Double-shaft pre-shaking synchronous control method and device based on torque detection

Abstract

The invention relates to a torque detection-based double-shaft pre-shaking synchronous control method, which comprises the following steps of: starting a pre-shaking system, putting a pre-shaking product 1 and a pre-shaking product 2, and respectively setting basic parameters on a human-computer interaction interface based on the pre-shaking product 1 and the pre-shaking product 2; the first motor and the second motor output at target power to drive the pre-shaking product 1 and the pre-shaking product 2 to shake; s04, judging whether a rotating speed synchronization requirement exists or not, and if yes, executing S04; and calculating a first target torque and a second target torque according to the target synchronous rotating speed and the loads of the pre-shaking products 1 and 2. Through a torque detection and synchronous control method, the problems of vibration, torque transmission and the like caused by a coupling effect between the double shafts are effectively avoided, meanwhile, parameter setting and adjustment are carried out according to load characteristics (such as weight, shape, distribution and the like) of different products, it is ensured that accurate torque and rotating speed control can be achieved under different load conditions, and the reliability of the system is improved. And the adaptability and reliability of the test are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of shaft pre-shaking, and particularly relates to a dual-axis pre-shaking synchronous control method and device based on torque detection. Background Art

[0002] A shaft pre-shaking machine is a device used for pre-treating and testing product shafts, and is widely applied to industries such as electronic products (such as laptops, mobile phones), home appliances, automobiles, furniture, etc., for testing and running-in various components such as shafts, hinges, damping shafts, etc.

[0003] It mainly simulates the actual use conditions of the shaft, enabling the shaft to achieve full running-in of grease during the swinging process. This process can ensure the uniform distribution of grease inside the shaft, thereby improving the lubrication effect of the shaft and reducing wear during initial use; at the same time, it can also remove fine burrs and flash on the shaft parts during the swinging process, reduce the occurrence of defects during shaft use, and make the torque more stable, ultimately achieving the improvement of the initial performance of the shaft and evaluating its reliability and life attenuation during long-term use.

[0004] In the dual-axis swinging test machine with the invention patent number CN201410102376.3, a single device can be used to evaluate the service lives of two shafts of a product; the platform can be lifted so that the center of the first shaft can be conveniently, quickly, and accurately aligned with the center of the first shaft of the laptop, and the height of the second shaft test mechanism can be adjusted so that the center of the second shaft can be conveniently, quickly, and accurately aligned with the center of the second shaft of the laptop, thereby improving the test accuracy; by arranging a clamping cylinder on the mounting seat, the test accuracy of the second shaft can be further improved.

[0005] It is mentioned therein that a clamping cylinder is used to avoid interference with the first shaft, but during the actual test process, the movement of the second shaft test mechanism may generate certain vibrations or minute torques on the first shaft, thereby affecting the accuracy of the test results. Specifically, in the control of two shafts in a dual-axis pre-shaking machine, if there is mechanical coupling, such as through gears, belts, couplings, or other mechanical connections, this coupling will cause the transmission of torque, thereby generating additional torque on one shaft; even if there is no direct mechanical connection between the two shafts, their movements may also affect each other through dynamic coupling effects. The vibration or inertial change of one shaft may be transmitted to the other shaft through the system structure, or the movement directions or speeds of the two shafts are inconsistent, which may all lead to the interaction of inertial forces, thereby generating a coupling torque and generating additional torque on the other shaft.

[0006] In actual test applications, considering that there is a certain load on the first axis and the second axis during actual tests, and the loads generated by different products are different, a dual-axis pre-rotation synchronous control method and device based on torque detection are designed. By installing a torque detector in the device to test the torques of the first rotating shaft and the second rotating shaft output by the motor, synchronous control of the dual-axis rotation speed is finally achieved. Summary of the Invention

[0007] To achieve the above object, on the one hand, the present invention provides a dual-axis pre-rotation synchronous control method based on torque detection. The method includes: A dual-axis pre-rotation synchronous control method based on torque detection includes the following steps:

[0008] S01 Start the pre-rotation system, put in pre-rotation products 1 and 2, and set basic parameters on the human-machine interface based on the pre-rotation products 1 and 2.

[0009] S02 The first motor and the second motor output at a target power to drive the pre-rotation products 1 and 2 to swing.

[0010] S03 Determine whether there is a need for rotational speed synchronization. If so, execute S04.

[0011] S04 Calculate the first target torque and the second target torque according to the target synchronous rotational speed and the loads of the pre-rotation products 1 and 2. The torque detector obtains the first actual torque value and the second actual torque value, calculates the first torque deviation value and the second torque deviation value, and generates a control signal.

[0012] S05 Obtain the control signal and input it into the system to adjust the parameter control strategy of the first motor and the second motor.

[0013] S06 Real-time detect the actual torque value and calculate the actual rotational speed of the motor, convert the digital information and feedback it to the PID controller, and continuously optimize the control signal until both the first motor and the second motor are stable at the target synchronous rotational speed.

[0014] Preferably, in the step of starting the pre-rotation system, putting in pre-rotation products 1 and 2, and setting basic parameters on the human-machine interface based on the pre-rotation products 1 and 2, the basic parameters include: target synchronous rotational speed, swinging specification, and load characteristics.

[0015] Preferably, in the step where the first motor and the second motor output at a target power to drive the pre-rotation products 1 and 2 to swing, the control strategy includes:

[0016] S201 Adopt a speed-dominated mode at the initial stage of startup to quickly establish a basic rotational speed.

[0017] S202 Switch to a torque-speed compound control mode in the middle stage.

[0018] Enable the pure torque tracking mode at the end of S203.

[0019] Preferably, in calculating the first target torque and the second target torque based on the target synchronous speed and the loads of the pre-rotated products 1 and 2, and obtaining the first actual torque value and the second actual torque value by the torque detector and calculating the first torque deviation value and the second torque deviation value, the specific steps include:

[0020] S401 Establish a mathematical model of the two-axis system based on the acquired data;

[0021] S402 On the basis of a standard PID controller, introduce an adaptive mechanism to automatically adjust the PID parameters according to the real-time state of the two-axis system;

[0022] S403 Use the torque detector to obtain the first actual torque value and the second actual torque value, and compare them with the first target torque and the second target torque to calculate the first torque deviation and the second torque deviation;

[0023] S404 Generate a control signal according to the first torque deviation, the second torque deviation and the output of the PID controller.

[0024] Preferably, the calculation formulas involved in establishing the mathematical model of the two-axis system are:

[0025] τ 1 / J 1 =α 1 +β 1 ω 1 +γ 1 ω 1 2 τ 2 / J 2 =α 2 +β 2 ω 2 +γ 2 ω 2 2

[0026] Where J is the moment of inertia, α / β / γ are load characteristic coefficients, τ 1 and τ 2 are the torques of the two axes respectively, J 1 and J 2 are their respective moments of inertia, α 1 、β 1 、γ 1 and α 2 、β 2 、γ 2 are load characteristic coefficients, ω 1 and ω 2 are angular velocities;

[0027] Preferably, the calculation formulas involved in designing the adaptive PID controller are as follows:

[0028] Δω = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t) / dt

[0029] where e(t) = |τ 1 - τ 2 |, and then the PID controller can adjust the speed and torque of the motor according to the torque deviation e(t) to achieve synchronous control of the two axes.

[0030] Preferably, in the process of obtaining the control signal and inputting it into the system to adjust the parameter control strategy of the first motor and the second motor, the specific adjustment of the parameter control strategy includes:

[0031] S501 Set the corresponding torque threshold;

[0032] S502 Trigger speed compensation when the torque deviation value > 5%;

[0033] S503 Start reverse torque injection when the torque deviation value > 15%;

[0034] S504 Execute emergency stop protection when the torque deviation value > 30%.

[0035] On the other hand, the present invention provides a two-axis pre-rotation device, including:

[0036] A console, which has a base and a housing, and a human-machine interaction interface is installed on the front side of the housing;

[0037] A first motor, which is installed on the front side of the top of the base, and a first mounting shaft is installed on the output shaft of the first motor;

[0038] A second motor, which is installed at a position on the top of the base to the right of the first motor, and a second mounting shaft is installed on the output shaft of the second motor;

[0039] A torque sensor, which is installed on the first mounting shaft and the second mounting shaft;

[0040] A first guide rod, which is installed at a position on the top of the base behind the first motor, a first guide plate is slidably arranged on the first guide rod, and a first positioning component is arranged on the front side of the bottom of the first guide plate;

[0041] A first telescopic member, which is installed at a position on the top of the first guide rod above the first guide plate;

[0042] The second guide rod is installed at the top of the base at a position behind the second motor. A second guide plate is slidably arranged on the second guide rod, and a second positioning assembly is arranged on the front side of the bottom of the second guide plate;

[0043] The second telescopic member is installed at the top of the second guide rod at a position above the second guide plate.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the torque detection and synchronous control method, the present invention effectively avoids problems such as vibration and torque transmission caused by the coupling effect between the two shafts. At the same time, according to the load characteristics (such as weight, shape, distribution, etc.) of different products, parameter settings and adjustments are carried out to ensure accurate torque and speed control under different load conditions, improving the adaptability and reliability of the test;

[0045] By simulating the actual use conditions, the present invention enables the grease to be fully run - in during the swinging process of the rotating shaft, ensuring the uniform distribution of the grease inside the rotating shaft, reducing initial wear. At the same time, fine burrs and flash on the rotating shaft parts can also be removed during the swinging process, reducing possible abnormal phenomena during use and improving the initial performance and long - term reliability of the rotating shaft.

[0046] The present invention adopts a phased control strategy combining a speed - dominant mode, a torque - speed compound control mode, and a pure torque tracking mode, which can flexibly adjust the motor output according to the requirements of different stroke stages to ensure the smoothness, accuracy, and efficiency of the swinging process;

[0047] Based on the torque deviation, the present invention conducts an adaptive design of the PID controller, and then can automatically adjust the PID parameters according to the real - time state of the two - shaft system, quickly respond and optimize the control signal to achieve the synchronous operation of the two shafts, improving the dynamic performance and stability of the system;

[0048] The present invention is provided with a multi - level protection mechanism. When the torque deviation exceeds the set threshold, the system will adopt different control strategies according to the degree of deviation, such as speed compensation, reverse torque injection, or emergency stop protection, effectively preventing the equipment from being damaged due to abnormal conditions and ensuring the safe operation of the equipment;

[0049] The device of the present invention adopts structures such as guide rods, guide plates, positioning components, and telescopic members, which can stably fix and position the pre - swinging products, ensuring the stability and consistency of the products during the test, improving the operating stability of the equipment, and being applicable to the testing of components such as rotating shafts, hinges, and damping shafts in multiple industries such as electronic products (such as laptops, mobile phones), household appliances, automobiles, and furniture, with wide applicability. Description of the Drawings

[0050] Figure 1 It is a flowchart of the control method in the present invention;

[0051] Figure 2 is a perspective view of the device in the present invention;

[0052] Figure 3 is a first partial perspective view of the device in the present invention;

[0053] Figure 4 is a second partial perspective view of the device in the present invention.

[0054] Reference numerals in the figure: 1 - base, 2 - housing, 3 - human - machine interaction interface;

[0055] 401 - first motor, 402 - first mounting shaft, 403 - first guide rod, 404 - first guide plate, 405 - first positioning component, 406 - first telescopic member;

[0056] 501 - second motor, 502 - second mounting shaft, 503 - second guide rod, 504 - second guide plate, 505 - second positioning component, 506 - second telescopic member;

[0057] 6 - torque sensor. Detailed implementation manners

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] Embodiment 1

[0060] As Figures 1 to 4 shown, a dual - axis pre - swing synchronous control method based on torque detection includes the following steps:

[0061] S01 Start the pre - swing system, put in pre - swing products 1 and 2, and set basic parameters on the human - machine interaction interface based on pre - swing products 1 and 2;

[0062] S02 The first motor and the second motor output at the target power to drive pre - swing products 1 and 2 to swing;

[0063] S03 Judge whether there is a need for rotational speed synchronization. If so, execute S04;

[0064] S04 Calculate the first target torque and the second target torque according to the target synchronous speed and the loads of pre - swing products 1 and 2. The torque detector obtains the first actual torque value and the second actual torque value, calculates the first torque deviation value and the second torque deviation value, and generates a control signal;

[0065] The S05 acquisition control signal input system adjusts the parameter control strategy for the first motor and the second motor;

[0066] S06 Real-time detects the actual torque value and calculates the actual speed of the motor, converts the digital information and feeds it back to the PID controller, and continuously optimizes the control signal until both the first motor and the second motor are stable at the target synchronous speed.

[0067] Furthermore, start the pre-rotation system, put in the pre-rotation products 1 and 2, and set the basic parameters on the human-machine interface based on the pre-rotation products 1 and 2. The basic parameters include: target synchronous speed, swing specification, and load characteristics.

[0068] Furthermore, when the first motor and the second motor output at the target power and drive the pre-rotation products 1 and 2 to swing, the control strategy includes:

[0069] S201 Adopt a speed-dominated mode at the initial stage to quickly establish the basic speed;

[0070] S202 Switch to a torque-speed compound control mode in the middle stage;

[0071] S203 Enable a pure torque tracking mode at the end stage.

[0072] Furthermore, calculate the first target torque and the second target torque according to the target synchronous speed and the loads of the pre-rotation products 1 and 2. The torque detector obtains the first actual torque value and the second actual torque value, and calculates the first torque deviation value and the second torque deviation value. The specific steps include:

[0073] S401 Establish a mathematical model of the two-axis system based on the acquired data;

[0074] S402 Based on the standard PID controller, introduce an adaptive mechanism to automatically adjust the PID parameters according to the real-time state of the two-axis system;

[0075] S403 Use the torque detector to obtain the first actual torque value and the second actual torque value, and compare them with the first target torque and the second target torque to calculate the first torque deviation and the second torque deviation;

[0076] S404 Generate a control signal according to the first torque deviation, the second torque deviation, and the output of the PID controller.

[0077] Furthermore, the calculation formulas involved in establishing the mathematical model of the two-axis system are:

[0078] τ 1 / J 1 =α 1 +β 1 ω1 +γ 1 ω 1 2 τ 2 / J 2 = α 2 +β 2 ω 2 +γ 2 ω 2 2

[0079] where J is the moment of inertia, and α / β / γ are load characteristic coefficients, τ 1 and τ 2 are the torques of two shafts respectively, J 1 and J 2 are their respective moments of inertia, α 1 , β 1 , γ 1 and α 2 , β 2 , γ 2 are load characteristic coefficients, ω 1 and ω 2 are angular velocities;

[0080] Furthermore, the calculation formulas involved in designing the adaptive PID controller are:

[0081] Δω = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t) / dt

[0082] where e(t) = |τ 1 - τ 2 |, and then the PID controller can adjust the rotational speed and torque of the motor according to the torque deviation e(t) to achieve synchronous control of the two shafts.

[0083] Furthermore, in obtaining the control signal to input into the system and adjusting the parameter control strategy for the first motor and the second motor, the parameter control strategy adjustment specifically includes:

[0084] S501 Set the corresponding torque threshold;

[0085] S502 Trigger speed compensation when the torque deviation value > 5%;

[0086] S503 Start reverse torque injection when the torque deviation value > 15%;

[0087] S504 Execute emergency stop protection when the torque deviation value > 30%.

[0088] A biaxial pre-rotation device includes: a console, which has a base and a housing, and a human-machine interaction interface is installed on the front side of the housing; a first motor, which is installed on the front side of the top of the base, and a first mounting shaft is installed on the output shaft of the first motor; a second motor, which is installed at a position on the top of the base to the right of the first motor, and a second mounting shaft is installed on the output shaft of the second motor; a torque sensor, which is installed on the first mounting shaft and the second mounting shaft; a first guide rod, which is installed at a position on the top of the base behind the first motor, a first guide plate is slidably arranged on the first guide rod, and a first positioning component is arranged on the front side of the bottom of the first guide plate; a first telescopic member, which is installed at a position on the top of the first guide rod above the first guide plate; a second guide rod, which is installed at a position on the top of the base behind the second motor, a second guide plate is slidably arranged on the second guide rod, and a second positioning component is arranged on the front side of the bottom of the second guide plate; a second telescopic member, which is installed at a position on the top of the second guide rod above the second guide plate.

[0089] Embodiment 2

[0090] As Figures 1 to 4 shown, a biaxial pre-rotation synchronous control method based on torque detection includes the following steps:

[0091] S01 Start the pre-rotation system, put in pre-rotation products 1 and 2, and set basic parameters on the human-machine interaction interface 3 based on pre-rotation products 1 and 2.

[0092] S02 The first motor 401 and the second motor 501 output at the target power to drive the pre-rotation products 1 and 2 to swing.

[0093] S03 Judge whether there is a need for speed synchronization. If so, execute S04.

[0094] S04 Calculate the first target torque and the second target torque according to the target synchronous speed and the loads of the pre-rotation products 1 and 2. The torque detector obtains the first actual torque value and the second actual torque value, calculates the first torque deviation value and the second torque deviation value, and generates a control signal.

[0095] S05 Obtain the control signal and input it into the system to adjust the parameter control strategy of the first motor 401 and the second motor 501.

[0096] S06 Real-time detect the actual torque value and calculate the actual speed of the motor, convert the digital information and feedback it to the PID controller, and continuously optimize the control signal until both the first motor 401 and the second motor 501 are stable at the target synchronous speed.

[0097] In one embodiment, step S01, "Start the pre-shaking system, place pre-shaking products 1 and 2, and set basic parameters for pre-shaking products 1 and 2 respectively on the human-machine interaction interface 3", specifically includes:

[0098] Ensure that the system enters the initialization state, including preparatory work such as power supply inspection, motor status confirmation, sensor calibration, etc., to ensure that all hardware and software are in normal working condition and are allowed to receive control instructions. After completing the self-check, the staff place pre-shaking products 1 and 2 on the preset workstations respectively. Pre-shaking products 1 and 2 each have a first rotating shaft and a second rotating shaft, and a positioning device is provided above the workstations to ensure the stability and consistency of pre-shaking products 1 and 2 during the shaking process. The staff enter the human-machine interaction interface 3 of the pre-shaking system. The human-machine interaction interface 3 provides a series of function options including parameter setting, status monitoring, alarm information, etc. Specifically for "parameter setting", the staff need to input basic parameters for pre-shaking products 1 and 2 respectively. The parameters include but are not limited to:

[0099] Target synchronous speed, specifying the synchronous speed value that the two motors should reach and maintain, reducing the torque generation and influence between the rotating shafts through speed synchronization;

[0100] Shaking specifications, that is, the shaking angles and shaking times required for pre-shaking products 1 and 2;

[0101] Load characteristics, according to the physical properties (category, weight or distribution) of pre-shaking products 1 and 2, select and input the corresponding load characteristics, etc.

[0102] After the settings are completed, the system will verify the validity of the parameters and prompt the operator to make corrections if necessary. After the corrections, enter the next stage of operation.

[0103] In one embodiment, in step S02, "The first motor 401 and the second motor 501 output at the target power to drive the placed pre-shaking products 1 and 2 to shake", specifically:

[0104] In step one, it is also necessary to set the target power of the motors respectively, that is, according to the material, weight, shape of pre-shaking products 1 and 2, as well as the required shaking amplitude and frequency, set appropriate target powers for the first motor 401 and the second motor 501 respectively through the human-machine interaction interface 3 to ensure that both motors can provide sufficient driving force to drive the first rotating shaft and the second rotating shaft to shake according to the expected actions.

[0105] In practical applications, after receiving the target power setting, the control system sends a start signal to the first motor 401 and the second motor 501, and adjusts the output power of the motors to reach the set target power. The first motor 401 and the second motor 501 are connected to the pre-swing products 1 and 2 through their respective drive shafts. Furthermore, the first motor 401 and the second motor 501 drive the pre-swing products 1 and 2 to swing, that is, drive the first rotating shaft and the second rotating shaft to rotate.

[0106] Among them, the motor drives the product to swing by adopting a phased control strategy. In the initial stage of swing start (0-30% stroke), the motor drives the product to accelerate from a stationary state, and needs to overcome static friction and initial inertia. Therefore, the control system adopts a speed-dominated mode, and by adjusting parameters such as the current or voltage of the motor, the motor reaches the preset target speed as fast as possible; as the swing stroke progresses (30-70% stroke), the control system will switch to a torque-speed composite control mode to more precisely control the output of the motor to balance the speed stability and load adaptability; at the end of the swing stroke (70-100% stroke), the control system enables a pure torque tracking mode, no longer directly controlling the motor speed, but focusing on tracking the preset torque curve. By real-time monitoring the actual torque output of the motor and comparing and adjusting it with the preset torque curve, the system can ensure that the motor still maintains an accurate torque output at the end of the swing, thus achieving a smooth swing termination.

[0107] In summary, by adopting a phased control strategy, the control system enables the motor to drive the product to flexibly adjust the control mode according to different stages of the stroke during the swing process, thereby ensuring the smoothness, accuracy and efficiency of the swing process.

[0108] In one embodiment, following step two, the control system determines whether the pre-swing products 1 and 2 need to synchronize their speeds. If synchronization is not required, it continues to operate in the current state; if there is a synchronization requirement, it enters step four. It should be noted that the control system can also directly detect the speeds of the pre-swing products 1 and 2, and drive the first rotating shaft and the second rotating shaft to reach the same speed through dynamic compensation. However, in practical applications, torque detection is more suitable for scenarios where the rotating components have loads, such as motor output torque testing, torque monitoring of mechanical transmission systems, etc.

[0109] Therefore, this embodiment advocates installing torque sensors 6 at the output ends of the first motor 401 and the second motor 501, specifically the HBM T22 dynamic torque sensors 6, with a sampling frequency of up to 10 kHz and a range covering 0-50 Nm, for real-time acquisition of the actual torque values of the first rotating shaft and the second rotating shaft. Based on the above available data, a two-axis dynamics model is first established:

[0110] τ 1 / J 1 = α 1 + β 1 ω 1 + γ 1 ω 1 2 τ 2 / J 2 = α 2 + β 2 ω 2 + γ 2 ω 2 2

[0111] where J is the moment of inertia, α / β / γ are load characteristic coefficients, τ 1 and τ 2 are the torques of two shafts respectively, J 1 and J 2 are their respective moments of inertia, α 1 , β 1 , γ 1 and α 2 , β 2 , γ 2 are load characteristic coefficients, ω 1 and ω 2 are angular velocities;

[0112] Redesign the adaptive PID controller:

[0113] Δω = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t) / dt

[0114] where e(t) = |τ 1 - τ 2 |, and then the PID controller can adjust the speed and torque of the motor according to the torque deviation e(t) to achieve the synchronous control of the two shafts.

[0115] Meanwhile, the control system calculates the first target torque and the second target torque based on the target synchronous speed and the loads of the pre-whirling products 1 and 2. The relevant calculation formulas are as follows:

[0116] Ttarget = J·α + Tload

[0117] where Ttarget is the target torque, J is the moment of inertia of the first rotating shaft and the second rotating shaft, α is the angular velocity, and Tload is the load torque.

[0118] Furthermore, the load torque can also be interpreted as the torque generated by the pre-whirling product on the output shaft of the motor and can be calculated through the following formula:

[0119] Tload = m·g·r

[0120] Among them, m is the mass of the pre-shaking product, g is the acceleration due to gravity, and R is the distance from the center of gravity of the pre-shaking product to the motor output shaft.

[0121] Based on the above calculation results, the torque detector obtains the first actual torque value of the first motor 401 and the second actual torque value of the second motor 501 in real time, calculates the first torque deviation value through the difference between the first target torque and the first actual torque value, and calculates the second torque deviation value through the difference between the second target torque and the second actual torque value.

[0122] In one embodiment, in step S05, "obtain the first torque deviation value and the second torque deviation value in step four and input them into the system to adjust the parameter control strategy of the first motor 401 and the second motor 501", that is, the control system adjusts the parameter control strategy of the first motor 401 and the second motor 501 accordingly according to the first torque deviation value and the second torque deviation value, for the purpose of driving the first motor 401 and the second motor 501 to reach the same torque and the same speed.

[0123] During the actual test process, the first motor 401 and the second motor 501 drive the pre-shaking products 1 and 2 respectively. Due to the different masses of the pre-shaking products 1 and 2, the actual speeds of the pre-shaking products 1 and 2 may both be greater than the target speed, may both be less than the target speed, or the speed of product 1 may be less than the target speed and the speed of product 2 may be greater than the target speed.

[0124] Therefore, for the convenience of understanding, it is assumed here that the pre-shaking products 1 and 2 are products of the same mass, and thus the speeds will not affect each other. When it is detected that the torque deviation value exceeds the set 5% threshold, the system will start the first-level compensation mechanism for the first motor 401 and the second motor 501. Specifically, the deviation is compensated by adjusting the speed of the motor. For example, if the torque deviation is caused by too high a motor speed, the system will appropriately reduce the motor speed; conversely, if the torque deviation is caused by too low a speed, the system will increase the motor speed. When it is detected that the torque deviation value exceeds the 15% threshold, the control system will enter the second-level correction mechanism, specifically injecting a reverse torque into the motor to offset the excessive torque deviation. The magnitude and direction of the reverse torque will be accurately calculated and adjusted according to the actual deviation situation. And when the torque deviation reaches an extremely serious level, exceeding the 30% threshold, the control system directly determines that the machine is in a dangerous state, will immediately execute the emergency stop protection program, cut off the power supply of the motor and send out an alarm signal.

[0125] In one embodiment, in step S06, "real-time detect the actual torque value and calculate the actual speed of the motor, convert the digital information and feedback it to the PID controller, and continuously optimize the control signal until both the first motor 401 and the second motor 501 are stable at the target synchronous speed.", specifically:

[0126] The torque sensor 6 converts the torque signal into an electrical signal, and processes it through the data acquisition module in the system. The processing content includes: calculating the actual rotational speed values of the first motor 401 and the second motor 501, and real-time feedback of the torque and rotational speed deviation into the PID controller, so that the PID controller adjusts the input voltage, current or frequency of the first motor 401 and the second motor 501 respectively to reduce the deviation and make the actual rotational speed values of the first motor 401 and the second motor 501 gradually approach the target rotational speed value; when the actual rotational speeds of the first motor 401 and the second motor 501 gradually approach the target synchronous rotational speed, the PID controller will further finely adjust the control signal to ensure that the rotational speeds of the two motors are kept consistent. In this way, through continuous feedback and adjustment, the control system can effectively suppress the influence of external torque interference and internal parameter changes on the rotational speed, and finally realize the stable synchronous operation of the two motors.

[0127] Embodiment 3

[0128] As Figures 2 to 4 shown, a device controlled by a dual-axis pre-rotation synchronous control method based on torque detection, specifically a dual-axis pre-rotation device, includes: a console, the console has a base 1 and a housing 2, a human-machine interaction interface 3 is installed on the front side of the housing 2, the front side of the top of the base 1 is provided with a first motor 401 and a second motor 501, a first mounting shaft 402 is installed on the output shaft of the first motor 401, a second mounting shaft 502 is installed on the output shaft of the second motor 501, the rear side of the top of the base 1 is provided with a first guide rod 403 and a second guide rod 503, a first guide plate 404 is slidably arranged on the first guide rod 403, a first positioning component 405 is arranged on the front side of the bottom of the first guide plate 404, and a first telescopic member 406 is installed on the top of the first guide rod 403; a second guide plate 504 is slidably arranged on the second guide rod 503, a second positioning component 505 is arranged on the front side of the bottom of the second guide plate 504, and a second telescopic member 506 is installed on the top of the second guide rod 503. Among them, the first telescopic member 406 and the second telescopic member 506 can both be electrical components such as cylinders and motors that can drive the first guide plate 404 and the second guide plate 504 to move up and down.

[0129] It can be understood that the pre-rotation product can be positioned through the first positioning component 405 and the second positioning component 505. The first telescopic member 406 and the second telescopic member 506 drive the first guide plate 404 and the second guide plate 504 to move downward, clamp the first rotating shaft and the second rotating shaft in the first mounting shaft 402 and the second mounting shaft 502 in the pre-rotation product 1 / 2. Then the first motor 401 and the second motor 501 operate to drive the first rotating shaft and the second rotating shaft to rotate, so as to realize the running-in and testing of the first rotating shaft and the pre-rotation product 1, and the running-in and testing of the second rotating shaft and the pre-rotation product 2.

[0130] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0131] As described above, it is only used to illustrate the technical solution of the present invention rather than to limit it. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solution of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A dual-axis pre-sway synchronization control method based on torque detection, comprising the following steps: S01 starts the pre-shaking system, puts in pre-shaking products 1 and 2, and sets basic parameters on the human-computer interaction interface based on the pre-shaking products 1 and 2; S02 the first motor and the second motor output the target power to drive the pre-shaking products 1 and 2 to shake; S03 determines whether there is a speed synchronization requirement, and if so, executes S04; S04: calculating a first target torque and a second target torque according to the target synchronous speed and the loads of the pre-shaking products 1 and 2; a torque detector acquiring a first torque actual value and a second torque actual value, calculating a first torque deviation value and a second torque deviation value, and generating a control signal; S05 obtains the control signal input system and adjusts the parameter control strategy of the first motor and the second motor; S06 detects the actual torque value in real time and calculates the actual speed of the motor, converts the digital information into feedback to the PID controller, and continuously optimizes the control signal until the first motor and the second motor are both stabilized at the target synchronous speed.

2. A dual-axis pre-sway synchronization control method based on torque detection according to claim 1, characterized in that: The pre-shaking system is started, and the pre-shaking products 1 and 2 are placed. Based on the pre-shaking products 1 and 2, basic parameters are set in the human-computer interaction interface respectively. The basic parameters include: target synchronous speed, swing specifications and load characteristics.

3. A dual-axis pre-sway synchronization control method based on torque detection according to claim 1, characterized in that: The first motor and the second motor output the target power to drive the pre-shaking products 1 and 2 to shake, and the control strategy includes: S201 adopts speed-dominant mode at the initial start-up to quickly establish basic speed; S202 mid-term switches to torque-speed compound control mode; Pure torque tracking mode is enabled at the end of S203.

4. A dual-axis pre-sway synchronization control method based on torque detection according to claim 1, characterized in that: The first target torque and the second target torque are calculated according to the target synchronous speed and the load of the pre-shaking products 1 and 2, the torque detector obtains the first torque actual value and the second torque actual value, and the first torque deviation value and the second torque deviation value are calculated, and the specific steps include: S401 establishes a mathematical model of the biaxial system based on the acquired data; S402 introduces an adaptive mechanism based on the standard PID controller to automatically adjust the PID parameters according to the real-time status of the dual-axis system; S403: using a torque detector to obtain a first torque actual value and a second torque actual value, and comparing them with the first target torque and the second target torque to calculate a first torque deviation and a second torque deviation; S404 generates a control signal according to the first torque deviation, the second torque deviation and the output of the PID controller.

5. A dual-axis pre-sway synchronization control method based on torque detection according to claim 4, characterized in that: The calculation formulas involved in establishing the mathematical model of the dual-axis system are: τ1 / J1=α1+β1ω1+γ1ω1 2 τ2 / J2=α2+β2ω2+γ2ω2 2 Where J is the moment of inertia, α / β / γ are load characteristic coefficients, τ1 and τ2 are the torques of the two axes respectively, J1 and J2 are their respective moments of inertia, α1, β1, γ1 and α2, β2, γ2 are load characteristic coefficients, and ω1 and ω2 are angular velocities.

6. A dual-axis pre-sway synchronization control method based on torque detection according to claim 5, characterized in that: The calculation formulas involved in designing the adaptive PID controller are: Δω=Kp·e(t)+Ki·∫e(t)dt+Kd·de(t) / dt Among them, e(t) = |τ1-τ2|, and then the PID controller can adjust the speed and torque of the motor according to the torque deviation e(t) to achieve synchronous control of the dual axes.

7. A dual-axis pre-sway synchronization control method based on torque detection according to claim 1, characterized in that: In the step of obtaining the control signal input into the system and adjusting the parameter control strategy of the first motor and the second motor, the parameter control strategy adjustment specifically includes: S501 sets a corresponding torque threshold; S502 triggers speed compensation when torque deviation value > 5%; S503 starts reverse torque injection when the torque deviation value is greater than 15%; When the torque deviation value of S504 is greater than 30%, emergency stop protection is executed.

8. A dual-axis pre-sway device, which is controlled by a dual-axis pre-sway synchronization control method based on torque detection according to claims 1-7, characterized in that: include: The console comprises a base and a shell, and a human-machine interaction interface is installed on the front side of the shell; A first motor is installed on the top front side of the base, and a first installation shaft is installed on the output shaft of the first motor; A second motor, the second motor is installed at a position on the top of the base and located on the right side of the first motor, and a second installation shaft is installed on the output shaft of the second motor; a torque sensor, the torque sensor being mounted on the first mounting shaft and the second mounting shaft; A first guide rod, the first guide rod is installed at a position on the top of the base and located behind the first motor, a first guide plate is slidably provided on the first guide rod, and a first positioning assembly is provided at the front side of the bottom of the first guide plate; A first telescopic member, the first telescopic member is installed at a position where the top of the first guide rod is above the first guide plate; A second guide rod, the second guide rod is installed at a position on the top of the base and located behind the second motor, a second guide plate is slidably provided on the second guide rod, and a second positioning assembly is provided at the front side of the bottom of the second guide plate; A second telescopic member is installed at a position where the top of the second guide rod is located above the second guide plate.

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