High-precision titration system and method

Abstract

The invention relates to the technical field of control regulation systems, in particular to a high-precision titration system and method.The high-precision titration system comprises a data acquisition module, a control processing module, an execution module and a parameter storage module, and the data acquisition module, the control processing module, the execution module and the parameter storage module interact data through an industrial bus to form a closed-loop control link. According to the method, through parameter loading, data acquisition, deviation correction, dynamic adjustment and stage optimization, the dynamic approaching target value of the flow and the liquid drop size is achieved, and the preparation precision of the porous diamond stacking abrasive is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of control and regulation systems, and particularly to a high-precision titration system and method. Background Art

[0002] The control and regulation system of the existing titration system does not integrate a real-time monitoring and feedback unit for flow rate and droplet size, and cannot dynamically correct control parameters based on the actual operating state. Taking flow rate control as an example, the existing titration system usually sets the flow rate only through the initial parameters of the constant flow pump. However, in actual operation, the viscosity of the slurry may fluctuate due to factors such as temperature change and component sedimentation, which may cause the flow rate at the pump outlet to deviate from the preset value. At the same time, during the droplet formation process, the droplet size may change due to factors such as the liquid level fluctuation of the solvent oil and the blockage of the nozzle. Since the system is not equipped with a flow sensor or a droplet size detection device, the control and regulation system cannot obtain real-time data of the flow rate or droplet size, and thus cannot compensate for the above deviations by adjusting the pump speed or nozzle parameters. Eventually, the control of the flow rate and droplet size is inaccurate, making it difficult to stabilize key parameters such as the pore distribution and particle uniformity of the porous diamond abrasive, and reducing the preparation accuracy. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the present invention provides a high-precision titration system and method to solve the problem of inaccurate control of the flow rate and droplet size during the existing titration process, resulting in low preparation accuracy of the porous diamond abrasive.

[0004] To solve the above technical problems, the specific technical solutions of the present invention are as follows: In the first aspect, the present invention provides a high-precision titration system, including a data acquisition module, a control and processing module, an execution module, and a parameter storage module; The data acquisition module is configured to acquire real-time data of the slurry flow rate, droplet diameter, slurry temperature, and the height of the solvent oil liquid level at the outlet of the constant flow pump during the titration process; The parameter storage module stores a multi-stage titration strategy including the target flow rate, target droplet size threshold for each stage, and calibration parameters including the mapping relationship between the rotational speed and flow rate of the constant flow pump, and the mapping relationship between the vibration parameters of the vibrating nozzle and the droplet morphology; The control and processing module is communicatively connected to the data acquisition module to receive real-time data, communicatively connected to the parameter storage module to read the multi-stage titration strategy and calibration parameters, perform filtering processing on the real-time data, calculate the deviation by comparing the target flow rate and target droplet size threshold, and correct the deviation compensation coefficient based on the calibration parameters to generate an adjustment signal; The execution module is communicatively connected to the control and processing module, and adjusts the rotational speed of the constant flow pump or the vibration frequency, amplitude, and Z-axis position of the vibrating nozzle based on the adjustment signal; The data acquisition module continuously acquires the real-time data adjusted by the execution module and feeds it back to the control and processing module, forming a closed-loop control link to solve the problem of low preparation accuracy of porous diamond stacked abrasives caused by inaccurate control of titration flow rate and droplet size.

[0005] Furthermore, in the high-precision titration system of the present invention, the data acquisition module includes a flow rate sensing unit, a droplet characteristic detection unit, and an environment sensing unit; The flow rate sensing unit is configured to acquire the slurry flow rate data at the outlet of the constant flow pump and transmit it to the control and processing module; The droplet characteristic detection unit is configured to acquire the image data during the droplet falling process, calculate the droplet diameter data after analysis, and transmit it to the control and processing module; The environment sensing unit is configured to acquire the slurry temperature and the solvent oil liquid level height data and transmit it to the control and processing module; the output data of the flow rate sensing unit, the droplet characteristic detection unit, and the environment sensing unit together constitute the real-time data of the data acquisition module for the deviation calculation and compensation correction of the control and processing module.

[0006] Furthermore, in the high-precision titration system of the present invention, the flow rate sensing unit includes an electromagnetic or ultrasonic flow sensor and an analog-to-digital conversion module; The sensor is installed on the horizontal section of the outlet pipeline of the constant flow pump to avoid the influence of cavitation on flow measurement, is sealed and connected to the pipeline through a flange, and outputs a 4-20mA analog signal; the analog-to-digital conversion module converts the analog signal into a digital quantity and transmits it to the control and processing module through the ModbusRTU protocol.

[0007] Furthermore, in the high-precision titration system of the present invention, the droplet characteristic detection unit includes an optical camera with a resolution of ≥5 million pixels and an image analysis unit; The optical camera is fixed on the bracket directly below the titration nozzle, the lens axis is coaxial with the droplet falling direction, and it is set 10-20mm above the solvent oil liquid level to clearly capture the droplet contour and continuously capture the droplet falling images at a frame rate of 50Hz; The image analysis unit receives the image data of the camera, identifies the droplet contour and calculates the diameter through an edge detection algorithm, outputs the structured data of "timestamp + droplet diameter value", and transmits it to the control and processing module through the GigE Vision protocol.

[0008] Furthermore, in the high-precision titration system of the present invention, the environment sensing unit includes a temperature sensor and a liquid level height sensor; The temperature sensor is embedded in the pipe wall of the outlet pipeline of the constant flow pump, directly contacts the slurry to improve the temperature detection accuracy, and detects the real-time temperature of the slurry; The liquid level height sensor is capacitive or ultrasonic, installed above the solvent oil container, emitting signals to the liquid level and receiving reflected signals to detect the liquid level height of the solvent oil; The slurry temperature data output by the temperature sensor is transmitted to the control processing module through the RS485 bus, and the solvent oil liquid level height data output by the liquid level height sensor is transmitted to the control processing module through the I²C bus, both appended with timestamps, for the compensation correction sub-module of the control processing module to calculate the deviation compensation coefficient.

[0009] Furthermore, for the high-precision titration system of the present invention, the control processing module includes a main control unit and a data processing unit; the main control unit is a PLC or an industrial-grade embedded system, with a built-in PID control algorithm module, the input being the flow deviation, the output being the adjustment amount of the constant flow pump speed, and a multi-stage titration strategy parser for reading the target flow rate and the target droplet size threshold in the multi-stage titration strategy; The data processing unit includes a filtering sub-module, a deviation calculation sub-module, and a compensation correction sub-module; the filtering sub-module receives the real-time data of the data acquisition module, including flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height, and performs moving average filtering to eliminate high-frequency noise; The deviation calculation sub-module compares the filtered flow rate value with the target flow rate in the multi-stage titration strategy to calculate the flow deviation; Compare the filtered droplet diameter with the target droplet size threshold to determine whether it exceeds the tolerance range; The compensation correction sub-module, based on the filtered slurry temperature data, which affects the slurry viscosity, and the solvent oil liquid level height data, which affects the droplet falling resistance, calls the calibration parameters of the parameter storage module to correct the deviation compensation coefficient, generates a corrected deviation signal and transmits it to the main control unit.

[0010] Furthermore, for the high-precision titration system of the present invention, the execution module includes a constant flow pump group and a multi-axis vibration nozzle; The constant flow pump group includes 3 independently controlled high-precision constant flow pumps, corresponding to the diamond micropowder and binder, pore former, and dispersant and additive channels respectively, receiving the speed adjustment instructions generated by the main control unit through the PID algorithm, and adjusting the pump speed to correct the flow deviation; The multi-axis vibration nozzle includes X, Y, and Z-axis piezoelectric ceramic vibrators and a stainless steel capillary nozzle body; The X, Y, and Z-axis piezoelectric ceramic vibrators receive the vibration parameter adjustment instructions from the main control unit, and based on the droplet size deviation, adjust the vibration frequency or amplitude to correct the droplet diameter; The Z-axis position of the multi-axis vibration nozzle is driven by a servo motor, receiving the position adjustment instructions from the main control unit, and synchronously moving down based on the solvent oil liquid level height data to keep the distance between the nozzle and the liquid level constant, avoiding the deviation of the droplet drop point.

[0011] Furthermore, in the high-precision titration system of the present invention, the parameter storage module is a non-volatile memory (such as an industrial-grade SD card or SSD), which stores multi-stage titration strategies, historical operation data, and calibration parameters; The multi-stage titration strategy includes the target flow rate, target droplet size threshold, titration time, and slurry ratio for each stage, which are read by the multi-stage titration strategy parser of the control processing module to determine the real-time stage control target; The historical operation data includes time series data of flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height, which is used for subsequent process optimization analysis; The calibration parameters include the constant flow pump speed-flow curve (reflecting the corresponding relationship between pump speed and actual flow rate) and the nozzle vibration frequency-droplet uniformity mapping table (reflecting the correlation between vibration frequency and droplet size distribution), which are called by the compensation and correction sub-module of the control processing module to correct the deviation compensation coefficient.

[0012] Furthermore, in the high-precision titration system of the present invention, the data acquisition module, control processing module, execution module, and parameter storage module achieve the following data interaction through an industrial bus (CAN bus or Ethernet): The data acquisition module transmits real-time data (flow rate, droplet diameter, slurry temperature, solvent oil liquid level height) to the control processing module through the bus; The control processing module reads the multi-stage titration strategy and calibration parameters from the parameter storage module through the bus, and sends adjustment instructions (constant flow pump speed adjustment amount, vibration nozzle vibration parameters, nozzle Z-axis position adjustment amount) to the execution module; The execution module feeds back the state of the actuator (such as the actual speed of the constant flow pump, the actual vibration frequency of the nozzle) to the control processing module through the bus; The control processing module writes the real-time data and adjustment instructions into the historical operation data of the parameter storage module through the bus.

[0013] In the second aspect, a high-precision titration method provided by the present invention, based on the high-precision titration system, includes: Step 1, the control processing module loads the multi-stage titration strategy and calibration parameters from the parameter storage module, and initializes the constant flow pump group and the vibration nozzle; Step 2, the data acquisition module collects data of flow rate, droplet size, temperature, and liquid level height at a preset frequency and transmits them to the control processing module; Step 3, the control processing module filters the data and then calculates the flow rate and droplet size deviation, and corrects the compensation coefficient in combination with the temperature and liquid level height data; Step 4, the main control unit adjusts the speed of the constant flow pump through the PID algorithm based on the corrected deviation, or adjusts the vibration frequency, amplitude, and Z-axis position of the vibration nozzle; Step 5: After the real-time stage titration time meets the standard, switch to the next stage, update the target parameters, and optimize the ratio of subsequent stages according to the microscope observation results; stop the machine after all stages are completed, and the parameter storage module archives the whole process data.

[0014] Advantages of the present invention; The present invention obtains multi-source data of the slurry flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height in real time through the data acquisition module, providing dynamic state feedback of the titration process for the control processing module; the control processing module calculates the deviation after filtering the data, and combines the temperature (affecting viscosity) and liquid level height (affecting droplet resistance) data to call calibration parameters to correct the compensation coefficient and generate precise adjustment instructions; the execution module adjusts the pump speed, vibration parameters, and nozzle position based on the instructions, forming a closed-loop control link. This link enables the flow rate and droplet size to dynamically approach the target values, effectively correcting the parameter deviation caused by the lack of real-time feedback in traditional titration, thereby improving the pore distribution uniformity and particle size consistency of the porous diamond abrasive, and improving the preparation accuracy. Description of the drawings

[0015] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the drawings.

[0016] Figure 1 It is a flowchart of a high-precision titration method provided by an embodiment of the present invention. Detailed implementation manners

[0017] To make the purpose, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. 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 belong to the scope of protection of the present invention. The technical solutions provided by each embodiment of the present invention will be described in detail below in conjunction with the drawings. To better understand the purpose of the present invention, the present invention will be further described in detail below.

[0018] In the first aspect, the present invention provides a high-precision titration system, including a data acquisition module, a control processing module, an execution module, and a parameter storage module; The data acquisition module is configured to collect real-time data of the slurry flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height at the outlet of the constant flow pump during the titration process; The parameter storage module stores the multi-stage titration strategy, including the target flow rate, target droplet size threshold for each stage, and calibration parameters, including the mapping relationship between the rotational speed and flow rate of the constant flow pump, and the mapping relationship between the vibration parameters of the vibrating nozzle and the droplet morphology; The control and processing module is communicatively connected to the data acquisition module to receive real-time data, communicatively connected to the parameter storage module to read the multi-stage titration strategy and calibration parameters. After filtering the real-time data, it calculates the deviation by comparing with the target flow rate and target droplet size threshold, and corrects the deviation compensation coefficient based on the calibration parameters to generate an adjustment signal; The execution module is communicatively connected to the control and processing module, and adjusts the rotational speed of the constant flow pump or the vibration frequency, amplitude, and Z-axis position of the vibrating nozzle based on the adjustment signal; The data acquisition module continuously acquires the real-time data after the adjustment of the execution module and feeds it back to the control and processing module, forming a closed-loop control link, which is used to solve the problem of low preparation accuracy of porous diamond abrasive caused by inaccurate control of titration flow rate and droplet size.

[0019] The high-precision titration system provided by the present invention realizes the dynamic closed-loop control of the titration process through the cooperation of multiple modules. The specific technical solutions and logical relationships are as follows: The data acquisition module is configured to obtain the key physical parameters of the titration process, which consists of a flow sensing unit, a droplet feature detection unit, and an environment sensing unit. The flow sensing unit uses an electromagnetic or ultrasonic flow sensor, which is installed in the horizontal section of the outlet pipe of the constant flow pump (to avoid cavitation interference in the pipe for measurement), and is sealed to the pipe through a flange to prevent slurry leakage; the sensor outputs an analog signal (such as a 4-20 mA current signal), which is converted into a digital quantity by an analog-to-digital conversion module and then transmitted to the control and processing module through an industrial communication protocol (such as Modbus RTU) for real-time acquisition of slurry flow data. The droplet feature detection unit includes a high-resolution optical camera (resolution ≥ 5 million pixels) and an image analysis unit. The camera is fixed on a bracket directly below the titration nozzle, and the lens axis is coaxial with the droplet falling direction (to ensure that the droplet is at the center of the image), and is set 10-20 mm above the solvent oil liquid level (to balance the shooting distance and image clarity); the camera continuously captures the images of the droplet falling at a high frame rate (such as 50 Hz), and the image analysis unit identifies the droplet contour and calculates the diameter through an edge detection algorithm (such as the Canny operator), and outputs the structured data of "timestamp + droplet diameter value", which is transmitted to the control and processing module through an industrial image transmission protocol (such as GigEVision) for monitoring the dynamic change of droplet size. The environment sensing unit includes a temperature sensor and a liquid level height sensor. The temperature sensor is embedded in the pipe wall of the outlet pipe of the constant flow pump (to directly contact the slurry to improve the detection sensitivity) to detect the real-time temperature of the slurry; the liquid level height sensor (capacitive or ultrasonic) is installed above the solvent oil container to detect the liquid level height by emitting and receiving signals; the temperature data is transmitted to the control and processing module through the RS485 bus, and the liquid level height data is transmitted to the control and processing module through the I²C bus, both of which are appended with timestamps for analyzing the influence of environmental factors on the titration process.

[0020] The parameter storage module is a non-volatile memory (such as an industrial-grade SD card or SSD), which stores multi-stage titration strategies and calibration parameters. The multi-stage titration strategy includes the target flow rate, target droplet size threshold, titration time, and slurry ratio for each stage, which are stored in a structured file (such as XML) for the control and processing module to read and determine the control objectives for the real-time stage; the calibration parameters include the mapping relationship between the rotational speed and flow rate of the constant flow pump (reflecting the corresponding law between the pump speed and the actual flow rate) and the mapping relationship between the vibration parameters of the vibrating nozzle and the droplet morphology (reflecting the correlation law between the vibration frequency, amplitude, and droplet diameter), which are stored in text or table form for correcting the deviation compensation coefficient in the control process.

[0021] The control and processing module consists of a main control unit and a data processing unit. The main control unit adopts a PLC or an industrial-grade embedded system, and internally integrates a PID control algorithm module and a multi-stage strategy parser. The data processing unit includes a filtering sub-module, a deviation calculation sub-module, and a compensation and correction sub-module. The data processing flow is as follows: The filtering sub-module receives the real-time data (flow rate, droplet diameter, temperature, liquid level height) from the data acquisition module, and eliminates high-frequency noise (such as slurry disturbance or sensor noise) through moving average filtering. The deviation calculation sub-module compares the filtered flow rate value with the target flow rate in the multi-stage strategy to calculate the flow rate deviation, and compares the filtered droplet diameter with the target droplet size threshold to determine whether it exceeds the tolerance range. The compensation and correction sub-module, based on the temperature data (affecting the viscosity of the slurry) and the liquid level height data (affecting the falling resistance of the droplets), calls the calibration parameters to correct the deviation compensation coefficient, generates a corrected deviation signal, and transmits it to the main control unit. The main control unit calculates the adjustment amount of the constant flow pump speed or the vibration parameter adjustment amount of the vibrating nozzle through the PID algorithm according to the corrected deviation signal, and generates an adjustment instruction.

[0022] The execution module includes a constant flow pump group and a multi-axis vibrating nozzle. The constant flow pump group consists of 3 independently controlled high-precision constant flow pumps (corresponding to the diamond micropowder-binder, pore-forming agent, and dispersant-auxiliary agent channels respectively), receives the speed adjustment instruction from the main control unit, and adjusts the pump speed through a stepper motor drive to correct the flow rate deviation. The multi-axis vibrating nozzle consists of X, Y, and Z-axis piezoelectric ceramic vibrators and a stainless steel capillary nozzle body. The vibrators receive the vibration parameter adjustment instruction from the main control unit (adjusting the vibration frequency or amplitude) to correct the droplet diameter deviation. The Z-axis position of the nozzle is driven by a servo motor, receives the position adjustment instruction from the main control unit (based on the liquid level height data), and moves down synchronously to keep the distance between the nozzle and the liquid surface constant, avoiding the deviation of the droplet dropping point.

[0023] During system operation, the data acquisition module continuously acquires the real-time data after adjustment by the execution module and feeds it back to the control and processing module, forming a closed-loop control link. Through this link, the system can dynamically compensate for the flow rate and droplet size deviations caused by factors such as slurry viscosity fluctuations and liquid level height changes, and solve the problem of low preparation accuracy of porous diamond abrasive due to the lack of real-time feedback in traditional titration.

[0024] Specifically, for the high-precision titration system of the present invention, the data acquisition module includes a flow rate sensing unit, a droplet characteristic detection unit, and an environment sensing unit; The flow rate sensing unit is configured to acquire the slurry flow rate data at the outlet of the constant flow pump and transmit it to the control and processing module; The droplet characteristic detection unit is configured to acquire the image data during the droplet falling process, and after analysis and calculation, output the droplet diameter data and transmit it to the control and processing module; The environmental perception unit is configured to collect data on the slurry temperature and the solvent oil liquid level height and transmit them to the control and processing module; the output data of the flow rate perception unit, the droplet feature detection unit, and the environmental perception unit together constitute the real-time data of the data acquisition module, which is used for the deviation calculation and compensation correction of the control and processing module.

[0025] In the high-precision titration system of the present invention, the data acquisition module works in cooperation with the flow rate perception unit, the droplet feature detection unit, and the environmental perception unit to realize the real-time acquisition and transmission of the key parameters in the titration process, providing multi-source data support for the deviation calculation and compensation correction of the control and processing module.

[0026] The flow rate perception unit is configured to collect data on the slurry flow rate at the outlet of the constant flow pump and transmit them to the control and processing module. This unit uses an electromagnetic or ultrasonic flow sensor, which is installed on the horizontal section of the pipeline at the outlet of the constant flow pump (to avoid the interference of air cavities in the pipeline on the stability of flow measurement), and is hermetically connected to the pipeline through a flange (to prevent slurry leakage from affecting the measurement accuracy); the sensor outputs an analog signal linearly related to the real-time flow rate value (such as a 4-20 mA current signal), which is converted into a digital quantity by the analog-to-digital conversion module (a discrete numerical signal recognized by the control and processing module), and is transmitted to the control and processing module through an industrial standard communication protocol (such as Modbus RTU). This data is used by the control and processing module to compare the target flow rate in the multi-stage titration strategy and calculate the deviation between the actual flow rate and the target value.

[0027] The droplet feature detection unit is configured to collect image data during the droplet falling process, and after analysis and calculation, output data on the droplet diameter and transmit them to the control and processing module. This unit includes an optical camera with a resolution of ≥5 million pixels and an image analysis unit. The camera is fixed on a bracket directly below the titration nozzle, and the lens axis is coaxial with the droplet falling direction (to ensure that the droplet is located in the central area of the image), and is set 10-20 mm above the solvent oil liquid level (to balance the shooting distance and image clarity); the camera continuously shoots images of the droplet falling at a high frame rate (such as 50 Hz). After receiving the image data, the image analysis unit identifies the boundary contour between the droplet and the background through an edge detection algorithm (such as the Canny operator), fits a geometric shape (such as a circle or an ellipse) based on the contour pixel points and calculates the diameter, and outputs structured data of "timestamp + droplet diameter value" (associating the time series with the droplet size), which is transmitted to the control and processing module through an industrial image transmission protocol (such as GigE Vision). This data is used by the control and processing module to determine whether the droplet diameter exceeds the target threshold range set in the multi-stage titration strategy.

[0028] The environmental perception unit is configured to collect data on the slurry temperature and the solvent oil liquid level height and transmit them to the control and processing module. This unit includes a temperature sensor and a liquid level height sensor. The temperature sensor uses a PT100 thermal resistor and is embedded in the pipe wall of the outlet pipe of the constant flow pump (in direct contact with the slurry to improve the detection sensitivity) to detect the slurry temperature in real time; the liquid level height sensor is capacitive or ultrasonic and is installed above the solvent oil container (emitting signals to the liquid level and receiving the reflected signals) to detect the solvent oil liquid level height. The temperature data is transmitted to the control and processing module via the RS485 bus, and the liquid level height data is transmitted via the I²C bus, both with timestamps attached (marking the data collection moment). This data is used by the control and processing module to analyze the influence of temperature on the slurry viscosity (an increase in temperature may reduce the viscosity, resulting in an increase in flow rate) and the influence of the liquid level height on the droplet falling resistance (a decrease in the liquid level may reduce the resistance, resulting in an increase in the droplet diameter), so as to correct the deviation compensation coefficient.

[0029] The output data (flow rate value, droplet diameter value, temperature value, liquid level height value) of the flow rate perception unit, the droplet feature detection unit, and the environmental perception unit together constitute the real-time data of the data acquisition module, corresponding respectively to the deviation calculation (flow rate deviation, droplet size deviation) and compensation correction (deviation compensation affected by temperature and liquid level height) requirements of the control and processing module, forming a collaborative support relationship for multi-source data input.

[0030] Specifically, for the high-precision titration system of the present invention, the flow rate perception unit includes an electromagnetic or ultrasonic flow sensor and an analog-to-digital conversion module; The sensor is installed in the horizontal section of the outlet pipe of the constant flow pump to avoid the influence of cavitation on the flow rate measurement, is sealedly connected to the pipe through a flange, and outputs a 4-20 mA analog signal; the analog-to-digital conversion module converts the analog signal into a digital quantity and transmits it to the control and processing module via the ModbusRTU protocol.

[0031] Through the collaborative work of the electromagnetic or ultrasonic flow sensor and the analog-to-digital conversion module, the flow rate perception unit of the high-precision titration system of the present invention realizes the real-time acquisition and digital transmission of the slurry flow rate data, providing basic data support for the flow rate deviation calculation of the control and processing module.

[0032] The core component of the flow sensing unit is an electromagnetic or ultrasonic flow sensor, and its selection is based on the specific requirements of the titration scenario: the electromagnetic sensor is suitable for measuring the flow rate of conductive slurries (using Faraday's law of electromagnetic induction, the flow rate is calculated by measuring the electromotive force generated when the slurry cuts the magnetic induction line), and the ultrasonic sensor is suitable for measuring the flow rate of non-conductive slurries (the flow rate is calculated by measuring the time difference of ultrasonic waves propagating in the slurry). The sensor is installed in the horizontal section of the outlet pipe of the constant flow pump. The technical significance of this position design is to avoid the interference of cavitation (bubbles generated by liquid flow) in the pipe on the flow measurement - cavitation will cause abnormal medium density or conductivity detected by the sensor, affecting the accuracy of the measurement result.

[0033] The connection between the sensor and the pipe adopts a flange seal structure: both ends of the sensor are butted with the flange of the outlet pipe of the constant flow pump through flanges, and a sealing gasket (such as a polytetrafluoroethylene gasket) is set between the flanges, and the sealing connection is achieved by tightening the bolts. The function of this design is to prevent slurry leakage (leakage will cause the actual flow rate to be inconsistent with the measured value), and at the same time ensure the coaxiality between the sensor and the pipe (to avoid abnormal slurry flow state caused by installation skew, affecting the measurement accuracy).

[0034] The sensor outputs a 4-20mA analog signal linearly related to the real-time flow rate value (the current signal has strong anti-interference ability and is suitable for long-distance transmission in industrial environments). This analog signal needs to be converted into a digital quantity by an analog-to-digital conversion module to adapt to the signal processing requirements of the control processing module (usually a digital system). The analog-to-digital conversion module uses a 16-bit resolution ADC (analog-to-digital converter) to discretize the continuous analog current signal into digital quantities (such as an integer sequence of 0-65535), and each digital quantity corresponds to a specific flow rate value (the conversion coefficient is determined by sensor calibration).

[0035] The converted digital quantity is transmitted to the control processing module through the Modbus RTU protocol. Modbus RTU is a widely used serial communication protocol in the field of industrial automation, adopting a master-slave communication mode (the control processing module is the master, and the analog-to-digital conversion module is the slave), and transmitting data through the RS485 bus (the RS485 bus supports multi-node communication and has strong anti-interference ability, suitable for the complex electromagnetic environment of industrial sites). The transmitted data includes a timestamp (marking the acquisition moment of the flow rate data) and the corresponding digital quantity flow rate value. After receiving the data, the control processing module converts the digital quantity into the actual flow rate value (such as mL / min) by looking up a table or formula calculation (based on sensor calibration parameters) for subsequent comparison with the target flow rate in the multi-stage titration strategy to calculate the flow rate deviation.

[0036] In summary, through sensor selection, installation position optimization, sealed connection design, signal conversion, and standardized protocol transmission, the flow rate sensing unit realizes the reliable acquisition and effective transmission of slurry flow rate data, providing key input for the system to dynamically correct flow rate deviations.

[0037] Specifically, in the high-precision titration system of the present invention, the droplet feature detection unit includes an optical camera with a resolution of ≥5 million pixels and an image analysis unit; The optical camera is fixed on a bracket directly below the titration nozzle. The lens axis is coaxial with the droplet falling direction and is set 10 - 20 mm above the solvent oil liquid surface to clearly capture the droplet contour and continuously capture the droplet falling images at a frame rate of 50 Hz. The image analysis unit receives the image data from the camera, identifies the droplet contour and calculates the diameter through an edge detection algorithm, outputs structured data of "timestamp + droplet diameter value", and transmits it to the control and processing module through the GigE Vision protocol.

[0038] The droplet feature detection unit of the high-precision titration system of the present invention realizes the dynamic image acquisition, contour recognition, and diameter calculation of the droplet falling process through the collaborative work of a high-resolution optical camera and an image analysis unit, providing real-time data support for the droplet size deviation analysis of the control and processing module.

[0039] The core component of the droplet feature detection unit is an optical camera with a resolution of ≥5 million pixels. Its selection is based on the accuracy requirements of droplet contour recognition: high resolution ensures that the pixel points of each droplet in the image are dense enough (for example, a droplet with a diameter of 150 μm can occupy hundreds of pixel points in a 5-million-pixel image), avoiding blurred contour edges caused by insufficient pixels and affecting the accuracy of size calculation. The camera is fixed on a metal bracket directly below the titration nozzle (the bracket uses a rigid material such as aluminum alloy to reduce vibration interference), and the lens axis is strictly coaxial with the droplet falling direction (calibrated through a three-dimensional adjustment mechanism to ensure that the droplet is always located in the central area of the image). The technical significance of this design is to avoid tilting or deformation of the droplet in the image due to the deviation of the falling path, thereby improving the reliability of contour recognition.

[0040] The installation position of the camera is set 10 - 20 mm above the solvent oil liquid surface. The selection of this distance range comprehensively considers the shooting clarity and the reflection interference of the liquid surface: if the distance is too close (such as less than 10 mm), the liquid surface may fluctuate due to the falling of the droplet, resulting in enhanced reflection and the appearance of light spots in the image, interfering with contour recognition; if the distance is too far (such as greater than 20 mm), the size of the droplet in the image is too small (the number of pixel points decreases), which may lead to misjudgment by the edge detection algorithm. Through a reasonable distance of 10 - 20 mm, the image clarity and the effective shooting range can be balanced.

[0041] The camera continuously captures images of the droplet falling at a frame rate of 50 Hz. The design of the high-frequency frame rate adapts to the characteristics of the dynamic changes of the droplet: The process of the droplet separating from the nozzle and falling into the solvent oil usually takes dozens of milliseconds to complete (for example, if the droplet falling speed is about 0.5 m / s, it takes about 30 ms to fall 15 mm). A frame rate of 50 Hz (one frame is captured every 20 ms) can ensure that the complete falling process of each droplet is recorded by at least 1-2 frames of images, capturing the morphology at the moment of droplet separation (such as neck contraction and the position of the breaking point), providing complete dynamic data for subsequent diameter calculation.

[0042] After receiving the image data transmitted by the camera, the image analysis unit first preprocesses the image (such as grayscale processing, converting the color image into a single-channel grayscale image to reduce the computational complexity), and then identifies the boundary between the droplet and the background through an edge detection algorithm (such as the Canny operator): The Canny operator locates the edge by calculating the image gradient (the change rate of pixel values), and combines double-threshold filtering (the low threshold retains potential edges, and the high threshold confirms strong edges) to effectively distinguish the droplet contour from background noise (such as small fluctuations on the surface of the solvent oil or light scattering). After edge detection is completed, the image analysis unit fits a geometric shape (such as the minimum circumscribed circle or ellipse) based on the contour pixel points, and obtains the actual size of the droplet (unit: μm) by calculating the diameter of the geometric shape (such as the diameter of a circle, the major axis or minor axis of an ellipse).

[0043] The image analysis unit outputs structured data of "timestamp + droplet diameter value", where the timestamp marks the specific moment of image acquisition (such as "2025-05-21 10:00:00.123"), and the droplet diameter value is the size value of the fitted geometric shape (such as "152 μm"). The function of this data format is to establish the correspondence between the droplet size and time, facilitating the control processing module to analyze the changing trend of the droplet size over time (such as whether there are periodic fluctuations). The data is transmitted to the control processing module through the GigE Vision protocol. This protocol is a standardized transmission protocol in the field of industrial machine vision, supporting high-bandwidth (usually ≥1 Gbps) and low-latency data transmission, and can stably transmit high-resolution image data at a frame rate of 50 Hz (such as 1920×1080 pixels, 24-bit true color image), ensuring that the control processing module receives the droplet diameter data in real time for comparison with the target droplet size threshold in the multi-stage titration strategy to determine whether it exceeds the tolerance range.

[0044] In summary, through camera selection and installation optimization, high-frequency image acquisition, edge detection algorithm processing, and standardized protocol transmission, the droplet feature detection unit realizes the dynamic detection and real-time feedback of the droplet diameter, providing key input for the system to correct the droplet size deviation.

[0045] Specifically, for the high-precision titration system of the present invention, the environment perception unit includes a temperature sensor and a liquid level height sensor; The temperature sensor is embedded in the pipe wall of the outlet pipe of the constant current pump, directly contacting the slurry to improve the temperature detection accuracy and detect the real-time temperature of the slurry; The liquid level height sensor is capacitive or ultrasonic, installed above the solvent oil container, emitting signals to the liquid level and receiving the reflected signals to detect the liquid level height of the solvent oil; The slurry temperature data output by the temperature sensor is transmitted to the control and processing module through the RS485 bus, and the solvent oil liquid level height data output by the liquid level height sensor is transmitted to the control and processing module through the I²C bus, both appended with time stamps, for the compensation and correction sub-module of the control and processing module to calculate the deviation compensation coefficient.

[0046] Through the collaborative work of the temperature sensor and the liquid level height sensor in the environment perception unit of the high-precision titration system of the present invention, the real-time monitoring of the slurry temperature and the solvent oil liquid level height during the titration process is realized, providing environmental factor data support for the deviation compensation and correction of the control and processing module. The technical solution and logical relationship are as follows: The temperature sensor of the environment perception unit adopts a PT100 thermal resistor (platinum resistance temperature sensor, with high stability and linearity), and is embedded in the pipe wall of the outlet pipe of the constant current pump. The specific installation method is as follows: A blind hole is machined on the pipe wall (the depth reaches the inner surface of the pipe and does not penetrate the pipe wall), the PT100 thermal resistor probe is inserted into the blind hole, the gap is filled with a thermal conductive adhesive (such as silicone thermal conductive adhesive) to enhance heat conduction, and finally the orifice is sealed with a sealant (such as epoxy resin) to prevent slurry leakage. This design enables the sensor probe to directly contact the slurry in the pipe (reducing the thermal resistance between the sensor and the slurry). Compared with non-contact temperature detection (such as infrared temperature measurement), it can improve the response speed and accuracy of temperature detection (shortening the heat conduction time and reducing environmental temperature interference). The temperature sensor continuously detects the real-time temperature of the slurry and outputs a resistance signal linearly related to the temperature value (the resistance of PT100 is 100Ω at 0°C, and the resistance increases by about 0.385Ω for every 1°C increase in temperature).

[0047] The liquid level height sensor is capacitive or ultrasonic, and is installed above the solvent oil container (vertically facing the center of the liquid surface to avoid interference from the liquid surface fluctuations at the container edge). The capacitive sensor consists of two parallel metal electrodes, which extend vertically downward into the container (without contacting the liquid surface); when the liquid level height of the solvent oil changes, the dielectric constant between the electrodes (the dielectric constant of the solvent oil is different from that of air) changes accordingly, and the sensor calculates the liquid level height by detecting the change in capacitance value. The ultrasonic sensor emits high-frequency ultrasonic waves (usually with a frequency of 20 - 200 kHz) through the built-in ultrasonic transducer. The ultrasonic waves are reflected after reaching the liquid surface, and the sensor receives the reflected signal and calculates the time difference between transmission and reception (the time difference is proportional to the distance from the sensor to the liquid surface). Combining with the propagation speed of ultrasonic waves in air (about 340 m / s), the liquid level height is obtained through conversion. The selection of the two sensors is based on the characteristics of the solvent oil: the capacitive type is suitable for solvent oils with stable dielectric constants (such as mineral oils), and the ultrasonic type is suitable for transparent or non-conductive solvent oils (to avoid signal attenuation).

[0048] The resistance signal output by the temperature sensor is converted into a voltage signal (such as 0 - 5V analog voltage) through a signal conditioning module (such as a constant current source excitation circuit), and is transmitted to the control processing module through the RS485 bus. The RS485 bus uses differential signal transmission (with strong anti-interference ability), supports multi-node communication (multiple temperature sensors can be connected simultaneously), and is suitable for long-distance data transmission in industrial fields (the transmission distance can reach 1200 meters). The capacitance value or time difference signal output by the liquid level height sensor is converted into a digital quantity (such as an integer sequence of 0 - 65535) through the analog-to-digital conversion module, and is transmitted to the control processing module through the I²C bus. The I²C bus is a two-wire serial bus (clock line SCL and data line SDA), with the characteristics of simple protocol and low hardware cost, and is suitable for short-distance (usually ≤1 meter) and low-rate data transmission requirements (such as the relatively slow change of the liquid level height).

[0049] Both the temperature data and the liquid level height data are appended with timestamps during transmission (generated by the sensor or the control processing module, with the format of "year - month - day hour:minute:second.millisecond"), marking the acquisition time of the data. The role of the timestamp is to establish the time correspondence relationship between temperature, liquid level height and data such as flow rate and droplet diameter, facilitating the control processing module to analyze the timing correlation between environmental factors and titration parameter changes (such as whether the flow rate increases within 30 seconds after the temperature rises).

[0050] After receiving the temperature data and the liquid level height data, the compensation and correction sub-module of the control processing module combines the calibration parameters in the parameter storage module (such as the temperature-viscosity mapping table, the liquid level height and droplet resistance mapping table) to correct the compensation coefficients of the flow deviation and the droplet size deviation. For example: if the temperature data shows that the slurry temperature is higher than the reference value (resulting in a decrease in viscosity and the actual flow rate may be greater than the target flow rate), then increase the negative compensation coefficient of the flow deviation (reduce the rotation speed of the constant flow pump to reduce the flow rate); if the liquid level height data shows that the solvent oil liquid level is decreasing (resulting in a decrease in the falling resistance of the droplets and the actual droplet diameter may be greater than the target value), then increase the negative compensation coefficient of the droplet size deviation (increase the vibration nozzle frequency to reduce the droplet diameter).

[0051] In summary, through the real-time detection of temperature and liquid level height, standardized bus transmission, and timestamp association, the environmental perception unit provides a quantitative basis for the control processing module on the impact of environmental factors on the titration process, supporting the system to dynamically correct the flow rate and droplet size deviation, thereby improving the preparation accuracy of porous diamond abrasive.

[0052] Specifically, for the high-precision titration system of the present invention, the control processing module includes a main control unit and a data processing unit; the main control unit is a PLC or an industrial-grade embedded system, with a built-in PID control algorithm module, the input is the flow deviation, the output is the adjustment amount of the constant flow pump rotation speed, and a multi-stage titration strategy parser for reading the target flow rate and the target droplet size threshold in the multi-stage titration strategy; The data processing unit includes a filtering sub-module, a deviation calculation sub-module, and a compensation and correction sub-module; the filtering sub-module receives the real-time data of the data acquisition module, including the flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height, and performs moving average filtering to eliminate high-frequency noise; The deviation calculation sub-module compares the filtered flow rate value with the target flow rate in the multi-stage titration strategy to calculate the flow deviation; Compare the filtered droplet diameter with the target droplet size threshold to determine whether it exceeds the tolerance range; The compensation and correction sub-module, based on the filtered slurry temperature data, which affects the slurry viscosity, and the solvent oil liquid level height data, which affects the droplet falling resistance, calls the calibration parameters of the parameter storage module to correct the deviation compensation coefficient, generates a corrected deviation signal and transmits it to the main control unit.

[0053] Through the collaborative work of the main control unit and the data processing unit, the control processing module of the high-precision titration system of the present invention realizes the analysis of titration process data, deviation calculation, and generation of adjustment instructions. The technical scheme and logical relationship are as follows: The main control unit of the control processing module adopts industrial control equipment, and the optional types are PLC (such as Siemens S7-1200) or industrial embedded systems (such as Advantech UNO series). Such devices have high reliability (supporting a wide temperature operating range of -20°C to 70°C) and real-time performance (processing cycle ≤ 10 ms), meeting the requirements of continuous operation in industrial fields. The main control unit is built-in with a PID control algorithm module and a multi-stage titration strategy parser: the input of the PID control algorithm module is the flow deviation (the difference between the actual flow and the target flow), and the output is the adjustment amount of the constant flow pump speed (such as "decrease by 5%" or "increase by 3%"). By performing proportional-integral-derivative operations, it dynamically adjusts the parameters of the actuator to achieve stable control of the flow; the multi-stage titration strategy parser is a software module that supports reading multi-stage titration strategy files stored in XML format in the parameter storage module (such as <stage1><target_flow>1.0mL / min< / target_flow><target_drop_size>150μm< / target_drop_size>< / stage1> ), and parses and extracts parameters such as the target flow and the target droplet size threshold for each stage for the deviation calculation sub-module to call.

[0054] The data processing unit consists of a filtering sub-module, a deviation calculation sub-module, and a compensation and correction sub-module. Each sub-module processes the real-time data of the data acquisition module in sequence to provide a corrected deviation signal for the PID control algorithm. The filtering sub-module receives the real-time data transmitted by the data acquisition module (flow value, droplet diameter value, slurry temperature value, solvent oil liquid level height value), and uses the moving average filtering algorithm to eliminate high-frequency noise. The window size of the moving average filtering is set to 5 sampling points (such as the time series of flow data is [1.1, 1.2, 1.1, 1.0, 1.1] mL / min), and the average value of the data within the window (such as 1.1 mL / min) is calculated as the filtered value. The function of this algorithm is to smooth the instantaneous fluctuations caused by slurry disturbances or sensor noise, and prevent the control module from misjudging them as real deviations (such as misjudging an accidental flow peak as a need to adjust the pump speed).

[0055] The deviation calculation sub-module receives the filtered data. First, it compares the filtered flow value with the real-time stage target flow extracted by the multi-stage titration strategy parser to calculate the flow deviation (actual flow value - target flow value); then it compares the filtered droplet diameter value with the target droplet size threshold to determine whether it exceeds the tolerance range (such as the target threshold is 150 μm ± 5 μm, and if the droplet diameter is 156 μm, it is determined to be out of range). The technical significance of this step is to quantify the difference between the actual state and the target state of the titration process, providing a deviation benchmark for subsequent compensation and correction.

[0056] The compensation and correction sub-module corrects the deviation compensation coefficient by invoking the calibration parameters in the parameter storage module based on the filtered slurry temperature data and the solvent oil liquid level height data. The calibration parameters include a temperature-viscosity mapping table (e.g., for every 10°C increase in temperature, the slurry viscosity decreases by 20%) and a liquid level height-droplet resistance mapping table (e.g., for every 5 mm decrease in the liquid level, the droplet falling resistance decreases by 15%). For example: if the slurry temperature is higher than the reference temperature (resulting in a decrease in viscosity and the actual flow rate may be greater than the target flow rate), then increase the negative compensation coefficient of the flow rate deviation (e.g., correct the original deviation of +0.2 mL / min to +0.15 mL / min, reducing the pump speed adjustment amount); if the liquid level height is lower than the reference height (resulting in a decrease in the droplet falling resistance and the actual droplet diameter may be greater than the target value), then increase the negative compensation coefficient of the droplet size deviation (e.g., correct the original deviation of +6 μm to +4 μm, reducing the vibration frequency adjustment amount). The corrected deviation signal is transmitted to the PID control algorithm module of the main control unit as the final control input.

[0057] After receiving the corrected deviation signal, the main control unit calculates the adjustment amount of the constant flow pump speed (e.g., when the flow rate deviation is +0.15 mL / min, output an instruction to "reduce the pump speed by 3%") or the adjustment amount of the vibration parameters of the vibrating nozzle (e.g., when the droplet size deviation is +4 μm, output an instruction to "increase the vibration frequency by 10 Hz") through the PID algorithm, and sends it to the execution module through an industrial bus (such as a CAN bus). After the execution module makes adjustments, the data acquisition module continuously acquires new real-time data and feeds it back to the control processing module, forming a closed-loop control link to ensure that the flow rate and droplet size during the titration process dynamically approach the target values, improving the preparation accuracy of the porous diamond abrasive.

[0058] Specifically, for the high-precision titration system of the present invention, the execution module includes a constant flow pump group and a multi-axis vibrating nozzle; The constant flow pump group includes 3 independently controlled high-precision constant flow pumps, corresponding to the diamond micropowder and binder, pore-forming agent, dispersant, and additive channels respectively, receiving the rotation speed adjustment instructions generated by the main control unit through the PID algorithm, and adjusting the pump speed to correct the flow rate deviation; The multi-axis vibrating nozzle includes X, Y, and Z-axis piezoelectric ceramic vibrators and a stainless steel capillary nozzle body; The X, Y, and Z-axis piezoelectric ceramic vibrators receive the vibration parameter adjustment instructions from the main control unit, and based on the droplet size deviation, adjust the vibration frequency or amplitude to correct the droplet diameter; The Z-axis position of the multi-axis vibrating nozzle is driven by a servo motor, receiving the position adjustment instructions from the main control unit, and synchronously moving down based on the solvent oil liquid level height data to keep the distance between the nozzle and the liquid level constant, avoiding the deviation of the droplet landing point.

[0059] Through the collaborative work of the main control unit and the data processing unit, the control and processing module of the high-precision titration system of the present invention realizes the analysis of titration process data, deviation calculation, and adjustment instruction generation. The technical solution and logical relationship are as follows: The main control unit of the control and processing module adopts industrial control equipment, which can be selected as PLC (such as Siemens S7-1200) or industrial embedded system (such as Advantech UNO series). Such equipment has high reliability (supporting a wide temperature working range of -20°C to 70°C) and real-time performance (processing cycle ≤ 10ms), meeting the requirements of continuous operation in industrial fields. The main control unit is built-in with a PID control algorithm module and a multi-stage titration strategy parser: the input of the PID control algorithm module is the flow deviation (the difference between the actual flow and the target flow), and the output is the adjustment amount of the constant flow pump speed (such as "reduce by 5%" or "increase by 3%"). It dynamically adjusts the parameters of the actuator through proportional-integral-derivative operation to achieve stable control of the flow; the multi-stage titration strategy parser is a software module that supports reading the multi-stage titration strategy file stored in XML format in the parameter storage module, parsing and extracting parameters such as the target flow and the target droplet size threshold of each stage for the deviation calculation sub-module to call.

[0060] The data processing unit consists of a filtering sub-module, a deviation calculation sub-module, and a compensation and correction sub-module. Each sub-module processes the real-time data of the data acquisition module in sequence to provide a corrected deviation signal for the PID control algorithm. The filtering sub-module receives the real-time data (flow value, droplet diameter value, slurry temperature value, solvent oil liquid level height value) transmitted by the data acquisition module and uses the moving average filtering algorithm to eliminate high-frequency noise. The window size of the moving average filtering is set to 5 sampling points (such as the time series of flow data is [1.1, 1.2, 1.1, 1.0, 1.1] mL / min), and the average value of the data within the window (such as 1.1 mL / min) is calculated as the filtered value. The function of this algorithm is to smooth the instantaneous fluctuations caused by slurry disturbances or sensor noise, avoiding misjudgment of the control module as a real deviation (such as misjudging an accidental flow peak as a need to adjust the pump speed).

[0061] The deviation calculation sub-module receives the filtered data. First, it compares the filtered flow value with the real-time stage target flow extracted by the multi-stage titration strategy parser to calculate the flow deviation (actual flow value - target flow value); then it compares the filtered droplet diameter value with the target droplet size threshold to determine whether it exceeds the tolerance range (such as the target threshold is 150μm ± 5μm, if the droplet diameter is 156μm, it is determined to be out of range). The technical significance of this step is to quantify the difference between the actual state and the target state of the titration process, providing a deviation benchmark for subsequent compensation and correction.

[0062] The compensation and correction sub-module corrects the deviation compensation coefficient by invoking the calibration parameters in the parameter storage module based on the filtered slurry temperature data and the solvent oil liquid level height data. The calibration parameters include a temperature-viscosity mapping table (e.g., for every 10°C increase in temperature, the slurry viscosity decreases by 20%) and a liquid level height-droplet resistance mapping table (e.g., for every 5 mm decrease in the liquid level, the droplet falling resistance decreases by 15%). For example: if the slurry temperature is higher than the reference temperature (resulting in a decrease in viscosity and the actual flow rate may be greater than the target flow rate), then increase the negative compensation coefficient for the flow rate deviation (e.g., correct the original deviation of +0.2 mL / min to +0.15 mL / min, reducing the pump speed adjustment amount); if the liquid level height is lower than the reference height (resulting in a decrease in the droplet falling resistance and the actual droplet diameter may be greater than the target value), then increase the negative compensation coefficient for the droplet size deviation (e.g., correct the original deviation of +6 μm to +4 μm, reducing the vibration frequency adjustment amount). The corrected deviation signal is transmitted to the PID control algorithm module of the main control unit as the final control input.

[0063] After receiving the corrected deviation signal, the main control unit calculates the adjustment amount of the constant flow pump speed (e.g., when the flow rate deviation is +0.15 mL / min, output an instruction of "reduce the pump speed by 3%") or the adjustment amount of the vibration parameters of the vibrating nozzle (e.g., when the droplet size deviation is +4 μm, output an instruction of "increase the vibration frequency by 10 Hz") through the PID algorithm, and sends it to the execution module through an industrial bus (such as the CAN bus). After the execution module makes adjustments, the data acquisition module continuously acquires new real-time data and feeds it back to the control processing module.

[0064] Specifically, for the high-precision titration system of the present invention, the parameter storage module is a non-volatile memory (such as an industrial-grade SD card or SSD), which stores multi-stage titration strategies, historical operation data, and calibration parameters; The multi-stage titration strategy includes the target flow rate, target droplet size threshold, titration time, and slurry ratio for each stage, which are read by the multi-stage titration strategy parser of the control processing module to determine the real-time stage control target; The historical operation data includes time-series data of the flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height, which is used for subsequent process optimization analysis; The calibration parameters include the constant flow pump speed-flow rate curve (reflecting the corresponding relationship between the pump speed and the actual flow rate) and the nozzle vibration frequency-droplet uniformity mapping table (reflecting the correlation between the vibration frequency and the droplet size distribution), which are called by the compensation and correction sub-module of the control processing module to correct the deviation compensation coefficient.

[0065] The execution module of the high-precision titration system of the present invention realizes the dynamic correction of the flow rate deviation and the droplet size deviation through the coordinated action of the constant flow pump group and the multi-axis vibrating nozzle. The technical solution and logical relationship are as follows: The constant flow pump group of the execution module consists of 3 independently controlled high-precision constant flow pumps, corresponding to the three slurry channels of diamond micropowder and binder, pore former, and dispersant and additives respectively. The constant flow pump can be selected as a peristaltic pump or a diaphragm pump: the peristaltic pump drives the slurry flow by squeezing an elastic hose (such as a silicone tube), and has the advantages of no valves and no seals (avoiding slurry residue pollution); the diaphragm pump forms a volume change through the reciprocating motion of the diaphragm to drive the slurry, and is suitable for the stable transportation of high-viscosity slurries. Each pump is driven by a stepper motor (step angle 1.8°, supporting speed regulation with an accuracy of 0.1%), and the motor controller communicates with the main control unit through the RS485 bus, receiving the speed adjustment instruction generated by the PID algorithm (such as "reduce the speed by 5%"). When the flow deviation is positive (the actual flow rate is greater than the target flow rate), the main control unit sends an instruction to reduce the pump speed, and the stepper motor reduces the number of rotation steps, reducing the hose extrusion frequency or the diaphragm reciprocating frequency, thereby reducing the slurry output flow rate; conversely, when the flow deviation is negative, an instruction to increase the pump speed is sent to increase the flow output. This design realizes the independent and precise control of the flow rate of each slurry channel, meeting the ratio requirements of different component slurries in multi-stage titration.

[0066] The multi-axis vibration nozzle consists of X, Y, and Z-axis piezoelectric ceramic vibrators and a stainless steel capillary nozzle body. The piezoelectric ceramic vibrator (such as model PI P-840) realizes high-frequency vibration through the inverse piezoelectric effect (mechanical deformation occurs under the action of an electric field), and its vibration frequency (10 - 100 Hz) and amplitude (0.1 - 1 mm) are adjusted by a drive power supply (such as model E-509). The drive power supply receives the analog voltage signal (0 - 10 V corresponds to a frequency of 10 - 100 Hz, 0 - 2 A corresponds to an amplitude of 0.1 - 1 mm) from the main control unit. When the droplet size deviation is positive (the actual diameter is greater than the target value), the main control unit sends an instruction to increase the vibration frequency or decrease the amplitude: high-frequency vibration can increase the surface tension of the droplet (accelerating droplet separation) and reduce the diameter; low-amplitude vibration can shorten the stretching time of the droplet neck (reducing the droplet volume) and further reduce the diameter. Conversely, when the droplet size deviation is negative, an instruction to decrease the vibration frequency or increase the amplitude is sent to increase the droplet diameter. The nozzle body is a 316L stainless steel capillary (inner diameter 0.5 - 2 mm), and its corrosion resistance ensures that there is no material dissolution pollution when in long-term contact with slurries (such as acidic binders).

[0067] The Z-axis position of the nozzle is driven by a servo motor (such as Panasonic MINAS A6). The motor is connected to the nozzle body through a ball screw and receives the position adjustment instruction (based on the solvent oil liquid level height data) from the main control unit. When the liquid level drops (for example, the liquid level drops by 2 mm due to the droplets falling), the servo motor drives the nozzle to move down synchronously by 2 mm to keep the distance between the nozzle and the liquid level constant (such as 15 mm); if the liquid level rises, the motor drives the nozzle to move up synchronously. The technical significance of this design is to avoid the deviation of the droplet landing point caused by the change in the distance between the nozzle and the liquid level (too large a distance may cause the droplets to deviate from the target position due to air flow, and too small a distance may cause droplet adhesion due to liquid level fluctuations), ensure the uniform distribution of droplets in the solvent oil, and improve the uniformity of the pore distribution of the porous diamond abrasive.

[0068] The coordinated operation of the constant flow pump group and the multi-axis vibration nozzle is uniformly scheduled by the main control unit: the flow deviation is mainly corrected by adjusting the rotation speed of the constant flow pump, the droplet size deviation is mainly corrected by adjusting the vibration parameters, and the Z-axis position adjustment assists in stabilizing the droplet landing point. After the execution module is adjusted, the data acquisition module real-time feeds back the new flow rate, droplet diameter, and liquid level height data, and the control processing module recalculates the deviation and generates a new adjustment instruction to achieve the dynamic and precise control of the titration flow rate and droplet size, and solve the problem of low preparation accuracy of the porous diamond abrasive caused by the lack of real-time adjustment in traditional titration.

[0069] Specifically, for the high-precision titration system of the present invention, the data acquisition module, the control processing module, the execution module, and the parameter storage module achieve the following data interaction through an industrial bus (CAN bus or Ethernet): The data acquisition module transmits real-time data (flow rate, droplet diameter, slurry temperature, solvent oil liquid level height) to the control processing module through the bus; The control processing module reads the multi-stage titration strategy and calibration parameters from the parameter storage module through the bus and sends adjustment instructions (constant flow pump rotation speed adjustment amount, vibration nozzle vibration parameters, nozzle Z-axis position adjustment amount) to the execution module; The execution module feeds back the state of the actuator (such as the actual rotation speed of the constant flow pump, the actual vibration frequency of the nozzle) to the control processing module through the bus; The control processing module writes the real-time data and adjustment instructions into the historical operation data of the parameter storage module through the bus.

[0070] The high-precision titration system of the present invention realizes the coordinated communication of the data acquisition module, the control processing module, the execution module, and the parameter storage module through an industrial bus (CAN bus or Ethernet). The data interaction process and technical significance are as follows: The selection of the industrial bus is based on the system's requirements for real-time performance and data volume: The CAN bus (Controller Area Network) is suitable for scenarios with high real-time requirements and a large number of nodes (such as a titration system with multiple sensors and actuators), supports the multi-master communication mode (any node can actively send data), has a communication rate of up to 1 Mbps, a maximum transmission distance of 10 km, and is suitable for short-cycle and small-data-volume real-time parameter transmission (such as single-value data like flow rate and temperature); Ethernet (such as Industrial Ethernet Profinet) is suitable for scenarios with large data volume transmission (such as image data and historical operation data), supports a high rate of 1 Gbps, and uses the TCP / IP protocol to achieve cross-device communication, and is suitable for long-cycle and large-file parameter storage and reading (such as multi-stage titration strategy files). The system can select the CAN bus or Ethernet according to actual needs, or adopt a hybrid architecture that combines the two (such as sensors transmitting real-time data through the CAN bus and image data through Ethernet).

[0071] The data acquisition module transmits real-time data (flow rate, droplet diameter, slurry temperature, solvent oil liquid level height) to the control and processing module through the industrial bus. The real-time data is encapsulated in a structured format, including a timestamp (marking the data acquisition moment, in the format of "year-month-day hour:minute:second.millisecond"), a data type identifier (such as "flow rate", "droplet diameter"), and numerical content (such as "1.2 mL / min", "150 μm"). During the transmission process, the bus protocol (such as the data frame of the CAN bus and the TCP packet of Ethernet) includes a check field (such as CRC cyclic redundancy check) to ensure that the data is not interfered with during transmission (such as bit flips caused by electromagnetic noise). For example, a flow sensor sends a data frame through the CAN bus, with the frame ID of 0x100 (identifying the flow rate data), and the data field includes a timestamp (8 bytes), a flow rate value (4-byte floating-point number), and a CRC check code (2 bytes). After receiving the data, the control and processing module verifies the data integrity through the check code and decodes to obtain the flow rate value.

[0072] The control and processing module reads the multi-stage titration strategy and calibration parameters from the parameter storage module through the industrial bus. The multi-stage titration strategy is stored as an XML format file (such as "strategy.xml"), which includes parameters such as the target flow rate, target droplet size threshold, and titration time for each stage; the calibration parameters are stored as a CSV format file (such as "calibration.csv"), which includes control processing module sends read instructions through the bus (such as the remote frame of the CAN bus and the HTTP GET request of Ethernet), and the parameter storage module responds and returns the file content. After parsing the file, the control and processing module extracts the target parameters (such as the target flow rate in the real-time stage) for deviation calculation.

[0073] The control processing module sends adjustment instructions (constant current pump speed adjustment amount, vibration nozzle vibration parameters, nozzle Z-axis position adjustment amount) to the execution module through the industrial bus. The adjustment instructions are encapsulated in the instruction frame format, including the instruction type identifier (such as "pump speed adjustment", "vibration frequency adjustment"), the target device address (such as "pump 1", "nozzle vibrator"), and the parameter value (such as "speed reduced by 5%", "frequency increased by 10 Hz"). For example, the control processing module sends an instruction frame to the constant current pump group through the CAN bus, the frame ID is 0x200 (identifying pump speed adjustment), and the data field contains the pump number (1 byte), the adjustment direction (1 byte, "+", or "-"), and the adjustment ratio (1 byte, such as 5%). After receiving the instruction, the constant current pump controller parses the instruction and adjusts the motor speed.

[0074] The execution module feeds back the state of the actuator (such as the actual speed of the constant current pump, the actual vibration frequency of the nozzle) to the control processing module through the industrial bus. The state feedback data adopts a structured format similar to the real-time data, including the timestamp, the device identifier (such as "pump 1", "nozzle vibrator"), and the actual parameter value (such as "actual speed 95 rpm", "actual frequency 60 Hz"). The role of the feedback data is to verify the execution effect of the adjustment instruction (for example, after the control processing module sends an instruction of "speed reduced by 5%", it receives the feedback of "actual speed 95 rpm" to confirm that the pump speed has been adjusted), and ensure that the action of the execution module is consistent with the control instruction.

[0075] The control processing module writes the real-time data and adjustment instructions into the historical operation data of the parameter storage module through the industrial bus. The historical operation data is stored as a CSV format file (such as "20250521_run.csv"), and the fields include the timestamp, the flow value, the droplet diameter, the temperature, the liquid level height, the pump speed adjustment amount, the vibration frequency adjustment amount, etc. The writing process adopts transactional operations (such as the file writing protocol of Ethernet) to ensure the complete storage of the data (to avoid file damage caused by power failure). The historical data is used for subsequent process optimization analysis (such as statistically analyzing the distribution law of flow deviation at different temperatures) or fault tracing (such as associating abnormal data with the device state through the timestamp).

[0076] In a second aspect, please refer to Figure 1 , a high-precision titration method provided by the present invention, based on a high-precision titration system, is characterized in that: Step 1, the control processing module loads the multi-stage titration strategy and calibration parameters from the parameter storage module, and initializes the constant current pump group and the vibration nozzle; Step 2, the data acquisition module collects data on flow rate, droplet size, temperature, and liquid level height at a preset frequency and transmits it to the control processing module; Step 3, the control processing module filters the data and then calculates the flow rate and droplet size deviation, and corrects the compensation coefficient in combination with the temperature and liquid level height data; Step 4, the main control unit adjusts the rotational speed of the constant-current pump through the PID algorithm based on the corrected deviation, or adjusts the vibration frequency, amplitude, and Z-axis position of the vibrating nozzle. Step 5, after the real-time stage titration time is reached, switch to the next stage, update the target parameters, and optimize the subsequent stage ratio according to the microscope observation results; after all stages are completed, stop the machine, and the parameter storage module archives the full-process data.

[0077] The high-precision titration method provided by the present invention is realized based on a high-precision titration system. Through a closed-loop process of "parameter loading - data acquisition - deviation calculation - dynamic adjustment - stage optimization - data archiving", it solves the problem of inaccurate control of flow rate and droplet size caused by the lack of real-time feedback in traditional titration. The specific steps and logical relationships are as follows: Step 1: After the control processing module is started, it first loads the multi-stage titration strategy and calibration parameters from the parameter storage module. The multi-stage titration strategy is stored in an XML format file (such as "strategy.xml"), which includes the target flow rate for each stage (such as 1.0 mL / min in the first stage), the target droplet size threshold (such as 150 μm), the titration time (such as 30 minutes), and the slurry ratio (such as 70% diamond micropowder and 30% binder); the calibration parameters are stored in a CSV format file (such as "calibration.csv"), which includes the constant-current pump rotational speed - flow rate mapping table (such as "100 rpm → 1.0 mL / min") and the vibrating nozzle frequency - droplet diameter mapping table (such as "50 Hz → 150 μm"). The control processing module sends a read instruction through an industrial bus (such as Ethernet), the parameter storage module responds and returns the file content, and the control processing module extracts the target parameters of the real-time stage after parsing.

[0078] In the initialization stage, the control processing module sends an initialization instruction to the execution module: the constant-current pump group is set to an initial rotational speed (such as 50 rpm), and the multi-axis vibrating nozzle is set to an initial vibration frequency (such as 30 Hz), amplitude (such as 0.5 mm), and Z-axis position (such as 15 mm from the liquid surface). At the same time, the control processing module sends a status detection instruction to the data acquisition module to check the communication status of the sensors (such as the signal strength of the flow sensor ≥ 4 mA and the image clarity of the camera meets the standard). If an abnormality is detected (such as no signal from the sensor), the system alarms through a buzzer and displays a fault message on the human-machine interface (such as "flow sensor failure") to avoid control failure caused by hardware problems.

[0079] Step 2: The data acquisition module collects the real-time data of the titration process at a preset frequency and transmits it to the control and processing module. The flow rate sensing unit collects the slurry flow rate data at the outlet of the constant flow pump at a frequency of 10 Hz (every 0.1 second) (such as 1.1 mL / min) and transmits it through the Modbus RTU protocol; the droplet feature detection unit captures the images of the falling droplets at a frame rate of 50 Hz (every 0.02 second). After calculating the droplet diameter (such as 155 μm) by the image analysis unit, it is transmitted through the GigE Vision protocol; the environmental sensing unit collects the slurry temperature (such as 25 °C) and the height of the solvent oil liquid level (such as 100 mm) at a frequency of 5 Hz (every 0.2 second) and transmits them through the RS485 and I²C buses respectively. All data are appended with timestamps (such as "2025-05-21 10:00:00.123") to form structured data of "timestamp + parameter value", ensuring that the control and processing module can trace the data acquisition time.

[0080] Step 3: After receiving the real-time data, the data processing unit of the control and processing module first performs moving average filtering (window size of 5 sampling points) through the filtering sub-module to eliminate the high-frequency fluctuations caused by slurry disturbance or sensor noise (such as the flow rate values [1.1, 1.2, 1.1, 1.0, 1.1] mL / min output 1.1 mL / min after filtering). The deviation calculation sub-module compares the filtered flow rate value with the real-time stage target flow rate (such as 1.0 mL / min) to calculate the flow rate deviation (+0.1 mL / min); compares the filtered droplet diameter (155 μm) with the target threshold (150 ± 5 μm) to determine that it exceeds the tolerance range (+5 μm).

[0081] Based on the filtered temperature data (25 °C, reference temperature 20 °C) and the liquid level height data (100 mm, reference height 105 mm), the compensation and correction sub-module calls the temperature-viscosity mapping table (for every 5 °C increase in temperature, the viscosity decreases by 10%) and the liquid level height-resistance mapping table (for every 5 mm decrease in liquid level, the resistance decreases by 15%) in the calibration parameters to correct the deviation compensation coefficient (such as the flow rate deviation is corrected to +0.1×0.9 = +0.09 mL / min, and the droplet size deviation is corrected to +5×0.85 = +4.25 μm), and generates a corrected deviation signal and transmits it to the main control unit.

[0082] Step 4: After receiving the corrected deviation signal, the main control unit generates adjustment instructions through the PID control algorithm: for the flow rate deviation (+0.09 mL / min), send an instruction of "reduce the rotational speed by 3%" to the constant flow pump group (the pump speed is reduced from 50 rpm to 48.5 rpm), and the built-in encoder of the pump feeds back the actual rotational speed (48.5 rpm) to the control processing module to verify the execution effect; for the droplet size deviation (+4.25 μm), send an instruction of "increase the frequency by 10 Hz" to the driving power supply of the vibrating nozzle (the frequency is increased from 30 Hz to 40 Hz) to reduce the surface tension of the droplet and shrink the diameter; at the same time, based on the liquid level height data (drop by 5 mm), send an instruction of "move down 5 mm" to the Z-axis servo motor of the nozzle (the nozzle is adjusted from 15 mm away from the liquid level to 10 mm) to keep the droplet landing point stable.

[0083] Step 5: When the titration time in the real-time stage reaches the standard (such as 30 minutes in the first stage), the main control unit triggers the stage switch: turn off the constant flow pump in the real-time stage (stop the titration of diamond micropowder-binder slurry), start the constant flow pump in the next stage (start the titration of pore-forming agent slurry), and update the target parameters (such as the target flow rate of 1.2 mL / min and the droplet size threshold of 180 μm in the second stage). The operator observes the initially formed particle structure (such as the uniformity of pore distribution) in the solvent oil through an optical microscope (magnification 100 times), records the observation result of "pore spacing deviation 12%" and inputs it into the control processing module (input through the text box of the human-machine interface). The control processing module calls the optimization rules in the multi-stage strategy database (such as "pore spacing is too large → increase the proportion of dispersant"), adjusts the proportion of dispersant in the third stage from 15% to 18%, and updates the strategy file in the parameter storage module (back up the original file as "20250521_1000_backup.xml").

[0084] After all stages of titration are completed, the main control unit sends a shutdown instruction: the rotational speed of the constant flow pump group is reduced to 0 rpm, the frequency of the vibrating nozzle is reduced to 0 Hz, and the Z-axis returns to the initial position. The control processing module sorts the full-process data (flow rate, droplet diameter, temperature, liquid level height, adjustment parameters) by time stamp, generates a historical operation file in CSV format (such as "20250521_1000_2000.csv"), and stores it in the parameter storage module for subsequent process optimization analysis (such as statistical correlation between temperature and flow rate deviation) or fault tracing.

[0085] In summary, through the cooperation of multiple modules and closed-loop control, the present invention realizes the dynamic correction of titration flow rate and droplet size, solves the problem of low preparation precision of porous diamond abrasive caused by lack of real-time feedback in traditional titration, and has the characteristics of strong process adaptability and high control precision.

[0086] The technical features in the technical solution of the present invention are explained as follows: The data acquisition module adopts a multi-unit collaborative working mode. The flow sensing unit monitors the slurry flow at the outlet of the constant flow pump through an electromagnetic or ultrasonic flow sensor. The sensor is installed in the horizontal section of the pipeline to reduce cavitation interference. The collected analog signal is processed into a digital signal by the analog-to-digital conversion module. The droplet feature detection unit includes an optical camera and an image analysis unit. The camera is axially aligned with the droplet falling path. The droplet contour is identified and the diameter is calculated through an edge detection algorithm, and structured data is output. The environment sensing unit detects the temperature change of the slurry through an embedded temperature sensor, and detects the liquid level height of the solvent oil through a capacitive or ultrasonic sensor. Both pieces of data are transmitted with time stamps attached. The outputs of the three units form a real-time data set, providing multi-dimensional inputs for subsequent deviation calculation.

[0087] The algorithm process of the control and processing module is divided into three-level processing. The filtering sub-module performs a moving average process on the real-time data set to eliminate instantaneous noise interference and form a smooth data sequence. The deviation calculation sub-module compares the smoothed flow value with the target flow in the multi-stage titration strategy to generate a flow deviation value. At the same time, it compares the droplet diameter with the target threshold to determine whether it is out of tolerance. The compensation and correction sub-module combines the influence law of temperature data on the slurry viscosity and the influence law of the liquid level height on the droplet falling resistance, and calls the calibration parameters in the parameter storage module to dynamically correct the deviation compensation coefficient, and generates an optimized deviation signal to output to the main control unit.

[0088] The main control unit is built-in with a PID control algorithm and a strategy parser. The PID algorithm receives the compensated and corrected deviation signal and generates an execution instruction through proportional, integral, and differential operations. For example, the flow deviation signal outputs the adjustment amount of the constant flow pump speed through PID operation. The multi-stage titration strategy parser reads the strategy file in the parameter storage module, parses the target parameters of each stage and activates the corresponding control logic. The main control unit switches the control target according to the real-time stage state. For example, when the timer reaches the set time of the stage, it automatically loads the target flow and droplet size threshold of the next stage.

[0089] The execution module responds to the instruction to achieve dynamic adjustment. The constant flow pump group receives the speed adjustment instruction generated by the PID algorithm and changes the pump speed through a stepper motor drive to correct the flow deviation. The multi-axis vibrating nozzle adjusts the frequency or amplitude of the piezoelectric ceramic vibrator based on the droplet size deviation value, and changes the droplet separation dynamics characteristics to control the size. The Z-axis servo motor of the nozzle synchronously adjusts the vertical position of the nozzle according to the change of the liquid level height to keep the distance between the nozzle and the liquid level constant to avoid the landing point deviation. The three parts of the actuator cooperate under the control instruction to form an execution layer response mechanism.

[0090] The parameter storage module constructs a data support system. The multi-stage titration strategy defines the control objectives and process parameters for each stage in a structured file, providing a decision-making basis for the strategy parser. The calibration parameters include empirical data tables such as the mapping relationship between the rotational speed and flow rate of the constant flow pump, and the mapping relationship between vibration parameters and droplet morphology, which are used by the compensation and correction sub-module to call the correction coefficients. The historical operation data records the time series parameters of the whole process, which is used for process traceability analysis or strategy optimization. The three parts of data support the adaptive operation of the system through a unified storage architecture.

[0091] The closed-loop control link forms a dynamic adjustment mechanism. The data acquisition module continuously obtains the execution effect data and feeds it back to the control processing module. The control processing module iteratively executes the filtering, deviation calculation, and compensation and correction processes based on the new data to generate updated execution instructions. This loop mechanism enables the flow rate and droplet size to continuously approach the target values, and at the same time realizes continuous control of multiple process segments through the stage switching logic. The finally archived historical data provides an analysis basis for process optimization.

[0092] The high-precision titration method realizes closed-loop control through a five-step process. Step 1: Load the titration strategy and calibration parameters and initialize the hardware. Step 2: Collect multi-source real-time data at a fixed frequency. Step 3: Execute a three-level data processing process to generate a correction deviation. Step 4: Dynamically adjust the actuator through the PID algorithm. Step 5: Optimize the subsequent mixing ratio parameters based on the microscope observation results during stage switching, and archive and store the data of the whole process. The core of the method lies in the dynamic compensation mechanism driven by real-time data, which effectively solves the problem of parameter drift caused by environmental variables in traditional open-loop control.

[0093] The present invention obtains the key parameters of the titration process in real time through the data acquisition module, providing basic input for the dynamic control of the flow rate and droplet size. The data acquisition module includes a flow rate sensing unit, a droplet feature detection unit, and an environment sensing unit: the flow rate sensing unit collects the slurry flow rate data at the outlet of the constant flow pump through an electromagnetic or ultrasonic flow sensor; the droplet feature detection unit collects the droplet diameter data through a high-resolution camera and an image analysis unit; the environment sensing unit collects the slurry temperature and the solvent oil liquid level height data through a temperature sensor and a liquid level height sensor. All data is transmitted to the control processing module after adding a time stamp, forming a multi-source real-time data input that reflects the actual state of the titration process.

[0094] Based on multi-source real-time data, the control processing module realizes the dynamic optimization of the control strategy through filtering, deviation calculation, and compensation correction. The data processing unit first performs a moving average filter on the real-time data to eliminate high-frequency noise interference. Subsequently, it calculates the deviation by comparing the target flow rate and the target droplet size threshold in the multi-stage titration strategy, and combines data such as temperature (which affects the viscosity of the slurry) and liquid level height (which affects the falling resistance of the droplets) to call calibration parameters (such as the rotational speed-flow rate mapping table, vibration frequency-droplet diameter mapping table) to correct the deviation compensation coefficient and generate an adjustment signal. The main control unit converts the corrected deviation into adjustment instructions for the execution module (such as the pump speed adjustment amount, vibration parameter adjustment amount) through the PID control algorithm to ensure the precise correspondence between the control instruction and the actual deviation.

[0095] After receiving the adjustment instruction, the execution module adjusts the pump speed through the constant flow pump group to correct the flow deviation, adjusts the vibration frequency or amplitude through the multi-axis vibration nozzle to correct the droplet size deviation, and synchronously adjusts the Z-axis position of the nozzle to keep the droplet landing point stable. The data acquisition module continuously feeds back the adjusted real-time data, and the control processing module recalculates the deviation and generates a new adjustment instruction to form a closed-loop control link. This link enables the flow rate and droplet size to dynamically approach the target values, solving the problem of parameter deviation caused by the lack of real-time feedback in traditional titration, thereby improving the preparation accuracy of porous diamond abrasive.

Claims

1. A high-precision titration system, characterized in that, It includes a data acquisition module, a control and processing module, an execution module, and a parameter storage module; The data acquisition module is configured to acquire real-time data of the slurry flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height at the outlet of the constant flow pump during the titration process; The parameter storage module stores multi-stage titration strategies and calibration parameters; The control and processing module is communicatively connected to the data acquisition module to receive real-time data, communicatively connected to the parameter storage module to read multi-stage titration strategies and calibration parameters. After filtering the real-time data, it calculates the deviation by comparing with the target flow rate and target droplet size threshold, and corrects the deviation compensation coefficient based on the calibration parameters to generate an adjustment signal; The execution module is communicatively connected to the control and processing module, and adjusts the rotational speed of the constant flow pump or the vibration frequency, amplitude, and Z-axis position of the vibrating nozzle based on the adjustment signal; The data acquisition module continuously acquires the real-time data after the adjustment of the execution module and feeds it back to the control and processing module.

2. The high-precision titration system according to claim 1, wherein The data acquisition module includes a flow rate sensing unit, a droplet feature detection unit, and an environment sensing unit; The flow rate sensing unit is configured to acquire slurry flow rate data at the outlet of the constant flow pump and transmit it to the control and processing module; The droplet feature detection unit is configured to acquire image data during the droplet falling process, calculate and output droplet diameter data after analysis, and transmit it to the control and processing module; The environment sensing unit is configured to acquire slurry temperature and solvent oil liquid level height data and transmit it to the control and processing module; The output data of the flow rate sensing unit, the droplet feature detection unit, and the environment sensing unit together constitute the real-time data of the data acquisition module, which is used for the deviation calculation and compensation correction of the control and processing module.

3. The high-precision titration system according to claim 2, wherein, The flow rate sensing unit includes a sensor and an analog-to-digital conversion module; The sensor is installed on the horizontal section of the pipeline at the outlet of the constant flow pump, is hermetically connected to the pipeline through a flange, and outputs a 4-20mA analog signal; The analog-to-digital conversion module converts the analog signal into a digital quantity and transmits it to the control and processing module through the Modbus RTU protocol.

4. The high-precision titration system according to claim 3, wherein, The droplet feature detection unit includes an optical camera and an image analysis unit; The optical camera is fixed on the bracket directly below the titration nozzle, the lens axis is coaxial with the droplet falling direction, and it is set 10-20mm above the solvent oil liquid level to continuously capture droplet falling images at a frame rate of 50Hz; The image analysis unit receives the image data of the camera, identifies the droplet contour and calculates the diameter through an edge detection algorithm, outputs structured data, and transmits it to the control and processing module through a preset protocol.

5. The high-precision titration system according to claim 4, characterized in that, The environment sensing unit includes a temperature sensor and a liquid level height sensor; The temperature sensor is embedded in the pipe wall of the pipeline at the outlet of the constant flow pump to detect the real-time temperature of the slurry; The liquid level height sensor is capacitive or ultrasonic, and is installed above the solvent oil container to detect the solvent oil liquid level height; The slurry temperature data output by the temperature sensor is transmitted to the control and processing module through the RS485 bus, and the solvent oil liquid level height data output by the liquid level height sensor is transmitted to the control and processing module through the I²C bus, both with time stamps added, which are used for the compensation correction sub-module of the control and processing module to calculate the deviation compensation coefficient.

6. The high-precision titration system according to claim 5, characterized in that, The control and processing module includes a main control unit and a data processing unit; The main control unit is a PLC or an industrial-grade embedded system, with a built-in PID control algorithm module; The data processing unit includes a filtering sub-module, a deviation calculation sub-module, and a compensation and correction sub-module; The filtering sub-module receives the real-time data from the data acquisition module and performs moving average filtering to eliminate high-frequency noise; The deviation calculation sub-module compares the filtered flow rate value with the target flow rate in the multi-stage titration strategy and calculates the flow rate deviation; Compare the filtered droplet diameter with the target droplet size threshold to determine whether it exceeds the tolerance range; Based on the filtered slurry temperature data and the solvent oil liquid level height data, the compensation and correction sub-module calls the calibration parameters in the parameter storage module to correct the deviation compensation coefficient, generates a corrected deviation signal, and transmits it to the main control unit.

7. The high-precision titration system according to claim 6, wherein The execution module includes a constant flow pump group and a multi-axis vibrating nozzle; The constant flow pump group includes 3 independently controlled high-precision constant flow pumps, which receive the speed adjustment instruction generated by the main control unit through the PID algorithm and adjust the pump speed to correct the flow rate deviation; The multi-axis vibrating nozzle includes X, Y, and Z-axis piezoelectric ceramic vibrators and a stainless steel capillary nozzle body; The X, Y, and Z-axis piezoelectric ceramic vibrators receive the vibration parameter adjustment instruction from the main control unit and adjust the vibration frequency or amplitude to correct the droplet diameter; The Z-axis position of the multi-axis vibrating nozzle is driven by a servo motor, which receives the position adjustment instruction from the main control unit and moves down synchronously to keep the distance between the nozzle and the liquid surface constant, avoiding the deviation of the droplet dropping point.

8. The high-precision titration system according to claim 7, characterized in that, The parameter storage module is a non-volatile memory that stores the multi-stage titration strategy, historical operation data, and calibration parameters; The multi-stage titration strategy includes the target flow rate, target droplet size threshold, titration time, and slurry ratio for each stage, which are read by the multi-stage titration strategy parser of the control processing module to determine the real-time stage control target; The historical operation data includes the time series data of the flow rate, droplet diameter, slurry temperature, and solvent oil liquid level height, which is used for subsequent process optimization analysis; The calibration parameters include the constant flow pump speed and flow rate curve and the nozzle vibration frequency-droplet uniformity mapping table, which are called by the compensation and correction sub-module of the control processing module to correct the deviation compensation coefficient.

9. The high-precision titration system according to claim 8, characterized in that, The data acquisition module, control processing module, execution module, and parameter storage module have the following data interactions through the industrial bus: The data acquisition module transmits real-time data to the control processing module through the bus; The control processing module reads the multi-stage titration strategy and calibration parameters from the parameter storage module through the bus and sends adjustment instructions to the execution module; The execution module feeds back the status of the actuator to the control processing module through the bus; The control processing module writes the real-time data and adjustment instructions into the historical operation data of the parameter storage module through the bus.

10. A high-precision titration method, based on the high-precision titration system according to any one of claims 1-9, characterized in that: Step 1, the control processing module loads the multi-stage titration strategy and calibration parameters from the parameter storage module and initializes the constant flow pump group and the vibrating nozzle; Step 2, the data acquisition module collects data on the flow rate, droplet size, temperature, and liquid level height at a preset frequency and transmits it to the control processing module; Step 3: After the control processing module filters the data, it calculates the flow rate and the deviation of droplet size, and corrects the compensation coefficient by combining the temperature and liquid level height data; Step 4: The main control unit adjusts the rotation speed of the constant flow pump through the PID algorithm based on the corrected deviation, or adjusts the vibration frequency, amplitude and Z-axis position of the vibrating nozzle; Step 5: After the real-time stage titration time reaches the standard, switch to the next stage, update the target parameters and optimize the formulation of the subsequent stage according to the microscope observation results.

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