Press dynamic balance method and device based on high-order differential extension

Abstract

The invention discloses a press dynamic balance method and device based on high-order differential expansion, and the method comprises the steps: taking inertial parameters of an anti-sliding block and a balancing weight as unknown parameters to be designed, and employing a single-variable dimension reduction method and Laguerre integral to estimate a statistical moment of a momentum function of a high-speed execution mechanism of a press with respect to an uncertain variable; the first-order partial derivative of the first-order moment of the momentum function relative to the joint speed is made to be zero, and the dynamic balance condition of the high-speed press under the uncertain influence is obtained; solving a robust and optimal speed configuration scheme of each joint of the high-speed actuating mechanism of the press meeting the spatial geometric constraint under the influence of uncertainty, and carrying out high-order Taylor expansion on the dynamic balance condition of the press at a reference configuration position; constructing a regression matrix set for solving inertial parameters of the balancing weight and the anti-sliding block in a mode of assigning a high-order partial derivative as zero; and solving the intersection of each regression matrix null space so as to obtain a dynamic balance design scheme of the ultra-wide slider high-speed press under the influence of uncertainty.

Description

Technical Field

[0001] The present invention belongs to the technical field of dynamic balancing design of presses, and in particular relates to a press dynamic balancing method and device based on high-order differential expansion. Background Art

[0002] It is inevitable that a press will generate inertial forces during its service. For an ultra-wide slider high-speed press, since the slider and other moving parts have a large mass, a large inertial force and inertial moment will be generated during high-speed movement, affecting the smooth operation of the press, resulting in the generation of vibration and noise, and a decrease in dynamic performance such as the repeatability of the bottom dead center. Therefore, it is necessary to design an inertial force balancing mechanism for the ultra-wide slider high-speed press. Among the existing high-speed press dynamic balancing mechanisms, the most ideal is the anti-slider mechanism, which can basically balance the inertial force generated by the press during high-speed stamping. However, since its balancing conditions often involve complex closed-form dynamic models, it is difficult to solve directly. Therefore, designing a dynamic balancing mechanism suitable for ultra-wide slider high-speed presses has become a difficult problem that needs to be solved urgently. Summary of the Invention

[0003] In order to solve the shortcomings of the existing technology and achieve the purpose of high-speed pressure dynamic balance of ultra-wide slider, the present invention adopts the following technical solutions:

[0004] The pressure dynamic balance method based on high-order differential expansion is applied to the press actuator and includes the following steps:

[0005] Step S1: Considering the uncertainty of the key dimensions of the high-speed actuator of the press, bounded probabilistic uncertainty variables are used to describe the key dimensions of the actuator. Based on the unknown parameters to be designed of the actuator and the uncertainty variables, a momentum function of the actuator with respect to the joint positions and joint velocities is constructed according to rigid body dynamics. The first-order partial derivative of the first-order moment of the momentum function with respect to the joint velocities is made zero, and the dynamic balance condition of the press under the influence of uncertainty is obtained.

[0006] Step S2: solving the robust optimal reference configuration of the joint velocities of the actuator that meets the spatial geometric constraints under the influence of uncertainty;

[0007] Step S3: performing a high-order expansion of the dynamic balance condition of the press under the influence of the uncertainty at the speed reference configuration, and constructing a regression matrix set for solving the unknown parameters by assigning the expansion coefficients to zero;

[0008] Step S4: solving the intersection of the null spaces of the regression matrices to obtain the unknown parameters of the pressure maneuvering balance design under the influence of the uncertainty.

[0009] Furthermore, in step S1, the first-order moment of the momentum function with respect to the uncertainty variable is solved by constructing a first momentum function based on the position and velocity of each joint, the unknown parameter, and a single integration point of a single uncertainty variable, multiplying the first momentum function with the corresponding integration point and weight coefficient under the standard exponential distribution, and summing the results based on the number of integration points and the number of uncertainty variables; constructing a second momentum function based on the position and velocity of each joint, the unknown parameter, and the mean vector of the uncertainty variable, subtracting one from the number of uncertainty variables and multiplying the result with the second momentum function, and finally, subtracting the multiplication result from the summation result to obtain the first-order moment, and the formula is as follows:

[0010]

[0011] in, represents the momentum function, and Represent the position and velocity of each joint respectively, represents the unknown parameter, represents the uncertainty variable, m represents the number of uncertainty variables, n represents the number of integration points, represents the i-th uncertainty variable The j-th integral point of , e represents the base of the natural exponential function, and They represent the corresponding integral points and weight coefficients under the standard exponential distribution, represents the mean vector of uncertainty variables;

[0012] Make the first moment of the momentum function about the velocity of each joint of the actuator The first-order partial derivative of is zero, and the pressure maneuvering balance condition under the influence of uncertainty is obtained.

[0013] Furthermore, in step S1, the first-order moment of the actuator momentum function with respect to the uncertainty variable is obtained by constructing a momentum function based on the position and velocity of each joint, the unknown parameters, and the uncertainty variable, and multiplying the momentum function with the marginal probability density function of each single probability uncertainty variable, and then performing multiple integration of the multivariate uncertainty variables; the momentum function is approximately expanded using a single variable dimensionality reduction method to obtain the first-order moment of the momentum function with respect to the uncertainty variable after the single variable expansion; the Laguerre integral method is used to solve the first-order moment of the momentum function with respect to the uncertainty variable to obtain a numerical solution of the integral; wherein, the approximate expansion is to construct a third momentum function based on the position and velocity of each joint, the unknown parameters, and the column vector of the uncertainty single variable, and sum them based on the number of uncertainty variables; a second momentum function is constructed based on the position and velocity of each joint, the unknown parameters, and the mean vector of the uncertainty, and the number of uncertainty variables is reduced by one and then multiplied with the second momentum function; finally, the summation result is subtracted from the multiplication result to obtain the approximate expansion.

[0014] The formula for the first moment of the actuator momentum function with respect to the uncertainty variable is as follows:

[0015]

[0016] in, represents the uncertainty variable, Represents a single probability uncertain variable The marginal probability density function of

[0017] Using univariate dimensionality reduction method to Perform an approximate expansion:

[0018]

[0019] in, Representing uncertainty in a single variable Column vector of , Representing uncertainty variables The mean of The mean vector representing uncertainty;

[0020] The first-order moment of the momentum function with respect to the uncertainty variable after single variable expansion is transformed into:

[0021]

[0022] The Laguerre integral method is used to solve the first-order moment of the momentum function with respect to the uncertainty variable, and a numerical solution of the integral is obtained.

[0023] Furthermore, in step S2, due to the connecting rod connection relationship of the actuator, the joint speeds are not independent, and there is a set of geometric relationship functions. About uncertainty variables The mean and standard deviation of are the constraint function and the objective function, and an optimization model for solving the reference configuration of the speed of each joint of the actuator is constructed so that the joint speed is within a reasonable range and the objective function is minimized under the constraint function. The formula is as follows:

[0024]

[0025] in, and Represents geometric relationship functions About uncertainty variables The mean and standard deviation of are calculated using the univariate dimensionality reduction method and Lagai integral. Represent the joint speed, Represents the number of geometric relationship functions, and Represent the minimum and maximum values ​​of each joint velocity respectively;

[0026] Genetic algorithm is used to solve the optimization model and obtain the robust optimal reference configuration of the joint speed of the actuator .

[0027] Furthermore, the partial derivative of the first-order moment of the actuator momentum function with respect to the joint velocity is assigned to zero, and the necessary and sufficient conditions for dynamic balance are obtained:

[0028]

[0029]

[0030] in, The subscripts of represent joint indices, Indicates the number of joints.

[0031] Furthermore, the high-order expansion in step S3 is a Taylor expansion, and the formula is as follows:

[0032]

[0033] in, represents the robust optimal reference configuration of joint velocities, Indicates that a recursive algorithm is used to obtain the dynamic balance condition about the movement speed The k-th derivative of

[0034] Make the pressure maneuver balance condition under uncertainty about the speed front The derivative is 0, and the dynamic equilibrium condition of the differential expansion is obtained:

[0035]

[0036] in, represents the given maximum order;

[0037] Based on the fact that the high-order derivatives of the dynamic balance condition are linearly related to the unknown parameters, the dynamic balance condition of the differential expansion is rewritten in matrix form:

[0038]

[0039] in, Represents the regression matrix obtained by linear transformation of the i-th order derivative of the dynamic balance condition.

[0040] A pressure-driven balancing device based on high-order differential expansion includes an anti-slider, an anti-slider connecting rod, a crank, a counterweight, a slider connecting rod, and a slider. The two ends of the anti-slider connecting rod are movably connected to the anti-slider and one end of the crank through a first joint and a second joint, respectively. The other end of the crank is fixedly connected to the counterweight through a third joint and movably connected to one end of the slider connecting rod. The other end of the slider connecting rod is movably connected to the slider through a fourth joint. The crank is divided into an anti-slider crank movably connected to the second joint and a slider crank movably connected to the third joint through a fulcrum thereon.

[0041] Taking the inertia parameters of the counter-slider and the counterweight as the unknown parameters to be designed, and the inertia parameters of the slider as the uncertain variable, the pressure maneuvering balance method based on high-order differential expansion is adopted to solve the unknown parameters of the pressure maneuvering balance design under the influence of uncertainty.

[0042] Furthermore, the unknown parameters include the mass of the anti-slider, the mass of the anti-slider connecting rod, the mass of the anti-slider crank, the mass of the counterweight, the distance from the center of gravity of the anti-slider connecting rod to the first joint, the distance from the center of gravity of the anti-slider connecting rod to the second joint, the length of the anti-slider crank, and the distance from the counterweight to the third joint; after the high-order expansion, a set of regression matrices for solving the inertia parameters of the anti-slider and the counterweight is constructed by assigning high-order partial derivatives to zero, wherein the high-order derivatives based on the dynamic balance condition are linear with respect to the inertia parameters of the anti-slider and the counterweight, and the regression matrix is ​​obtained after the linear transformation of the derivatives of the dynamic balance condition.

[0043] Furthermore, the uncertainty variables include the slider crank length and the slider connecting rod length.

[0044] The press machine based on high-order differential expansion dynamic balancing includes an actuator, and the actuator is the press dynamic balancing device based on high-order differential expansion.

[0045] The advantages and beneficial effects of the present invention are:

[0046] (1) The present invention takes into account the uncertainty of the key dimensions of the high-speed actuator of the press, evaluates the statistical characteristics of the momentum function of the high-speed actuator through the single variable dimensionality reduction method and Laguerre integral, and gives the dynamic balancing conditions under the influence of uncertainty. This overcomes the deficiency of the previous dynamic balancing mechanism design method that does not consider uncertainty, and is more in line with engineering practice.

[0047] (2) The present invention provides a robust and optimal speed configuration scheme for each joint of the high-speed actuator of a press that meets spatial geometric constraints under the influence of uncertainty, so that the final dynamic balancing mechanism has a better inertial force balancing effect in actual service.

[0048] (3) The present invention expands the high-speed pressure dynamic balance condition by a high-order differential method, provides a more complete set of inertia parameter solutions for the dynamic balance mechanism, and effectively solves the problem of insufficient rank of the regression matrix in the previous dynamic balance condition, thus having better generalization. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a flow chart of a high-speed pressure maneuvering balancing method for an ultra-wide slider based on high-order differential expansion in an embodiment of the present invention.

[0050] Figure 2 It is a structural schematic diagram of an ultra-wide slider high-speed press actuator based on high-order differential expansion in an embodiment of the present invention.

[0051] Markings in the figure: 1. counter-slider, 2. counter-slider connecting rod, 3. counter-slider crank, 4. slider crank, 5. slider connecting rod, 6. counterweight, 7. slider. DETAILED DESCRIPTION

[0052] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0053] like Figure 1 As shown, a pressure dynamic balancing method and device based on high-order differential expansion is applied to the actuator of an ultra-wide slide high-speed press, including the following steps:

[0054] Step S1: Bounded probabilistic uncertainty variables are used to describe the key dimensions of the high-speed press actuator. The momentum function of the high-speed press actuator is constructed based on rigid body dynamics. The single variable dimensionality reduction integration method and Laguerre integral are used to evaluate the first-order moment of the momentum function, and the high-speed press maneuvering equilibrium condition under the influence of uncertainty is constructed.

[0055] Specifically, considering the uncertainty of key dimensions of the high-speed actuator of the ultra-wide slider press, the inertia parameters of the counterweight and the counter slider are the unknown parameters to be designed. , construct the dynamic balance conditions of high-speed press under the influence of uncertainty, where represents the mass of the anti-slider, and denote the masses of the anti-slider connecting rod and the anti-slider crank, Indicates the mass of the counterweight. and They represent the distances from the center of gravity S1 of the anti-slider link to the upper hinge point of the anti-slider link and the lower hinge point of the anti-slider link, respectively. represents the length of the anti-slider crank, Indicates the distance between the counterweight and the hinge point on the slider connecting rod. Figure 2 As shown, it includes an anti-slider 1, an anti-slider connecting rod 2, a crank, a counterweight 6, a slider connecting rod 5 and an extra-wide slider 7. The two ends of the anti-slider connecting rod 2 are movably connected to the anti-slider 1 and one end of the crank through a first joint and a second joint respectively. The other end of the crank is fixedly connected to the counterweight 6 through a third joint and movably connected to one end of the slider connecting rod 5. The other end of the slider connecting rod 5 is movably connected to the extra-wide slider 7 through a fourth joint. The crank is divided into an anti-slider crank 3 movably connected to the second joint and a slider crank 4 movably connected to the third joint through a fulcrum thereon. The entire execution process specifically includes the following steps:

[0056] Step S1.1: Considering the uncertainty of the key dimensions of the high-speed actuator of the ultra-wide slide press, bounded probability uncertainty variables are used to describe it. The random vector composed of each bounded probability uncertainty parameter is recorded as , the parameter information of each uncertainty variable is summarized in Table 1:

[0057] Table 1 Information on various uncertainty parameters involved in the high-speed actuator of the press

[0058]

[0059] Step S1.2: Construct the momentum function vector of the press high-speed actuator with respect to the position and velocity of each joint based on rigid body dynamics ,in It is the vector composed of linear momentum and angular momentum of the high-speed actuator of the press in three-dimensional space. and are the position and velocity of each joint respectively;

[0060] Step S1.3: Use the single variable dimensionality reduction method and Laguerre integral to solve the first-order moment of the momentum function with respect to the uncertainty variable;

[0061] The first-order moment of the momentum function of the high-speed actuator of the press with respect to the uncertainty variable is:

[0062]

[0063] in, is an uncertain variable, is the number of uncertain variables, is a single probability uncertain variable The marginal probability density function of

[0064] Using univariate dimensionality reduction method to Perform an approximate expansion:

[0065]

[0066] in, Uncertain single variable Column vector of , is an uncertain variable The mean of The mean vector representing uncertainty;

[0067] The first-order moment of the momentum function with respect to the uncertainty variable after single variable expansion is transformed into:

[0068]

[0069] The Laguerre integral method is used to obtain the numerical solution of the above integral, as shown below:

[0070]

[0071] in , is an uncertain variable The jth integration point, and are the corresponding integral points and weight coefficients under the standard exponential distribution. The specific values ​​are shown in Table 2:

[0072] Table 2 Laguerre integral points and corresponding weight coefficient rules

[0073]

[0074] Step S1.4: By making the first moment of the momentum function about the speed of each joint of the high-speed actuator The first-order partial derivative of is zero, and the high-speed pressure maneuvering balance condition under the influence of uncertainty is obtained.

[0075] Step S2: Establish an optimization model for solving the reference configuration of the speed of each joint of the press high-speed actuator, and use a genetic algorithm to search for the robust optimal parameter configuration of the press actuator speed.

[0076] Specifically, solving the robust and optimal motion speed configuration scheme for each joint of the high-speed actuator that meets spatial geometric constraints under the influence of uncertainty includes the following steps:

[0077] Step S2.1: Due to the connecting rod connection relationship of the press high-speed actuator, the speeds of each joint are not independent, and there is a set of geometric relationship functions . Based on geometric relationship function About the uncertainty vector The mean and standard deviation of are used as constraint functions and objective functions, and an optimization model is constructed to solve the reference configuration of the motion speed of each joint of the high-speed actuator of the press. The expression is as follows:

[0078]

[0079] in, and They are geometric relationship functions About the uncertainty vector The mean and standard deviation of are calculated using the univariate dimensionality reduction method and Lagai integral. and are the minimum and maximum values ​​of the kinematic parameters of each joint, respectively, in units of .

[0080] Step S2.2: Use genetic algorithm to solve the optimization model and obtain the robust optimal reference configuration of the motion speed of each joint of the press high-speed actuator .

[0081] Step S3: Taylor expand the dynamic balance condition under the influence of uncertainty at the reference configuration, construct the differential expansion dynamic balance condition by assigning the Taylor expansion coefficient to zero, and convert the differential expansion dynamic balance condition into a regression matrix set based on the linearization relationship.

[0082] Specifically, the high-speed pressure maneuvering balance condition under the influence of uncertainty is subjected to a high-order Taylor expansion at the speed reference configuration, and a regression matrix set for solving the inertia parameters of the counterweight block 6 and the anti-slider 1 is constructed by assigning high-order partial derivatives to zero, including the following steps:

[0083] Step S3.1: Use recursive algorithm to obtain dynamic balance conditions with respect to motion speed The k-th derivative of :

[0084]

[0085] Step S3.2: Balance the high-speed pressure maneuver under uncertainty in the reference configuration Taylor expansion

[0086]

[0087] Step S3.3: Set the high-speed pressure dynamic balance condition under the influence of uncertainty to 0 with respect to the first second-order derivative of the velocity, and obtain the dynamic balance condition of differential expansion:

[0088]

[0089] Step S3.4: Since the high-order derivatives of the dynamic balance condition are linear with respect to the inertia parameters of the counterweight and the counterslider, the differentially expanded dynamic balance condition can be rewritten in matrix form:

[0090] .

[0091] Step S4: Solve the intersection of the null spaces of each regression matrix to obtain the design scheme of high-speed pressure maneuvering balance of ultra-wide slider under the influence of uncertainty .

[0092] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The pressure dynamic balance method based on high-order differential expansion is applied to the press actuator, which is characterized by The steps include: Step S1: Using bounded probabilistic uncertainty variables to describe the key dimensions of the actuator, based on the unknown parameters of the actuator to be designed and the uncertainty variables, constructing the momentum function of the actuator with respect to the joint positions and joint velocities according to rigid body dynamics, making the first-order partial derivative of the momentum function with respect to the joint velocities zero, and obtaining the dynamic balance condition of the press under the influence of uncertainty; Step S2: solving the robust optimal reference configuration of the joint velocities of the actuator that meets the spatial geometric constraints under the influence of uncertainty; Step S3: performing a high-order expansion of the dynamic balance condition of the press under the influence of the uncertainty at the speed reference configuration, and constructing a regression matrix set for solving the unknown parameters by assigning the expansion coefficients to zero; Step S4: solving the intersection of the null spaces of the regression matrices to obtain the unknown parameters of the pressure maneuvering balance design under the influence of the uncertainty.

2. The pressure dynamic balancing method based on high-order differential expansion according to claim 1 is characterized in that: In step S1, the first-order moment of the momentum function with respect to the uncertainty variable is solved by constructing a first momentum function based on the position and velocity of each joint, the unknown parameter, and a single integration point of a single uncertainty variable. The first momentum function is multiplied by the corresponding integration point and weight coefficient under the standard exponential distribution, and the result is summed based on the number of integration points and the number of uncertainty variables. A second momentum function is constructed based on the position and velocity of each joint, the unknown parameter, and the mean vector of the uncertainty variable. The number of uncertainty variables is reduced by one and then multiplied by the second momentum function. Finally, the summation result is subtracted from the multiplication result to obtain the first-order moment. The first-order partial derivative of the first-order moment of the momentum function with respect to the velocity of each joint of the actuator is set to zero, thereby obtaining the pressure maneuvering balance condition under the influence of uncertainty.

3. The pressure dynamic balancing method based on high-order differential expansion according to claim 2 is characterized in that: In step S1, the first-order moment of the momentum function of the actuator with respect to the uncertainty variable is obtained by constructing a momentum function based on the position and velocity of each joint, the unknown parameter, and the uncertainty variable, and multiplying the momentum function with the marginal probability density function of each single probability uncertainty variable, and then performing multiple integration of the multivariate uncertainty variables; using a single variable dimensionality reduction method to approximately expand the momentum function to obtain the first-order moment of the momentum function with respect to the uncertainty variable after the single variable expansion; using a Laguerre integral method to solve the first-order moment of the momentum function with respect to the uncertainty variable to obtain a numerical solution of the integral; Among them, the approximate expansion is to construct a third momentum function based on the position and velocity of each joint, the unknown parameters, and the column vector of the uncertainty single variable, and sum it based on the number of uncertainty variables; construct a second momentum function based on the position and velocity of each joint, the unknown parameters, and the mean vector of uncertainty, subtract one from the number of uncertainty variables and multiply it with the second momentum function; finally, subtract the multiplication result from the summation result to obtain the approximate expansion.

4. The pressure dynamic balancing method based on high-order differential expansion according to claim 2 is characterized in that: In step S2, a geometric relationship function is constructed based on the joint speed and the uncertainty variable, and the mean and standard deviation of the geometric relationship function with respect to the uncertainty variable are used as the constraint function and the objective function. An optimization model for solving the reference configuration of the speed of each joint of the actuator is constructed so that when the joint speed is within a reasonable range and under the constraint function, the objective function is minimized; and a genetic algorithm is used to solve the optimization model to obtain a robust optimal reference configuration of the speed of each joint of the actuator.

5. The pressure dynamic balancing method based on high-order differential expansion according to claim 2 is characterized in that: Assigning the partial derivative of the first-order moment of the actuator momentum function with respect to the joint velocity to zero, the necessary and sufficient conditions for dynamic balance are obtained: ， ， in, represents the first-order moment of the momentum function with respect to the uncertainty variable, represents the momentum function, and Represent the position and velocity of each joint respectively, represents the unknown parameter, represents the uncertainty variable, The subscripts represent joint indices, Indicates the number of joints.

6. The pressure dynamic balancing method based on high-order differential expansion according to claim 5 is characterized in that: The high-order expansion in step S3 is Taylor expansion, and the formula is as follows: ， in, represents the robust optimal reference configuration of joint velocities, Indicates that a recursive algorithm is used to obtain the dynamic balance condition about the movement speed The k-th derivative of Make the pressure maneuver balance condition under uncertainty about the speed front The derivative is 0, and the dynamic equilibrium condition of the differential expansion is obtained: ， in, represents the given maximum order; Based on the fact that the high-order derivatives of the dynamic balance condition are linearly related to the unknown parameters, the dynamic balance condition of the differential expansion is rewritten in matrix form: ， in, Represents the regression matrix obtained by linear transformation of the i-th order derivative of the dynamic balance condition.

7. A pressure-driven balancing device based on high-order differential expansion, comprising an anti-slider (1), an anti-slider connecting rod (2), a crank, a counterweight (6), a slider connecting rod (5) and a slider (7), characterized in that: The two ends of the counter-slider connecting rod (2) are movably connected to the counter-slider (1) and one end of the crank through a first joint and a second joint, respectively; the other end of the crank is fixedly connected to the counterweight (6) through a third joint and movably connected to one end of the slider connecting rod (5); the other end of the slider connecting rod (5) is movably connected to the slider (7) through a fourth joint; the crank is divided into a counter-slider crank (3) movably connected to the second joint and a slider crank (4) movably connected to the third joint through a fulcrum thereon; Taking the inertia parameters of the counter-slider (1) and the counterweight (6) as the unknown parameters to be designed, and the inertia parameters of the slider (7) as the uncertain variable, the pressure maneuvering balance method based on high-order differential expansion as described in any one of claims 1 to 6 is adopted to solve the unknown parameters of the pressure maneuvering balance design under the influence of uncertainty.

8. The pressure dynamic balancing device based on high-order differential expansion according to claim 7 is characterized in that: The unknown parameters include the mass of the anti-slider, the mass of the anti-slider connecting rod, the mass of the anti-slider crank, the mass of the counterweight, the distance from the center of gravity of the anti-slider connecting rod to the first joint, the distance from the center of gravity of the anti-slider connecting rod to the second joint, the length of the anti-slider crank, and the distance from the counterweight to the third joint; after the high-order expansion, a regression matrix set for solving the inertia parameters of the anti-slider (1) and the counterweight (6) is constructed by assigning high-order partial derivatives to zero, wherein the high-order derivatives based on the dynamic balance condition are linear with respect to the inertia parameters of the anti-slider (1) and the counterweight (6), and the regression matrix is ​​obtained after the derivative of the dynamic balance condition is linearly transformed.

9. The pressure dynamic balancing device based on high-order differential expansion according to claim 7, characterized in that: The uncertainty variables include the slider crank length and the slider connecting rod length.

10. A press machine based on high-order differential extended dynamic balancing, including an actuator, characterized in that The actuator is the pressure-driven balancing device based on high-order differential expansion as described in claim 7.

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