A dual-shaft pre-oscillation synchronization control method and device based on torque detection

Abstract

The present application relates to a kind of double-shaft pre-shaking synchronous control method based on torque detection, comprising the following steps: starting pre-shaking system, put in pre-shaking product 1 and 2, based on pre-shaking product 1 and 2 in man-machine interface respectively set basic parameter;First motor and second motor with target power output, drive pre-shaking product 1 and 2 swing;Judge whether it has speed synchronization demand, if it exists, execute S04;According to target synchronous speed, the load of pre-shaking product 1 and 2 calculates first target torque and second target torque.The present application is through torque detection and synchronous control method, effectively avoid the vibration, moment transmission etc. caused by coupling effect between double shafts, simultaneously according to the load characteristics (such as weight, shape, distribution etc.) of different products parameter setting and adjustment, ensure that accurate torque and speed control can be realized under different load conditions, improve the adaptability and reliability of test.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of shaft pre-oscillation, and particularly relates to a double-shaft pre-oscillation synchronous control method and device based on torque detection. BACKGROUND

[0002] The shaft pre-oscillation machine is a device for pre-treating and testing product shafts, and is widely applied to electronic product (such as notebook computers, mobile phones), household appliances, automobiles, furniture and other industries, and is used for testing and running-in various shafts, hinges, damping shafts and other parts.

[0003] The shaft pre-oscillation machine mainly simulates the actual use conditions of the shaft, so that the shaft can be fully run-in with grease during oscillation. This process can ensure that the grease is evenly distributed in the shaft, thereby improving the lubrication effect of the shaft and reducing wear during initial use. Meanwhile, the shaft parts can be deburred and chamfered during oscillation, reducing adverse phenomena during use of the shaft and making the torque more stable, so as to ultimately improve the initial performance of the shaft and evaluate the reliability and life attenuation during long-term use.

[0004] In the double-shaft oscillation testing machine with the patent number CN201410102376.3, the life of two shafts of a product can be evaluated by using one device. The platform can be lifted so that the center of the first shaft can be quickly and accurately aligned with the center of the first shaft of the notebook computer. The height of the second shaft testing mechanism can be adjusted so that the center of the second shaft can be quickly and accurately aligned with the center of the second shaft of the notebook computer, thereby improving the accuracy of the test. The second shaft testing accuracy can be further improved by setting the clamping cylinder on the mounting seat.

[0005] It is mentioned that the clamping cylinder is used to avoid interference with the first shaft. However, in the actual test process, the movement of the second shaft testing mechanism may produce a certain vibration or a small torque on the first shaft, thereby affecting the accuracy of the test result. Specifically, in the control of the two shafts in the double-shaft pre-oscillation machine, if there is mechanical coupling, such as through gears, belts, couplings or other mechanical connections, such coupling will cause the transmission of torque, thereby producing an 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 inertia change of one shaft may be transmitted to the other shaft through the system structure, or the movement direction or speed of the two shafts may be inconsistent, which may all cause the interaction of inertial forces, thereby producing a coupling torque and an additional torque on the other shaft.

[0006] And in the actual test application, considering that the first axis and the second axis have certain load in the actual test, and the load generated by different products is different, therefore, a double-shaft pre-shaking synchronous control method and device based on torque detection are designed, torque detectors are installed in the device to test the torque of the first rotating shaft and the second rotating shaft output by the motor, and finally the synchronous control of the double-shaft rotating speed is realized. SUMMARY

[0007] To achieve the above object, the application provides a double-shaft pre-shaking synchronous control method based on torque detection, which comprises the following steps:

[0008] S01 Start the pre-shaking system, put in pre-shaking products 1 and 2, and set basic parameters on the human-computer interaction interface based on the pre-shaking products 1 and 2;

[0009] S02 The first motor and the second motor output with target power to drive the pre-shaking products 1 and 2 to swing;

[0010] S03 Determine whether it has a rotating speed synchronization requirement, and if so, execute S04;

[0011] S04 Calculate the first target torque and the second target torque according to the target synchronous rotating speed, 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, calculates the first torque deviation value and the second torque deviation value, and generates a control signal;

[0012] S05 Get the control signal input system, and adjust the parameter control strategy of the first motor and the second motor;

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

[0014] In the step of starting the pre-shaking system, putting in pre-shaking products 1 and 2, and setting basic parameters on the human-computer interaction interface based on the pre-shaking products 1 and 2, the basic parameters include: target synchronous rotating speed, swing specification and load characteristics.

[0015] In the step of the first motor and the second motor outputting with target power to drive the pre-shaking products 1 and 2 to swing, the control strategy includes:

[0016] S201 Use the speed dominant mode in the initial stage to quickly establish the basic rotating speed;

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

[0018] S203 enabling the pure torque tracking mode at the end of the period;

[0019] The first target torque and the second target torque are calculated according to the target synchronous rotating speed, the loads of the pre-rolling products 1 and 2, the first torque actual value and the second torque actual value are obtained by the torque detector, and the first torque deviation value and the second torque deviation value are calculated, and the specific steps include:

[0020] S401 establishing a mathematical model of the dual-shaft system based on the obtained data;

[0021] S402 introducing an adaptive mechanism on the basis of a standard PID controller, and automatically adjusting the PID parameters according to the real-time state of the dual-shaft system;

[0022] S403 obtaining the first torque actual value and the second torque actual value by using the torque detector, and comparing them with the first target torque and the second target torque to calculate the first torque deviation and the second torque deviation;

[0023] S404 generating a control signal according to the first torque deviation and the second torque deviation and the output of the PID controller;

[0024] Preferably, the calculation formula involved in the establishment of the mathematical model of the dual-shaft system is:

[0025] τ1 / J1 = α1 + β1ω1 + γ1ω1² τ2 / J2 = α2 + β2ω2 + γ2ω2²

[0026] wherein J is the moment of inertia, α / β / γ is the load characteristic coefficient, τ1 and τ2 are the torques of the two shafts, J1 and J2 are the respective moments of inertia, α1, β1, γ1 and α2, β2, γ2 are the load characteristic coefficients, and ω1 and ω2 are the angular velocities.

[0027] Preferably, the calculation formula involved in the design of the adaptive PID controller in the introduction of the adaptive mechanism on the basis of the standard PID controller and the automatic adjustment of the PID parameters according to the real-time state of the dual-shaft system is:

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

[0029] wherein e(t)=|τ1-τ2|, and then the PID controller can adjust the rotating speed and the torque of the motor according to the torque deviation e(t) to realize the synchronous control of the dual shafts.

[0030] Another aspect of the application provides a dual-shaft pre-rolling device, which comprises:

[0031] The console has a base and a shell, and a human-computer interaction interface is arranged on the front side of the shell;

[0032] The first motor is installed on the top front side of the base, and a first mounting shaft is installed on the output shaft of the first motor;

[0033] The second motor is installed on the top of the base and located at the right side of the first motor, and a second mounting shaft is installed on the output shaft of the second motor;

[0034] The torque sensor is installed on the first mounting shaft and the second mounting shaft;

[0035] The first guide rod is installed on the top of the base and located at the rear side of the first motor, and a first guide plate is slidably arranged on the first guide rod, and a first positioning assembly is arranged on the bottom front side of the first guide plate;

[0036] The first telescopic part is installed on the top of the first guide rod and located above the first guide plate;

[0037] The second guide rod is installed on the top of the base and located at the rear side of the second motor, and a second guide plate is slidably arranged on the second guide rod, and a second positioning assembly is arranged on the bottom front side of the second guide plate;

[0038] The second telescopic part is installed on the top of the second guide rod and located above the second guide plate.

[0039] Compared with the prior art, the beneficial effects of the present application are: the torque detection and synchronous control method can effectively avoid the problems of vibration and torque transmission between the two shafts caused by coupling effect, and according to the load characteristics (such as weight, shape, distribution, etc.) of different products, the parameters can be set and adjusted to ensure accurate torque and speed control under different load conditions, and the adaptability and reliability of the test are improved;

[0040] The present application can simulate the actual use condition, so that the oil can be fully ground in the swinging process of the rotating shaft, and the oil can be evenly distributed in the rotating shaft, so as to reduce the initial wear, and the fine burrs and burrs of the rotating shaft parts can be removed in the swinging process, so as to reduce the possible adverse phenomena in the use process, and improve the initial performance and long-term reliability of the rotating shaft.

[0041] The present application adopts a phased control strategy combining speed dominant mode, torque-speed composite control mode and pure torque tracking mode, which can flexibly adjust the motor output according to the requirements of different stroke stages, and ensure the stability, accuracy and efficiency of the swinging process;

[0042] The application is based on adaptive design of a PID controller according to torque deviation, and then the PID parameters can be automatically adjusted according to the real-time state of the dual-shaft system, the control signal is quickly responded and optimized, the synchronous operation of the dual-shaft is realized, and the dynamic performance and stability of the system are improved.

[0043] The application is provided with a multi-level protection mechanism, when the torque deviation exceeds the set threshold, the system will take different control strategies according to the deviation degree, 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.

[0044] The device of the application adopts guide rods, guide plates, positioning assemblies and telescopic parts, can stably fix and position the pre-rotating products, ensure the stability and consistency of the products during the test process, improve the operation stability of the equipment, is suitable for the test of shafts, hinges, damping shafts and other parts in multiple industries such as electronic products (such as notebook computers, mobile phones), home appliances, automobiles and furniture, and has wide applicability. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 The flow chart of the control method in the application;

[0046] Figure 2 The perspective view of the device in the application;

[0047] Figure 3 The first partial perspective view of the device in the application;

[0048] Figure 4 The second partial perspective view of the device in the application.

[0049] Reference numerals in the drawing: 1 - base, 2 - shell, 3 - human-computer interaction interface;

[0050] 401 - first motor, 402 - first mounting shaft, 403 - first guide rod, 404 - first guide plate, 405 - first positioning assembly, 406 - first telescopic part;

[0051] 501 - second motor, 502 - second mounting shaft, 503 - second guide rod, 504 - second guide plate, 505 - second positioning assembly, 506 - second telescopic part;

[0052] 6 - torque sensor. DETAILED DESCRIPTION

[0053] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0054] Embodiment 1

[0055] As Figures 1 to 4 shown in a double-shaft pre-shaking synchronization control method based on torque detection, the method comprises the following steps:

[0056] S01 starting a pre-shaking system, putting in pre-shaking products 1 and 2, and setting basic parameters based on the pre-shaking products 1 and 2 on a man-machine interactive interface;

[0057] S02 driving the pre-shaking products 1 and 2 to swing by the first motor and the second motor with target power output;

[0058] S03 judging whether there is a synchronous speed requirement, and if so, executing S04;

[0059] S04 calculating first target torque and second target torque according to a target synchronous speed, loads of the pre-shaking products 1 and 2, obtaining first torque actual value and second torque actual value by a torque detector, calculating first torque deviation value and second torque deviation value, and generating a control signal;

[0060] S05 obtaining the control signal input system to adjust the parameter control strategy of the first motor and the second motor;

[0061] S06 detecting the torque actual value in real time and calculating the actual speed of the motor, converting digital information to feedback to a PID controller, continuously optimizing the control signal, until the first motor and the second motor are both stabilized at the target synchronous speed.

[0062] Further, in the step of setting basic parameters based on the pre-shaking products 1 and 2 on a man-machine interactive interface, the basic parameters include: target synchronous speed, swing specification and load characteristics.

[0063] Further, in the step of driving the pre-shaking products 1 and 2 to swing by the first motor and the second motor with target power output, the control strategy comprises:

[0064] S201 adopting a speed dominant mode in the initial stage to quickly establish a basic speed;

[0065] S202 switching to a torque-speed compound control mode in the middle stage;

[0066] S203 enable pure torque tracking mode at the end of the period.

[0067] Further, the first target torque and the second target torque are calculated according to the target synchronous speed, the load of the pre-rotating products 1 and 2, the first torque actual value and the second torque actual value are obtained by the torque detector, and the first torque deviation value and the second torque deviation value are calculated, and the specific steps include:

[0068] S401 establish a mathematical model of the dual-shaft system based on the obtained data;

[0069] S402 introduce an adaptive mechanism based on a standard PID controller, and automatically adjust the PID parameters according to the real-time state of the dual-shaft system;

[0070] S403 obtain the first torque actual value and the second torque actual value by using the torque detector, and compare them with the first target torque and the second target torque to calculate the first torque deviation and the second torque deviation;

[0071] S404 generate a control signal according to the first torque deviation and the second torque deviation and the output of the PID controller.

[0072] Further, the calculation formula involved in establishing the mathematical model of the dual-shaft system is:

[0073] τ1 / J1 = α1 + β1ω1 + γ1ω1² τ2 / J2 = α2 + β2ω2 + γ2ω2²

[0074] Where J is the moment of inertia, α / β / γ is the load characteristic coefficient, τ1 and τ2 are the torques of the two shafts, J1 and J2 are the respective moments of inertia, α1, β1, γ1 and α2, β2, γ2 are the load characteristic coefficients, and ω1 and ω2 are the angular velocities;

[0075] Further, the calculation formula involved in designing the adaptive PID controller is:

[0076] Δω = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t) / dt

[0077] Where 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-shaft.

[0078] Further, the control signal is obtained to input the system, and the parameter control strategy adjustment of the first motor and the second motor includes:

[0079] S501 set the corresponding torque threshold;

[0080] S502 triggers speed compensation when torque deviation exceeds 5%;

[0081] S503 Reverse torque injection is initiated when the torque deviation value is >15%;

[0082] S504 Emergency stop protection is activated when the torque deviation value is greater than 30%.

[0083] A dual-axis pre-rocking device includes: a control console having a base and a housing, with a human-machine interface mounted on the front of the housing; a first motor mounted on the top front of the base, with a first mounting shaft mounted on the output shaft of the first motor; a second motor mounted on the top of the base to the right of the first motor, with a second mounting shaft mounted on the output shaft of the second motor; a torque sensor mounted on the first and second mounting shafts; a first guide rod mounted on the top of the base behind the first motor, with a first guide plate slidably mounted on the first guide rod, and a first positioning component located on the bottom front of the first guide plate; a first telescopic member mounted on the top of the first guide rod above the first guide plate; a second guide rod mounted on the top of the base behind the second motor, with a second guide plate slidably mounted on the second guide rod, and a second positioning component located on the bottom front of the second guide plate; and a second telescopic member mounted on the top of the second guide rod above the second guide plate.

[0084] Example 2

[0085] like Figures 1 to 4 The method for dual-axis pre-roll synchronization control based on torque detection, as shown, includes the following steps:

[0086] S01 Start the pre-shaking system, put in pre-shaking products 1 and 2, and set basic parameters on the human-computer interaction interface 3 based on pre-shaking products 1 and 2 respectively;

[0087] S02 The first motor 401 and the second motor 501 output the target power to drive the pre-rocking products 1 and 2 to sway;

[0088] S03 Determine whether there is a speed synchronization requirement; if so, execute S04.

[0089] S04 calculates the first target torque and the second target torque based on the target synchronous speed and the load of the pre-rocking products 1 and 2. The torque detector obtains the actual value of the first torque and the actual value of the second torque, calculates the first torque deviation value and the second torque deviation value, and generates a control signal.

[0090] S05 The system receives control signal input and adjusts the parameter control strategy for the first motor 401 and the second motor 501.

[0091] S06 Real-time detection of torque actual value and calculation of actual speed of motor, conversion of digital information feedback to PID controller, continuous optimization of control signal until the first motor 401 and the second motor 501 are stabilized at the target synchronous speed.

[0092] In one embodiment, step S01 "start pre-shaking system, put in pre-shaking products 1 and 2, set basic parameters based on pre-shaking products 1 and 2 on human-computer interaction interface 3" specifically includes:

[0093] Ensure that the system enters the initialization state, including power supply check, motor state confirmation, sensor calibration and other preparatory work, to ensure that all hardware and software are in normal working state and can receive control instructions. After self-checking, the worker places the pre-shaking products 1 and 2 on the pre-set workstations, respectively. The pre-shaking products 1 and 2 have a first rotating shaft and a second rotating shaft, respectively. A positioning device is provided above the workstations to ensure the stability and consistency of the pre-shaking products 1 and 2 during the swinging process. The worker enters the human-computer interaction interface 3 of the pre-shaking system. The human-computer interaction interface 3 provides a series of function options including parameter setting, state monitoring, alarm information, etc. Specifically, the worker needs to input the basic parameters for pre-shaking products 1 and 2, respectively. The parameters include but are not limited to: target synchronous speed, specified 2 motor synchronous speed value to be reached and maintained, torque generation and influence between rotating shafts through synchronous speed reduction;

[0094] Swing specifications, i.e. swing angle and swing time required by pre-shaking products 1 and 2;

[0095] Load characteristics, according to the physical properties (category, weight or distribution) of pre-shaking products 1 and 2, select the corresponding load characteristics.

[0096] After setting, the system will verify the validity of the parameters and prompt the operator to correct if necessary. After correction, enter the next stage of operation.

[0097] In one embodiment, step S02 "the first motor 401 and the second motor 501 output with target power to drive the pre-shaking products 1 and 2 to swing" specifically includes:

[0098] In step one, the target power of the motor also needs to be set, i.e. according to the material, weight, shape of pre-shaking products 1 and 2 and the required swing amplitude and frequency, the human-computer interaction interface 3 is used to set appropriate target power for the first motor 401 and the second motor 501 respectively, to ensure that the two motors can provide enough driving force to drive the first rotating shaft and the second rotating shaft to swing according to the expected action.

[0099] In actual application, 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 motor to reach the set target power. The first motor 401 and the second motor 501 are connected to the pre-shaking products 1 and 2 through respective drive shafts, and then the first motor 401 and the second motor 501 drive the pre-shaking products 1 and 2 to swing, that is, drive the first rotating shaft and the second rotating shaft to rotate.

[0100] Among them, the motor drives the product to swing specifically adopts a phased control strategy. In the initial stage of swinging (0-30% stroke), the motor drives the product to start from a stationary state and accelerate. It needs to overcome the static friction and initial inertia. Therefore, the control system adopts a speed dominant mode. By adjusting the current or voltage parameters of the motor, the motor reaches the preset target speed as fast as possible. As the swinging stroke advances (30-70% stroke), the control system switches to a torque-speed composite control mode to more finely control the output of the motor to balance the stability of the speed and the adaptability of the load. In the late stage of the swinging stroke (70-100% stroke), the control system enables a pure torque tracking mode. Instead of directly controlling the speed of the motor, it focuses on tracking the preset torque curve. By monitoring the actual torque output of the motor in real time and comparing and adjusting it with the preset torque curve, the system can ensure that the motor can maintain accurate torque output in the late stage of swinging, thereby achieving smooth swinging termination.

[0101] In summary, by adopting a phased control strategy, the control system can flexibly adjust the control mode according to different stages of the stroke during the swinging process of the motor-driven product, thereby ensuring the smoothness, accuracy and efficiency of the swinging process.

[0102] In one embodiment, after step two, the control system determines whether the pre-shaking products 1 and 2 need to be synchronized in speed. If synchronization is not required, the system continues to operate in the current state. If synchronization is required, the system proceeds to step four. It should be noted that the control system can also directly detect the speed of the pre-shaking products 1 and 2 and bring the first rotating shaft and the second rotating shaft to the same speed through dynamic compensation. However, in actual application, torque detection is more suitable for scenarios where rotating components have loads, such as motor output torque testing and torque monitoring of mechanical transmission systems.

[0103] Therefore, this embodiment proposes to install a torque sensor 6, specifically an HBM T22 dynamic torque sensor 6, at the output end of the first motor 401 and the second motor 501. The sampling frequency is 10 kHz, and the range covers 0-50 Nm, which is used to obtain the actual torque value of the first rotating shaft and the second rotating shaft in real time. Based on the above obtainable data, a double-shaft dynamics model is first established:

[0104] τ1 / J1 = α1 + β1ω1 + γ1ω1² τ2 / J2 = α2 + β2ω2 + γ2ω2²

[0105] Wherein J is the moment of inertia, α / β / γ is the load characteristic coefficient, τ1 and τ2 are the torques of the two shafts, J1 and J2 are the respective moments of inertia, α1, β1, γ1 and α2, β2, γ2 are the load characteristic coefficients, ω1 and ω2 are the angular velocities;

[0106] The adaptive PID controller is designed again:

[0107] Δω = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t) / dt

[0108] Wherein 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 realize the synchronous control of the double shafts.

[0109] At the same time, the control system calculates the first target torque and the second target torque according to the target synchronous speed, the load of the pre-rolling products 1 and 2, which involves the following calculation formula:

[0110] Ttarget=J⋅α+Tload

[0111] Wherein Ttarget is the target torque, J is the moment of inertia of the first and second shafts, α is the angular velocity, and Tload is the load torque.

[0112] Further, the load torque can also be explained as the torque generated by the pre-rolling product on the motor output shaft, which can be calculated by the following calculation formula:

[0113] Tload=m⋅g⋅r

[0114] Wherein m is the mass of the pre-rolling product, g is the acceleration of gravity, and R is the distance from the center of gravity of the pre-rolling product to the motor output shaft.

[0115] Based on the above calculation results, the torque detector obtains the first torque actual value of the first motor 401 and the second torque actual value of the second motor 501 in real time, calculates the first torque deviation value by the difference between the first target torque and the first torque actual value, and calculates the second torque deviation value by the difference between the second target torque and the second torque actual value.

[0116] In one embodiment, the step S05 "obtain the first torque deviation value and the second torque deviation value in step four, input the system, and 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 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 achieve the same torque and the same speed.

[0117] In actual testing, the first motor 401 and the second motor 501 drive pre-shaking products 1 and 2 respectively. Due to the different quality of pre-shaking products 1 and 2, the actual speed of pre-shaking products 1 and 2 may be greater than the target speed, or less than the target speed, or product 1 is less than the target speed and product 2 is greater than the target speed.

[0118] Therefore, for the convenience of understanding, it is assumed here that pre-shaking products 1 and 2 are the same quality products, and the speed will not be affected by each other. When the torque deviation value is detected to exceed the set 5% threshold, the system will start the first level compensation mechanism for the first motor 401 and the second motor 501, which is to compensate the deviation by adjusting the speed of the motor. For example, if the torque deviation is caused by the motor speed being too high, the system will appropriately reduce the motor speed; on the contrary, if the torque deviation is caused by the motor speed being too low, the system will increase the motor speed. When the torque deviation value is detected to exceed the threshold of 15%, the control system will enter the second level correction mechanism, which is to inject a reverse torque to the motor to offset the excessive torque deviation. The size and direction of the reverse torque will be accurately calculated and adjusted according to the actual deviation. When the torque deviation reaches an extremely serious level, exceeding the threshold of 30%, the control system directly determines that the machine is in a dangerous state, and will immediately execute the emergency stop protection program, cut off the power supply of the motor and send an alarm signal.

[0119] In one embodiment, step S06 "real-time detection of torque actual value and calculation of actual speed of motor, conversion of digital information feedback to PID controller, continuous optimization of control signal, until the first motor 401 and the second motor 501 are stabilized at the target synchronous speed." Specifically:

[0120] The torque sensor 6 converts the torque signal into an electrical signal, which is then processed by the data acquisition module in the system. This processing includes: calculating the actual speed values ​​of the first motor 401 and the second motor 501; feeding back the torque and speed deviation to the PID controller in real time; and adjusting the input voltage, current, or frequency of the first motor 401 and the second motor 501 to reduce the deviation and gradually bring the actual speed values ​​of the first motor 401 and the second motor 501 closer to the target speed value. When the actual speeds of the first motor 401 and the second motor 501 gradually approach the target synchronous speed, the PID controller further fine-tunes the control signal to ensure that the speeds of the two motors remain consistent. Through continuous feedback and adjustment, the control system can effectively suppress the influence of external torque interference and internal parameter changes on the speed, ultimately achieving stable synchronous operation of the two motors.

[0121] Example 3

[0122] like Figures 2 to 4 The device shown is a dual-axis pre-rocking synchronous control method based on torque detection, specifically a dual-axis pre-rocking device, including: a control console, the control console having a base 1 and a housing 2, a human-machine interface 3 installed on the front side of the housing 2, a first motor 401 and a second motor 501 provided on the top front side of the base 1, a first mounting shaft 402 installed on the output shaft of the first motor 401, a second mounting shaft 502 installed on the output shaft of the second motor 501, a first guide rod 403 and a second guide rod 503 provided on the top rear side of the base 1, a first guide plate 404 slidably provided on the first guide rod 403, a first positioning component 405 provided on the bottom front side of the first guide plate 404, and a first telescopic component 406 installed on the top of the first guide rod 403; a second guide plate 504 slidably provided on the second guide rod 503, a second positioning component 505 provided on the bottom front side of the second guide plate 504, and a second telescopic component 506 installed on the top of the second guide rod 503. 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.

[0123] Understandably, the pre-shaking product can be positioned by the first positioning component 405 and the second positioning component 505. The first telescopic component 406 and the second telescopic component 506 drive the first guide plate 404 and the second guide plate 504 to move downward, locking the first and second rotating shafts in the pre-shaking product 1 / 2 into the first mounting shaft 402 and the second mounting shaft 502. Then, the first motor 401 and the second motor 501 operate to drive the first and second rotating shafts to rotate, realizing the break-in and testing of the first rotating shaft and the pre-shaking product 1, as well as the break-in and testing of the second rotating shaft and the pre-shaking product 2.

[0124] It is to be noted that, in the present text, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0125] The above description is merely intended to illustrate the technical solutions of the present application, but not to limit the same. Other modifications or equivalent replacements to the technical solutions of the present application made by those skilled in the art, without departing from the spirit and scope of the present application, shall be included in the scope of the claims of the present application.

Claims

1. A method for dual-shaft pre-rotation synchronization control based on torque detection, comprising the following steps: S01 Starting a pre-rotation system, putting in pre-rotation products 1 and 2, and setting basic parameters on a human-machine interface based on the pre-rotation products 1 and 2; S02 Driving the pre-rotation products 1 and 2 to swing by a first motor and a second motor at a target power output; S03 Determining whether there is a synchronous speed requirement, and if so, performing S04; S04 Calculating a first target torque and a second target torque according to a target synchronous speed and a load of the pre-rotation products 1 and 2, obtaining a first torque actual value and a second torque actual value by a torque detector, calculating a first torque deviation value and a second torque deviation value, and generating a control signal; S05 Inputting the control signal into the system to adjust a parameter control strategy of the first motor and the second motor; S06 Real-time detecting the torque actual value and calculating an actual speed of the motor, converting digital information to feedback to a PID controller, and continuously optimizing the control signal until the first motor and the second motor are both stabilized at the target synchronous speed. In the step of starting the pre-rotation system, putting in the pre-rotation products 1 and 2, and setting the basic parameters on the human-machine interface based on the pre-rotation products 1 and 2, the basic parameters include a target synchronous speed, a swing specification, and a load characteristic. In the step of driving the pre-rotation products 1 and 2 to swing by the first motor and the second motor at the target power output, the control strategy includes: S201 Using a speed dominant mode in the initial stage to quickly establish a basic speed; S202 Switching to a torque-speed compound control mode in the middle stage; S203 Enabling a pure torque tracking mode in the final stage. In the step of calculating the first target torque and the second target torque according to the target synchronous speed and the load of the pre-rotation products 1 and 2, obtaining the first torque actual value and the second torque actual value by the torque detector, and calculating the first torque deviation value and the second torque deviation value, the specific steps include: S401 Establishing a mathematical model of the dual-shaft system based on the obtained data; S402 Introducing an adaptive mechanism based on a standard PID controller to automatically adjust PID parameters according to a real-time state of the dual-shaft system; S403 Obtaining the first torque actual value and the second torque actual value by the torque detector, comparing them with the first target torque and the second target torque, and calculating a first torque deviation and a second torque deviation; S404 Generating a control signal according to the first torque deviation and the second torque deviation and an output of the PID controller. The calculation formula involved in the step of establishing the mathematical model of the dual-shaft system is: τ1 / J1 = α1 + β1ω1 + γ1ω1²; τ2 / J2 = α2 + β2ω2 + γ2ω2²; J is the moment of inertia, α / β / γ is the load characteristic coefficient, τ1 and τ2 are the torques of the two shafts, J1 and J2 are the respective moments of inertia, α1, β1, γ1 and α2, β2, γ2 are the load characteristic coefficients, and ω1 and ω2 are the angular speeds.

2. The dual-shaft pre-rotation synchronization control method based on torque detection according to claim 1, characterized in that, The adaptive mechanism is introduced on the basis of the standard PID controller, and the PID parameters are automatically adjusted according to the real-time state of the dual-shaft system. The calculation formula involved in the design of the adaptive PID controller is as follows: Δω = Kp·e(t) + Ki·∫e(t)dt + Kd·de(t) / dt Wherein, 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 realize the synchronous control of the dual-shaft.

3. A dual-shaft pre-oscillation device controlled by a dual-shaft pre-oscillation synchronization control method based on torque detection according to claims 1-2, characterized in that, It comprises: A console has a base and a shell, and a human-computer 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 mounting shaft is installed on the output shaft of the first motor; A second motor is installed on the top of the base and located on the right side of the first motor, and a second mounting shaft is installed on the output shaft of the second motor; A torque sensor is installed on the first mounting shaft and the second mounting shaft; A first guide rod is installed on the top of the base and located on the rear side of the first motor, a first guide plate is slidably arranged on the first guide rod, and a first positioning assembly is arranged on the bottom front side of the first guide plate; A first telescopic member is installed on the top of the first guide rod and located above the first guide plate; A second guide rod is installed on the top of the base and located on the rear side of the second motor, a second guide plate is slidably arranged on the second guide rod, and a second positioning assembly is arranged on the bottom front side of the second guide plate; A second telescopic member is installed on the top of the second guide rod and located above the second guide plate.

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