Servo pressure control method and device, equipment and storage medium

Abstract

The invention discloses a servo pressure control method and device, equipment and a storage medium. The method comprises the steps that a pressure part is controlled to move from an initial first preset position to a second preset position; collecting a pressure feedback value of the pressure sensor; after the pressure component reaches the second preset position, inputting a preset pressure value and a pressure feedback value to the closed-loop controller to obtain a target position, and controlling the pressure component to move towards the target position; and when the pressure component moves and the pressure feedback value is detected to be equal to the preset pressure value, the pressure component is controlled to stop pressurizing. According to the method, position control is adopted in the pressing stage, the speed mode does not need to be switched, the closed-loop controller is connected after the second preset position is reached in the pressing stage, and the pressing process is smoother. A closed-loop controller based on an admittance model is adopted, the closed-loop controller outputs a target position, and the precision of controlling the pressure by controlling the target position is far higher than the precision of controlling the pressure through given speed.

Description

Technical Field

[0001] The present application relates to the field of press-fitting control technology, and in particular to a servo pressure control method, device, equipment and storage medium. Background Art

[0002] Existing servo presses operate in two modes during the pressing phase: first in position mode and then in speed mode when near the pressing surface. During low-speed operation, the pressure feedback value is monitored and, when the pressure feedback reaches a certain level, the press switches to closed-loop pressure control mode. This closed-loop pressure control mode increases, decreases, and maintains pressure by controlling the speed. If the pressure does not reach the target, the press continues to move at a constant speed; otherwise, the press stops and maintains pressure.

[0003] During the press-fitting process, switching from position mode to speed mode takes a long time, is less smooth, and has noticeable jerks. When maintaining pressure, a closed-loop pressure control method that controls speed is used to increase, decrease, or maintain pressure. That is, the output of the pressure control loop is the speed reference, and the difference between the speed reference and speed feedback serves as the input to the speed control loop. However, speed feedback is generally obtained by observing with a speed observer or by differentiating position feedback. The speeds obtained in both the former and the latter methods are not the actual speed and have a certain error from the actual speed, resulting in large fluctuations in the controlled speed. Consequently, the pressure control accuracy achieved using this method is low.

[0004] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a servo pressure control method, device, equipment and storage medium, which can solve the problems of low pressure control accuracy, long cycle time and complex operation when the servo motor is pressed.

[0006] To achieve the above objectives, the present application proposes a servo pressure control method, wherein the servo pressure control device includes a body provided with a track, a pressure component, a closed-loop controller, and a pressure sensor, wherein the pressure component is fixed on the track and moves along the track, the closed-loop controller is connected to the pressure sensor and the pressure component, and the pressure sensor is fixed to the head of the pressure component;

[0007] The method comprises:

[0008] Acquiring a second preset position through self-learning, and controlling the pressure component to move from the initial first preset position to the second preset position;

[0009] collecting a pressure feedback value of the pressure sensor;

[0010] After the pressure component reaches the second preset position, the preset pressure value and the pressure feedback value are input into the closed-loop controller to obtain the target position, and the pressure component is controlled to move toward the target position;

[0011] When the pressure component is moving and it is detected that the pressure feedback value is equal to the preset pressure value, the pressure component is controlled to stop pressurizing.

[0012] In one embodiment, the step of obtaining the second preset position by self-learning includes:

[0013] Performing a trial run before the process begins, controlling the pressure component to move uniformly from the first preset position at a first preset speed, and detecting a pressure feedback value during the movement;

[0014] When the detected pressure feedback value is greater than or equal to the initial pressure threshold, the current position of the pressure component at this moment is recorded as the second preset position.

[0015] In one embodiment, after the pressure component reaches the second preset position, the step of inputting the preset pressure value and the pressure feedback value into the closed-loop controller to obtain a target position, and controlling the pressure component to move toward the target position includes:

[0016] collecting the current position of the pressure component in real time;

[0017] Inputting the difference between the preset pressure value and the pressure feedback value and the current position into the closed-loop controller to obtain the target position;

[0018] The pressure component is controlled to move to a target position.

[0019] In one embodiment, the step of controlling the pressure component to move to the target position includes:

[0020] determining a driving current of the pressure component according to a target position;

[0021] The pressure component is controlled to move according to the driving current, and the step of acquiring the current position of the pressure component in real time is performed when the pressure component moves.

[0022] In one embodiment, before the step of controlling the pressure component to move to the target position, the method further includes:

[0023] When it is detected that the pressure feedback value is greater than the pressure protection threshold or the current position of the pressure component is greater than the position protection threshold, an alarm is issued and the machine is shut down.

[0024] In one embodiment, when the pressure component is moving and it is detected that the pressure feedback value is equal to the preset pressure value, after the step of controlling the pressure component to stop pressurizing, the method further includes:

[0025] When the pressurization is completed, the pressure component is controlled to move to the first preset position.

[0026] In addition, to achieve the above-mentioned purpose, the present application also proposes a servo pressure control device, which includes: a body provided with a track, a pressure component, a closed-loop controller and a pressure sensor;

[0027] The pressure component is fixed on the track and moves along the track, the closed-loop controller is connected to the pressure sensor and the pressure component, and the pressure sensor is fixed to the head of the pressure component;

[0028] The servo pressure control device is used in the above-mentioned servo pressure control method.

[0029] In one embodiment, the closed-loop controller includes: a pressure control loop, a speed control loop, a position control loop, and a current control loop;

[0030] The position control loop is connected to the speed control loop and the pressure control loop, the current control loop is connected to the speed control loop and the pressure component, and the pressure control loop is also connected to the pressure sensor;

[0031] The pressure control loop is configured to receive a difference between the preset pressure value and the pressure feedback value, and output a target position to the position control loop;

[0032] The position control loop is configured to output a speed signal to the speed control loop based on the target position and the current position of the pressure component;

[0033] The speed control loop is used to generate a current signal according to the speed signal and output it to the current control loop;

[0034] The current control loop is configured to output a driving current to the pressure component according to the current signal, so as to control the pressure component to move to the target position;

[0035] The pressure component is also used to feed back the current position to the position control loop in real time.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a servo pressure control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the servo pressure control method described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the servo pressure control method described above are implemented.

[0038] The present application discloses a servo pressure control method, device, equipment, and storage medium, relating to the field of press-fitting control technology. The servo pressure control method includes: controlling the pressure component to move from an initial first preset position to a second preset position; collecting the pressure feedback value of the pressure sensor; after the pressure component reaches the second preset position, inputting the preset pressure value and the pressure feedback value into a closed-loop controller to obtain a target position, and controlling the pressure component to move toward the target position; when the pressure component is moving and detecting that the pressure feedback value is equal to the preset pressure value, controlling the pressure component to stop pressurizing. This method uses position control during the downward pressure phase without switching speed modes. After reaching the second preset position during the downward pressure phase, the closed-loop controller is connected, significantly shortening the cycle time and making the press-fitting process smoother. A closed-loop controller based on an admittance model is used, and the closed-loop controller outputs the target position. The accuracy of controlling the pressure by controlling the target position is much higher than the accuracy of controlling the pressure by setting the speed. This application satisfies the requirements of quickly following the target pressure while ensuring product safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 A flow chart of the first embodiment of the servo pressure control method of the present application;

[0042] Figure 2 A structural diagram of the first embodiment of the servo pressure control method of the present application;

[0043] Figure 3 A flow chart of the second embodiment of the servo pressure control method of the present application is provided;

[0044] Figure 4 A flow chart of the third embodiment of the servo pressure control method of the present application;

[0045] Figure 5A structural diagram of an embodiment of the servo pressure control device of the present application;

[0046] Figure 6 This is a schematic diagram of the module structure of the servo pressure control device according to an embodiment of the present application;

[0047] Figure 7 Schematic diagram of the servo pressure control device structure of the hardware operating environment involved in the servo pressure control method in the embodiment of the present application.

[0048] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0050] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] Existing servo presses operate in two modes during the pressing phase: first in position mode and then in speed mode when near the pressing surface. During low-speed operation, the pressure feedback value is monitored and, when the pressure feedback reaches a certain level, the press switches to closed-loop pressure control mode. This closed-loop pressure control mode increases, decreases, and maintains pressure by controlling the speed. If the pressure does not reach the target, the press continues to move at a constant speed; otherwise, the press stops and maintains pressure.

[0052] During the press-fitting process, switching from position mode to speed mode takes a long time, is less smooth, and has noticeable jerks. When maintaining pressure, a closed-loop pressure control method that controls speed is used to increase, decrease, or maintain pressure. That is, the output of the pressure control loop is the speed reference, and the difference between the speed reference and speed feedback serves as the input to the speed control loop. However, speed feedback is generally obtained by observing with a speed observer or by differentiating position feedback. The speeds obtained in both the former and the latter methods are not the actual speed and have a certain error from the actual speed, resulting in large fluctuations in the controlled speed. This method reduces the pressure control accuracy.

[0053] The present invention aims to provide a servo pressure control method, aiming to achieve more accurate and reliable servo pressure control through a closed-loop controller. Compared with traditional prediction methods, the method proposed in the present invention does not require switching from position mode to speed mode during the pressing phase, resulting in a shorter cycle time. During the pressing phase, the closed-loop controller outputs the target position, resulting in a more precise output and higher pressure control accuracy. The closed-loop controller has fewer debugging parameters and is simple to operate, ensuring both compliance and followability. The current pressure and position are monitored in real time by a pressure sensor and position encoder throughout the entire process to prevent product damage.

[0054] The present application discloses a servo pressure control method, apparatus, device, and storage medium, relating to the field of press-fitting control technology. The servo pressure control method includes: controlling a pressure component to move from an initial first preset position to a second preset position; collecting a pressure feedback value from a pressure sensor; after the pressure component reaches the second preset position, inputting a preset pressure value and the pressure feedback value into a closed-loop controller to obtain a target position, and controlling the pressure component to move toward the target position; and controlling the pressure component to stop pressurizing when the pressure feedback value is detected to be equal to the preset pressure value during the movement of the pressure component.

[0055] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or a servo pressure control device capable of performing the above functions. The servo pressure control device includes a body provided with a track, a pressure component, a closed-loop controller, and a pressure sensor. The pressure component is fixed to the track and moves along the track. The closed-loop controller connects the pressure sensor and the pressure component, and the pressure sensor is fixed to the head of the pressure component. The servo pressure control device is used as an example to describe this embodiment and the following embodiments.

[0056] Based on this, the embodiment of the present application provides a servo pressure control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the servo pressure control method of the present application.

[0057] In this embodiment, the servo pressure control method includes steps S10 to S40:

[0058] Step S10: obtaining a second preset position Pend through self-learning, and controlling the pressure component to move from the initial first preset position Pstart to the second preset position Pend.

[0059] It should be noted that the working principle of the servo pressure control device is based on the drive of a servo motor. A servo motor is a high-precision, high-response motor that can convert electrical signals into mechanical motion. When the servo motor receives current, it generates a magnetic field and drives the rotor to rotate, and then converts the rotational motion into linear motion through the pressure component, thereby pressurizing the workpiece or material. The pressure component is a component that directly contacts the workpiece being pressed and has a specific shape and size to adapt to the requirements of the workpiece. The pressure component 200 of the present application includes a servo motor.

[0060] It is understandable that if Figure 2As shown, in the downward pressure stage, a point-to-point position control mode is adopted. The starting position is set to the first preset position Pstart, and the end position is set to the second preset position Pend. The pressure component 200 is controlled to move downward. When the pressure component reaches the end position Pend, the next stage is entered.

[0061] Specifically, the process before step S10 includes step S101 and step S102.

[0062] Step S101: a test run is performed before the process starts, wherein the pressure component is controlled to move uniformly from the first preset position Pstart at a first preset speed Vlearn, and a pressure feedback value is detected during the movement.

[0063] It should be noted that before the process starts trial operation, there is a self-learning stage, in which uniform movement is started from a first preset position Pstart at a lower first preset speed Vlearn. During the movement, the pressure feedback value is detected by a pressure sensor. The pressure sensor is arranged at the head of the pressure component 200 and is used to detect the pressure feedback value between the pressure component and the workpiece.

[0064] Step S102: When the detected pressure feedback value is greater than or equal to the initial pressure threshold Flearn, the current position of the pressure component at this moment is recorded as the second preset position Pend.

[0065] Specifically, when the pressure sensor detects a feedback value greater than or equal to the initial pressure threshold Flearn, it records the current position as the second preset end position, Pend, and controls the pressure component to return to its initial position. Pressure component 200 includes a position encoder for detecting the current position. The self-learning phase is performed only once before the press-fitting process begins or after a product change, aiming to determine the second preset end position, Pend.

[0066] Step S20: collecting the pressure feedback value of the pressure sensor.

[0067] It should be noted that when the pressure component 200 starts to operate, the pressure feedback value of the pressure component should be collected in real time.

[0068] Step S30: After the pressure component reaches the second preset position Pend, a preset pressure value and the pressure feedback value are input into a closed-loop controller to obtain a target position, and the pressure component is controlled to move toward the target position.

[0069] It should be noted that after the pressure component reaches the second preset position Pend, it enters the pressure closed-loop phase, where a closed-loop controller controls the movement of the pressure component. The closed-loop controller receives the preset pressure value and the pressure feedback value as inputs, and outputs a target position, controlling the pressure component to move toward the target position.

[0070] Step S40: When the pressure component moves and it is detected that the pressure feedback value is equal to the preset pressure value, the pressure component is controlled to stop pressurizing.

[0071] It should be noted that, when it is detected that the pressure feedback value is equal to the preset pressure value, the pressure component is controlled to stop pressurizing and enter the stage.

[0072] In this embodiment, position control is used during the pressing phase, eliminating the need to switch speed modes. Upon reaching the second preset position, Pend, a closed-loop controller is connected. The position information and pressure feedback values of the pressure component are collected in real time and input into the closed-loop controller. The closed-loop controller outputs the target position and simultaneously outputs the drive current for the servo motor to control the movement of the pressure component to the target position. The accuracy of controlling pressure by outputting the target position is much higher than that of controlling pressure by setting the speed. This application satisfies the requirement of quickly following the target pressure while ensuring product safety. Furthermore, the closed-loop controller significantly shortens the cycle time, making the pressing process smoother.

[0073] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 3 , Figure 3 This is a flow chart of the second embodiment of the servo pressure control method of the present application. In step S30, the servo pressure control method includes:

[0074] Step S201: collecting the current position of the pressure component in real time.

[0075] It is understood that the current position of the pressure component is acquired via a position encoder on the pressure component. A position encoder is a device that compiles and converts position signals or data into a signal form that can be used for communication, transmission, and storage. It can record position information such as an object's displacement and angle, converting it into electrical or digital signals for output. Position encoders offer extremely high measurement accuracy. Precise displacement measurement ensures precise position control, and the manufacturing cost of position encoders is gradually decreasing.

[0076] Step S202: inputting the difference between the preset pressure value and the pressure feedback value and the current position into a closed-loop controller to obtain a target position.

[0077] It should be noted that the closed-loop controller includes: a pressure control loop, a speed control loop, a position control loop and a current control loop; the position control loop is connected to the speed control loop and the pressure control loop, the current control loop is connected to the speed control loop and the pressure component, and the pressure control loop is also connected to the pressure sensor; the pressure control loop is used to receive the difference between the preset pressure value and the pressure feedback value, and output the target position to the position control loop.

[0078] Specifically, the transfer function of the pressure control loop is:

[0079]

[0080] Among them, X(s) is the output of the pressure control loop, F(s) is the input of the pressure control loop, that is, the difference between the preset pressure value and the pressure feedback value, M is the mass coefficient, B is the damping coefficient, and K is the stiffness coefficient, which adjusts the responsiveness and smoothness of the control.

[0081] It's understandable that during the pressure closed-loop phase, a closed-loop controller based on an admittance model is used to output the target position. The target position is expressed in encoder units, with a much higher degree of resolution than the speed reference. Consequently, the precision of pressure control via position reference is much higher than that achieved via speed reference. The closed-loop controller's response is regulated by the admittance coefficients M, B, and K, ensuring pressure compliance, rapid tracking of the target pressure, and product safety.

[0082] Step S200: controlling the pressure component to move to a target position.

[0083] It can be understood that step S200 includes step S203 and step S204, and step S200 is not marked in the figure.

[0084] Step S203: determining the driving current of the pressure component according to the target position.

[0085] It can be understood that the position control loop outputs a speed signal to the speed control loop according to the target position and the current position of the pressure component, and the speed control loop generates a current signal according to the speed signal and outputs it to the current control loop.

[0086] Step S204: controlling the pressure component to move according to the driving current, and executing the step of acquiring the current position of the pressure component in real time when the pressure component moves.

[0087] It can be understood that the current control loop outputs a driving current to the servo motor of the pressure component according to the current signal, and the servo motor controls the movement of the pressure component according to the driving current.

[0088] It should be noted that in the pressure closed-loop stage, as the pressure component continues to press down, the pressure feedback value will gradually increase, the difference between the preset pressure value and the pressure feedback value will become smaller and smaller, and the output target position will also change. The servo motor controls the pressure component to move from the current position to the target position based on the drive current. During the movement, due to the change in the pressure feedback value and the current position, the next target position will cover the previous target position. The target position is constantly adjusted dynamically. As the difference between the preset pressure value and the pressure feedback value becomes smaller and smaller, the current position becomes closer and closer to the target position, and the target position output by the closed-loop controller becomes more accurate. When the preset pressure value is equal to the pressure feedback value, it is considered that the pressure component has reached the target position, and the pressure component stops pressurizing. After the press-fitting is completed, it enters the pressure holding stage. The pressure component will maintain the preset pressure value within the set pressure holding time to ensure a tight fit between the workpieces.

[0089] In this embodiment, during the pressure closed-loop stage, the difference between the preset pressure value and the pressure feedback value and the current position are input into the closed-loop controller to obtain the target position. The closed-loop controller determines the driving current of the servo motor of the pressure component based on the target position, and the servo motor controls the pressure component to move from the current position to the target position based on the driving current. During the movement process, due to the changes in the pressure feedback value and the current position, the closed-loop controller continuously outputs the target position and driving current. The next more accurate target position will overwrite the previous target position. Different driving currents control the downward movement of the pressure component, and the operation of the pressure component is adjusted in real time. The pressure control accuracy is high and the pressurization process is smoother. During the pressure closed-loop stage, the position setting is output through the admittance model, the output is more precise, the pressure control accuracy is higher, and the closed-loop controller has fewer debugging parameters and is simple to operate. It meets the followability while ensuring flexibility.

[0090] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first and second embodiments above can be referred to the above introduction and will not be described in detail later. Figure 4 , Figure 4 This is a flow chart of the third embodiment of the servo pressure control method of the present application.

[0091] In steps S10 to S40, the servo pressure control method further includes:

[0092] Step S301: When it is detected that the pressure feedback value is greater than the pressure protection threshold Fmax or the current position of the pressure component is greater than the position protection threshold Pmax, an alarm is issued to shut down the machine.

[0093] It can be understood that during the downward pressure stage and the pressure closed-loop stage, the pressure feedback value of the pressure sensor and the current position of the pressure component are monitored throughout the process. When the pressure feedback value is greater than the pressure protection threshold Fmax or the current position is greater than the position protection threshold Pmax, an alarm is issued and the machine is shut down for fault handling.

[0094] After step S40, the servo pressure control method further includes:

[0095] Step S302: When the pressurization is completed, controlling the pressure component to move to the first preset position Pstart.

[0096] It is understood that the final stage is the return phase, which also uses position control to control the pressure component to move from its current position to the first preset position Pstart and then back to the starting position, completing a press-fit and lift process. The pressure component stops moving and prepares for the next press-fit or enters a standby state.

[0097] In this embodiment, the pressure sensor's pressure feedback value and the current position of the pressure component are monitored throughout the press-fit process. When the pressure feedback value exceeds the pressure protection threshold Fmax or the current position exceeds the position protection threshold Pmax, an alarm is triggered and the machine is shut down, and fault handling is performed. Throughout the entire process, the pressure sensor and position encoder monitor the current pressure and position in real time to prevent product damage. Simultaneously, upon completion of press-fitting, the pressure component is controlled to move from its current position to the first preset position Pstart, then back to its starting position, ready for the next press-fit cycle or to enter standby mode.

[0098] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the servo pressure control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0099] This application also provides a servo pressure control device, please refer to Figure 5 The servo pressure control device includes: a main body 100 provided with a track, a pressure component 200, a closed-loop controller 300 and a pressure sensor 400; the pressure component is fixed on the track and moves along the track, the closed-loop controller connects the pressure sensor and the pressure component, and the pressure sensor is fixed to the head of the pressure component; the servo pressure control device is used to perform the above-mentioned servo pressure control method.

[0100] It is understood that the servo pressure control device is an automated equipment component widely used in industrial production. It is mainly used to achieve precise pressurization operations on workpieces or materials. The working principle of the servo pressure control device is based on the drive of a servo motor. The main structure of the servo pressure control device includes a pressure component, a main body 100 provided with a track, a closed-loop controller 300 and a pressure sensor 400. Among them, the pressure component includes a servo motor and a position encoder. The servo motor drives the pressure component to move linearly. The position encoder detects the current position of the pressure component. The pressure sensor detects the pressure feedback value of the pressure component. The closed-loop controller outputs a drive current to control the movement of the servo motor.

[0101] It should be noted that closed-loop controllers enable precise control of pressure, and servo motors offer high precision and high response speed. By adjusting the drive current, the servo motor's speed and torque can be precisely controlled, thereby achieving precise pressure regulation.

[0102] like Figure 6 As shown, the closed-loop controller 400 includes: a pressure control loop, a speed control loop, a position control loop and a current control loop; the position control loop is connected to the speed control loop and the pressure control loop, the current control loop is connected to the speed control loop and the pressure component, and the pressure control loop is also connected to the pressure sensor; the pressure control loop is used to receive the difference between the preset pressure value and the pressure feedback value, and output the target position to the position control loop; the position control loop is used to output a speed signal to the speed control loop according to the target position and the current position of the pressure component; the speed control loop is used to generate a current signal according to the speed signal and output it to the current control loop; the current control loop is used to output a driving current to the pressure component according to the current signal, and control the pressure component to move to the target position; the pressure component is also used to feed back the current position to the position control loop in real time.

[0103] It is understood that the pressure control loop receives the difference between the preset pressure value and the pressure feedback value and outputs the target position to the position control loop. The position control loop outputs a speed signal to the speed control loop based on the target position and the current position of the pressure component. The speed control loop generates a current signal based on the speed signal and outputs it to the current control loop. The current control loop outputs a drive current to the servo motor based on the current signal, and the servo motor controls the pressure component to move to the target position.

[0104] It should be noted that as the pressure component is pressed down, the pressure feedback value will gradually increase, and the difference between the preset pressure value and the pressure feedback value will become smaller and smaller. The output target position and drive current may also change. Because the pressure feedback value and the current position change, the next target position and drive current will overwrite the previous one. The target position and drive current are constantly and dynamically adjusted, and the operating state of the pressure component also changes with the drive current. As the difference between the preset pressure value and the pressure feedback value becomes smaller and smaller, the current position gets closer and closer to the target position, the target position output by the closed-loop controller becomes more accurate, the output of the speed control loop becomes smaller and smaller, and the drive current drives the servo motor to run slower and slower. However, the pressure applied by the pressure component to the workpiece becomes greater and greater until the pressure feedback value equals the preset pressure value. At this time, it is considered that the pressure component has reached the target position, the pressure component stops applying pressure, and the press fitting is completed.

[0105] The servo pressure control device provided in this application, utilizing the servo pressure control method of the aforementioned embodiment, can resolve the issues of low pressure control accuracy, long cycle times, and complex operation during press-fitting of a servo motor. Compared to the prior art, the beneficial effects of the servo pressure control device provided in this application are the same as those of the servo pressure control method of the aforementioned embodiment. Other technical features of the servo pressure control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0106] The present application provides a servo pressure control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the servo pressure control method in the above-mentioned embodiment one.

[0107] Reference below Figure 7 , which shows a schematic structural diagram of a servo pressure control device suitable for implementing an embodiment of the present application. The servo pressure control device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 6 The servo pressure control device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0108] like Figure 7 As shown, the servo pressure control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the servo pressure control device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and communication device 1009. The communication device 1009 can allow the servo pressure control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a servo pressure control device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems can be implemented or have alternatively.

[0109] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0110] The servo pressure control device provided in this application, utilizing the servo pressure control method described in the aforementioned embodiment, can address the issues of low pressure control accuracy, long cycle times, and complex operation during press-fitting of a servo motor. Compared to the prior art, the beneficial effects of the servo pressure control device provided in this application are the same as those of the servo pressure control method described in the aforementioned embodiment. Other technical features of this servo pressure control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0111] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0112] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0113] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the servo pressure control method in the above-mentioned embodiment.

[0114] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0115] The computer-readable storage medium may be included in the servo pressure control device, or may exist independently without being assembled into the servo pressure control device.

[0116] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0117] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0118] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0119] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned servo pressure control method. This computer-readable storage medium can address issues such as low pressure control accuracy, long cycle times, and complex operations during press-fitting of a servo motor. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the servo pressure control method provided in the aforementioned embodiments and are not further elaborated here.

[0120] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A servo pressure control method, characterized in that: The servo pressure control device includes a body provided with a track, a pressure component, a closed-loop controller, and a pressure sensor. The pressure component is fixed on the track and moves along the track. The closed-loop controller is connected to the pressure sensor and the pressure component. The pressure sensor is fixed to the head of the pressure component. The method comprises: Acquiring a second preset position through self-learning, and controlling the pressure component to move from the initial first preset position to the second preset position; collecting a pressure feedback value of the pressure sensor; After the pressure component reaches the second preset position, the preset pressure value and the pressure feedback value are input into the closed-loop controller to obtain the target position, and the pressure component is controlled to move toward the target position; When the pressure component is moving and it is detected that the pressure feedback value is equal to the preset pressure value, the pressure component is controlled to stop pressurizing.

2. The servo pressure control method according to claim 1, wherein: The step of obtaining the second preset position by self-learning includes: Performing a trial run before the process begins, controlling the pressure component to move uniformly from the first preset position at a first preset speed, and detecting a pressure feedback value during the movement; When the detected pressure feedback value is greater than or equal to the initial pressure threshold, the current position of the pressure component at this moment is recorded as the second preset position.

3. The servo pressure control method according to claim 1, wherein: After the pressure component reaches the second preset position, the step of inputting the preset pressure value and the pressure feedback value into the closed-loop controller to obtain the target position, and controlling the pressure component to move toward the target position includes: collecting the current position of the pressure component in real time; Inputting the difference between the preset pressure value and the pressure feedback value and the current position into the closed-loop controller to obtain the target position; The pressure component is controlled to move to a target position.

4. The servo pressure control method according to claim 3, wherein: The step of controlling the pressure component to move to a target position comprises: determining a driving current of the pressure component according to a target position; The pressure component is controlled to move according to the driving current, and the step of acquiring the current position of the pressure component in real time is performed when the pressure component moves.

5. The servo pressure control method according to claim 3, wherein: Before the step of controlling the pressure component to move to the target position, the method further includes: When it is detected that the pressure feedback value is greater than the pressure protection threshold or the current position of the pressure component is greater than the position protection threshold, an alarm is issued and the machine is shut down.

6. The servo pressure control method according to claim 1, wherein: After the step of controlling the pressure component to stop pressurizing when detecting that the pressure feedback value is equal to the preset pressure value during the movement of the pressure component, the method further includes: When the pressurization is completed, the pressure component is controlled to move to the first preset position.

7. A servo pressure control device, characterized in that: The servo pressure control device comprises: a body provided with a track, a pressure component, a closed-loop controller and a pressure sensor; The pressure component is fixed on the track and moves along the track, the closed-loop controller is connected to the pressure sensor and the pressure component, and the pressure sensor is fixed to the head of the pressure component; The servo pressure control device is used to execute the servo pressure control method according to any one of claims 1 to 5.

8. The servo pressure control device according to claim 7, wherein: The closed-loop controller includes: a pressure control loop, a speed control loop, a position control loop and a current control loop; The position control loop is connected to the speed control loop and the pressure control loop, the current control loop is connected to the speed control loop and the pressure component, and the pressure control loop is also connected to the pressure sensor; The pressure control loop is configured to receive a difference between the preset pressure value and the pressure feedback value, and output a target position to the position control loop; The position control loop is configured to output a speed signal to the speed control loop based on the target position and the current position of the pressure component; The speed control loop is used to generate a current signal according to the speed signal and output it to the current control loop; The current control loop is configured to output a driving current to the pressure component according to the current signal, so as to control the pressure component to move to the target position; The pressure component is also used to feed back the current position to the position control loop in real time.

9. A servo pressure control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program is configured to implement the steps of the servo pressure control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the servo pressure control method according to any one of claims 1 to 7 are implemented.

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