake disc casting process will be worse, which will easily have a more serious impact on the quality of the brake disc after casting.

[0054] Through the above analysis, the discrete degree of the dumping interference degree on the dumper at all sampling moments within the preset time length before the t-th sampling moment is calculated. In this embodiment, the preset time length is 1 second. The measurement method of the discrete degree can be variance, standard deviation or dispersion coefficient. This embodiment is not specifically limited. In this embodiment, the dispersion coefficient is selected to measure the discrete degree of the dumping interference degree;

[0055] Furthermore, in this embodiment, the product of the discrete coefficient of the dumping interference degree on the dumper at the t-th sampling moment and the dumping interference degree on the dumper at the t-th sampling moment is used as the pouring abnormality degree at the t-th sampling moment. The pouring abnormality degree reflects the impulse abnormality characteristics that appear when the dumper is affected by vibration interference during the pouring process. The greater the pouring abnormality characteristics that appear under the influence of vibration interference, the stronger the uncertainty of the pouring rate, and the more necessary it is to accurately control and adjust the dumping angle of the dumper, so as to avoid overshoot pouring and unstable speed.

[0056] Step three: Based on the changes in all the pouring abnormalities within the preset time period before each sampling moment, calculate the abnormal growth rate and abnormal decrease rate of the pouring at each sampling moment, analyze the differences between the pouring angle of the pourer at the previous sampling moment and the abnormal growth rate and abnormal decrease rate, so as to obtain the feedback pouring angle on the pourer at each sampling moment, and use a PID controller to control and adjust the pouring angle on the pourer.

[0057] If the increase of the casting abnormality in a short period of time at the current moment is more obvious, it means that the casting speed is not easy to control during the casting process of the brake disc. In order to avoid the splashing of the alloy liquid caused by over-pouring and unstable speed, the pouring angle of the pourer should be appropriately reduced at this time; on the contrary, the more obvious the decrease of the casting abnormality in a short period of time at the current moment, it means that the casting speed is easy to control during the casting process of the brake disc. In order to improve the fluidity of the alloy liquid during the casting process, the pouring angle of the pourer can be appropriately increased at this time.

[0058] Furthermore, the vector composed of the pouring anomaly degrees of all sampling moments within a preset time period before the current sampling moment in chronological order is recorded as the pouring anomaly vector of the current sampling moment. The pouring anomaly vector reflects the changes in pouring anomalies within a short period of time at the current sampling moment.

[0059] Through the above analysis, the first-order difference vector of the casting abnormality vector at the current sampling moment is calculated, and the proportion of the number of all positive numbers in the first-order difference vector to the number of all elements in the first-order difference vector is counted, which is recorded as the abnormal growth rate of casting at the current sampling moment. The proportion of the number of all negative values in the first-order difference vector to the number of all elements in the first-order difference vector is recorded as the abnormal decrease rate of casting at the current sampling moment. Compared with the abnormal decrease rate of casting, the abnormal growth rate of casting is larger. At this time, the pouring angle of the pourer should be reduced, thereby reducing the quantitative error in the casting operation and avoiding the alloy liquid splashing caused by overshoot casting and speed instability.

[0060] Furthermore, the feedback dumping angle on the dumper at the current sampling moment is calculated. In this embodiment, the specific calculation formula is:

[0061] ;

[0062] Where, is the feedback dumping angle on the dumper at the current sampling moment, is the tipping angle on the tipper at the previous sampling moment of the current moment, is the abnormal growth rate of the pouring at the current sampling moment, is the abnormal drop ratio of pouring at the current sampling moment, It is the controllable adjustment amount of the tilt angle, which is used to control the adjustment range of each tilt angle. The adjustment amount of each tilt angle generally does not exceed 20% of The value range is 0 to , in this embodiment The value is 10%, and implementers can choose it according to actual conditions.

[0063] By analyzing the abnormal changes in casting in a short period of time before the current sampling moment, the pouring angle of the pourer can be controlled and adjusted more accurately. When the casting speed of the brake disc is not easy to control, lowering the pouring angle of the pourer can accurately ensure the quantitativeness of the brake disc casting operation and avoid the over-pouring of alloy liquid and the splashing of alloy liquid caused by unstable speed; conversely, when the casting speed of the brake disc is easy to control, increasing the pouring angle of the pourer can effectively ensure the fluidity of the alloy liquid during the casting process, thereby improving the quality and performance of the brake disc after casting.

[0064] Furthermore, the tilting angle of the tilter is controlled by a PID controller, and the feedback tilting angle and the real-time tilting angle on the tilter at the current sampling moment are transmitted to the PID controller. The PID controller calculates the real-time error between the feedback tilting angle and the real-time tilting angle, and outputs a control signal to the drive motor based on the actual error. The drive motor controls the real-time tilting angle of the tilter to tend to the feedback tilting angle, thereby avoiding the alloy liquid overshoot pouring and alloy liquid splashing caused by unstable speed. After pouring, the brake disc mold is cooled by the cooling assembly. After cooling, the mold assembly is taken out for demoulding. After demoulding, a vibrating sand remover is used for sand removal, and then the brake disc is cleaned with a step-by-step suspended shot blasting cleaning chamber. The brake disc is then turned and finished to finally obtain a finished brake disc.

[0065] Based on the same inventive concept as the above method, an embodiment of the present application also provides a brake disc casting and molding control system, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned brake disc casting and molding control methods are implemented.

[0066] At the same time, an embodiment of the present application also provides a brake disc casting and molding device, in which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the above-mentioned brake disc casting and molding control methods are implemented.

[0067] It should be understood that the order in which the embodiments of the present application are presented is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions of specific embodiments of this specification are provided. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential sequence shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0068] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0069] The above content is only an implementation method of the present application and is not intended to limit the scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the scope of protection of the present application.

Claims

1. A brake disc casting control method, characterized in that: The following steps are involved: Obtain the pouring angle and vibration frequency of the pourer at each sampling moment during the brake disc casting process; Performing modal analysis on the rate of change of the pouring angle at each sampling moment to obtain the modal vector of the rate of change of the pouring angle at each sampling moment, analyzing the degree of fluctuation of each element in the modal vector of the rate of change to obtain the modal fluctuation vector of the pouring angle at each sampling moment, analyzing the correlation between the modal fluctuation vector and the vibration frequency at each sampling moment, combining the average level of the element values in the modal fluctuation vector to obtain the pouring interference degree on the pourer at each sampling moment, and analyzing the discrete degree of all the said pouring interference degrees within a preset time period before each sampling moment to obtain the pouring abnormality degree at each sampling moment; According to the changes in all the casting abnormalities within the preset time period before each sampling moment, the abnormal growth rate and abnormal decrease rate of the casting at each sampling moment are calculated, and the differences between the pouring angle of the pourer at the previous sampling moment and the abnormal growth rate and abnormal decrease rate are analyzed to obtain the feedback pouring angle on the pourer at each sampling moment, and a PID controller is used to control and adjust the pouring angle on the pourer.

2. A brake disc casting control method according to claim 1, characterized in that: The method for obtaining the modal vector of the rate of change of the tilt angle at each sampling moment is: Arrange the dumping angles of all sampling moments within a preset time period before each sampling moment in chronological order to form a dumping angle vector of the dumper at each sampling moment; Perform curve fitting on the tilt angle vector at each sampling moment, and calculate the slope of each data point in the fitting curve. The slopes of all data points in the fitting curve are combined in chronological order to form the tilt angle change rate vector at each sampling moment. The tilt angle change rate vector at each sampling moment is subjected to modal decomposition to obtain the tilt angle change rate modal vector at each sampling moment.

3. A brake disc casting control method according to claim 1, characterized in that: The method for obtaining the modal fluctuation vector of the tilt angle at each sampling moment is: For each change modal vector of the tilt angle at each sampling moment, the difference between each element in the change rate modal vector and the mean of the change rate modal vector is combined into a modal fluctuation vector in chronological order.

4. A brake disc casting control method according to claim 1, characterized in that: The calculation method of the dumping interference degree on the dumper at each sampling moment is: Where, is the dumping interference degree on the dumper at the t-th sampling moment, is the modal fluctuation vector number of the dumping angle on the dumper at the t-th sampling moment, is the exponential normalization function, is the correlation between the jth modal fluctuation vector of the tilt angle at the tth sampling moment and the vibration frequency vector at the tth sampling moment, the correlation is obtained by the grey correlation analysis algorithm, and the vibration frequency vector is a vector composed of the vibration frequencies of all sampling moments within a preset time period before the tth sampling moment arranged in chronological order, is the mean of the absolute values of all elements in the j-th modal fluctuation vector of the tilt angle at the t-th sampling moment.

5. The brake disc casting control method according to claim 1, characterized in that: The method for obtaining the pouring abnormality degree at each sampling moment is: Calculate the discrete coefficient of the pouring interference degree on the pourer at all sampling moments within a preset time period before each sampling moment, and use the product of the discrete coefficient and the pouring interference degree as the pouring abnormality degree at each sampling moment.

6. A brake disc casting control method according to claim 1, characterized in that: The method for obtaining the abnormal growth rate is: The pouring anomaly degrees of all sampling moments within a preset time period before each sampling moment are combined into a pouring anomaly vector for each sampling moment in chronological order; The proportion of all positive numbers in the first-order difference vector of the casting abnormality vector at each sampling moment to the total number of elements in the first-order difference vector is counted and used as the abnormal growth rate of casting at each sampling moment.

7. A brake disc casting control method according to claim 6, characterized in that: The abnormal decrease ratio is the ratio of the number of all negative values in the first-order difference vector to the number of all elements in the first-order difference vector.

8. The brake disc casting control method according to claim 1, characterized in that: The calculation method of the feedback dumping angle on the dumper at each sampling moment is: ； Where, is the feedback dumping angle on the dumper at the current sampling moment, is the tipping angle on the tipper at the previous sampling moment of the current moment, is the abnormal growth rate of the pouring at the current sampling moment, is the abnormal drop ratio of pouring at the current sampling moment, The tilt angle is adjustable and its value range is 0 to .

9. A brake disc casting control system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A brake disc casting and molding device, wherein a computer program is stored in the device, characterized in that: When the computer program is executed by a processor, the steps of the brake disc casting and molding control method as described in any one of claims 1 to 8 are implemented.

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