Self-adaptive speed control method and system for main shaft of circular shaft straightening machine

Abstract

The invention relates to the technical field of straightening machine motion control, in particular to a self-adaptive speed control method and system for a main shaft of a circular shaft straightening machine. Material attributes and geometric parameters are acquired in real time through a circular shaft parameter acquisition module, and data such as rated torque and rotating speed of a motor parameter acquisition module are combined; a dynamic calculation module establishes an accurate mechanical model containing a bending stiffness coefficient and a maximum load moment, and a speed planning module dynamically adjusts a control strategy based on the model: for a high-hardness / large-diameter circular shaft, the acceleration is automatically reduced through the stiffness coefficient, the deceleration time is prolonged, and the impact force is effectively inhibited; and for a low-hardness / small-diameter circular shaft, the acceleration is increased to a motor safety limit value, so that the straightening efficiency is improved, the execution control module ensures that a speed curve is always matched with a real-time load through torque feedforward and segmented deceleration control, and through the control system, the straightening efficiency and equipment safety of the straightening machine are balanced while the precision is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of straightening machine motion control, and particularly relates to a main shaft adaptive speed control method and system of a round shaft straightening machine. BACKGROUND

[0002] The intelligent round shaft straightening machine can straighten round shaft steels with different degrees of hardness and quenching. The intelligent round shaft straightening machine drives the main shaft (straightening head) to move a certain distance by a motor to correct the bending position of the round shaft. The main shaft correction system of the intelligent round shaft straightening machine mainly supports the round shaft at the bending position by controlling the support points at both ends of the bending position through a relay, and relies on the motor to drive the main shaft (straightening head) to move a certain distance to correct the bending position of the round shaft.

[0003] However, the main shaft speed control method of the traditional round shaft straightening machine is usually based on fixed parameters, and cannot adapt to the dynamic load changes of round shafts with different materials and different diameters. For high-hardness materials or large-diameter round shafts, fixed acceleration and deceleration may cause excessive impact force of the main shaft, resulting in equipment shaking or mechanical damage. For low-hardness materials or small-diameter round shafts, overly conservative speed control will reduce the straightening efficiency. SUMMARY

[0004] The purpose of the present application is to provide a main shaft adaptive speed control method and system of a round shaft straightening machine, which solves the problem that the main shaft speed control method of the traditional round shaft straightening machine is usually based on fixed parameters, and cannot adapt to the dynamic load changes of round shafts with different materials and different diameters. For high-hardness materials or large-diameter round shafts, fixed acceleration and deceleration may cause excessive impact force of the main shaft, resulting in equipment shaking or mechanical damage. For low-hardness materials or small-diameter round shafts, overly conservative speed control will reduce the straightening efficiency.

[0005] To achieve the above purpose, the present application provides a main shaft adaptive speed control system of a round shaft straightening machine, which comprises a round shaft parameter acquisition module, a motor parameter acquisition module, a dynamic calculation module, a speed planning module and an execution control module. The round shaft parameter acquisition module is used to acquire the material properties, geometric parameters and load data of the round shaft in real time. The motor parameter acquisition module is used to obtain the rated torque, maximum speed, moment of inertia and real-time running data of the main shaft motor. The dynamic calculation module calculates the bending stiffness coefficient and maximum load torque of the round shaft based on the material properties, geometric parameters and load data of the round shaft. The speed planning module generates a main shaft speed control strategy according to the rated torque, maximum speed, moment of inertia and real-time running data of the main shaft motor and the calculation results of the dynamic calculation module. The execution control module drives the main shaft motor to operate based on the main shaft speed control strategy generated by the speed planning module.

[0006] The circular shaft parameter acquisition module includes a material detection unit, a geometric measurement unit, and a load sensing unit. The material detection unit uses an ultrasonic flaw detector or a spectrum analyzer to determine the elastic modulus E and the yield strength σ of the circular shaft in real time. y The geometric measurement unit uses a laser ranging sensor to obtain the diameter d and length L of the circular shaft. The load sensing unit uses a pressure sensor to monitor the load weight M of the main shaft.

[0007] The motor parameter acquisition module is further provided with a motor data real-time acquisition module for real-time acquisition of the instantaneous speed v and angular speed ω of the main shaft motor.

[0008] The specific calculation formula of the dynamic calculation module is:

[0009]

[0010] In the formula, K is the bending stiffness coefficient of the circular shaft, M max is the maximum load moment of the circular shaft.

[0011] The dynamic calculation module is further provided with a motor-load coupling calculation unit for calculating the matching degree of the actual output torque T of the motor and the load moment M load . The specific calculation formula is:

[0012] T = J total · α + M load , J total = J m + J load .

[0013] In the formula, α is the angular acceleration, J total is the total rotational inertia of the system, J load is the load rotational inertia, and J m is the rotational inertia of the main shaft motor.

[0014] The dynamic calculation module is further provided with a dynamic safety margin evaluation unit for calculating the safety factor η based on the rated torque T N of the main shaft motor and the maximum load moment M max of the circular shaft. The specific calculation formula is:

[0015]

[0016] When the safety factor η < 1.5, a warning is triggered.

[0017] When the speed planning module controls the speed of the main shaft, it includes controlling the acceleration au deceleration a of the main shaft d control, the acceleration a of the main shaft u The specific calculation formula is:

[0018]

[0019] In the formula, a base is the reference acceleration, K ref is the reference stiffness coefficient;

[0020] deceleration a of the main shaft d The specific calculation formula is:

[0021]

[0022] In the formula, k is the deceleration ratio coefficient, and the specific calculation formula of k is:

[0023] k = 1 + 0.02 · (lgM + lgV + lgK);

[0024] In the formula, V is the target speed of the main shaft (the preset theoretical maximum speed, the ideal running speed end point set according to process requirements, material characteristics and motor capacity).

[0025] The speed planning module adopts a segmented deceleration control strategy when controlling the deceleration a d of the main shaft, and specifically includes:

[0026] First stage: when v ≥ 0.7V, the deceleration a d 1 = 0.8a d ;

[0027] Second stage: when 0.3V ≤ v < 0.7V, the deceleration a d 2 = a d ;

[0028] Third stage: when v < 0.3V, the deceleration a d 3 = 1.2a d ;

[0029] Wherein, when switching between stages, the following conditions need to be met:

[0030]

[0031] In the formula, θ allow is the instantaneous overload angle allowed by the main shaft motor.

[0032] The speed planning module further includes a motor characteristic adaptation unit, which is configured to limit the target speed V of the main shaft according to the maximum speed ω max of the main shaft motor, and the specific limiting formula is:

[0033]

[0034] The speed planning module also includes a torque smoothing control unit, which adjusts the acceleration 'a' of the main shaft. u Make the rate of change of output torque dT / dt of the spindle motor satisfy:

[0035]

[0036] This invention also provides an adaptive speed control method for the spindle of a circular shaft straightening machine, applied to the adaptive speed control system of the spindle of a circular shaft straightening machine as described above, comprising the following steps:

[0037] The circular shaft parameter acquisition module is used to collect the material properties, geometric parameters, and load data of the circular shaft in real time.

[0038] The rated torque, maximum speed, moment of inertia, and real-time operating data of the spindle motor are obtained using the motor parameter acquisition module.

[0039] The dynamic calculation module is used to calculate the bending stiffness coefficient and maximum load torque of the circular shaft based on its material properties, geometric parameters, and load data.

[0040] The speed planning module generates a spindle speed control strategy based on the rated torque, maximum speed, moment of inertia, and real-time operating data of the spindle motor, as well as the calculation results of the dynamic calculation module.

[0041] The execution control module drives the spindle motor to run based on the spindle speed control strategy generated by the speed planning module.

[0042] This invention discloses an adaptive speed control method and system for the spindle of a circular shaft straightening machine. The system includes a circular shaft parameter acquisition module, a motor parameter acquisition module, a dynamic calculation module, a speed planning module, and an execution control module. The circular shaft parameter acquisition module acquires material properties and geometric parameters in real time. Combined with data such as rated torque and speed from the motor parameter acquisition module, the dynamic calculation module establishes an accurate mechanical model including bending stiffness coefficient and maximum load torque. The speed planning module dynamically adjusts the control strategy based on this model: for high-hardness / large-diameter circular shafts, it automatically reduces acceleration and extends deceleration time through stiffness coefficient adjustment to effectively suppress impact force; for low-hardness / small-diameter circular shafts, it increases acceleration to the motor's safety limit to improve straightening efficiency. The execution control module ensures that the speed curve always matches the real-time load through torque feedforward and segmented deceleration control. This dual adaptive control system based on material properties and motor capabilities balances the straightening efficiency and equipment safety of the straightening machine while ensuring accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings required to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0044] Figure 1 is the principle block diagram of the self-adaptive speed control system of the main shaft of the round shaft straightening machine provided by the present application.

[0045] Figure 2 is the step flow chart of the self-adaptive speed control method of the main shaft of the round shaft straightening machine provided by the present application.

[0046] 101-round shaft parameter acquisition module, 102-motor parameter acquisition module, 103-dynamic calculation module, 104-speed planning module, 105-execution control module, 106-material detection unit, 107-geometric measurement unit, 108-load sensing unit, 109-motor data real-time acquisition module, 110-motor-load coupling calculation unit, 111-dynamic safety margin evaluation unit, 112-motor characteristic adaptation unit, 113-torque smoothing control unit, 114-vector control unit, 115-thermal management unit. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0048] Please refer to Figure 1The application provides a round shaft straightening machine spindle adaptive speed control system, which comprises a round shaft parameter acquisition module 101, a motor parameter acquisition module 102, a dynamic calculation module 103, a speed planning module 104 and an execution control module 105, the round shaft parameter acquisition module 101 is used for acquiring the material property, geometric parameter and load data of the round shaft in real time, the motor parameter acquisition module 102 is used for acquiring the rated torque, maximum speed, rotational inertia and real-time operation data of the spindle motor, the dynamic calculation module 103 calculates the bending stiffness coefficient and maximum load torque of the round shaft based on the material property, geometric parameter and load data of the round shaft, the speed planning module 104 generates a spindle speed control strategy according to the rated torque, maximum speed, rotational inertia and real-time operation data of the spindle motor and the calculation result of the dynamic calculation module 103, and the execution control module 105 drives the spindle motor to operate based on the spindle speed control strategy generated by the speed planning module 104.

[0049] In the embodiment, the material property and geometric parameter are acquired in real time by the round shaft parameter acquisition module 101, and the rated torque, speed and other data of the motor parameter acquisition module 102 are combined to establish an accurate mechanical model containing the bending stiffness coefficient and maximum load torque by the dynamic calculation module 103, and the speed planning module 104 dynamically adjusts the control strategy based on the model: for high-hardness / large-diameter round shafts, the acceleration is automatically reduced and the deceleration time is prolonged through the stiffness coefficient, so as to effectively inhibit the impact force; for low-hardness / small-diameter round shafts, the acceleration is improved to the motor safety limit, so that the straightening efficiency is improved, and the execution control module 105 ensures that the speed curve always matches the real-time load through torque feedforward and segmented deceleration control, and through the above-mentioned control system based on the double adaptation of material properties and motor capacity, the straightening efficiency and equipment safety of the straightening machine are balanced while the accuracy is ensured.

[0050] Further, the round shaft parameter acquisition module 101 comprises a material detection unit 106, a geometric measurement unit 107 and a load sensing unit 108, the material detection unit 106 uses an ultrasonic flaw detector or a spectrum analyzer to determine the elastic modulus E and yield strength σ y of the round shaft in real time, the geometric measurement unit 107 uses a laser ranging sensor to acquire the diameter d and length L of the round shaft, and the load sensing unit 108 uses a pressure sensor to monitor the spindle load weight M.

[0051] The motor parameter acquisition module is further provided with a motor data real-time acquisition module 109, which is used for acquiring the instantaneous speed v and angular speed ω of the spindle motor in real time.

[0052] Further, the specific calculation formula of the dynamic calculation module 103 is:

[0053]

[0054] In the formula, K is the bending stiffness coefficient of the round shaft, M max is the maximum load torque of the round shaft.

[0055] Further, the dynamic calculation module 103 is further provided with a motor-load coupling calculation unit 110, which is used to calculate the matching degree of the actual output torque T of the motor and the load torque M load , and the specific calculation formula is:

[0056] T = J total · α + M load , J total = J m + J load ;

[0057] In the formula, α is the angular acceleration, J total is the total rotational inertia of the system, J load is the load rotational inertia, and J m is the rotational inertia of the main shaft motor.

[0058] The dynamic calculation module 103 is further provided with a dynamic safety margin evaluation unit 111, which calculates the safety coefficient η based on the rated torque T N of the main shaft motor and the maximum load torque M max of the round shaft, and the specific calculation formula is:

[0059]

[0060] When the safety coefficient η is less than 1.5, a warning is triggered.

[0061] In the embodiment, through the double protection mechanism of the motor-load coupling calculation unit 110 and the dynamic safety margin evaluation unit 111, the precise matching of the motor output and the load characteristics and the real-time safety monitoring are realized. The motor-load coupling calculation unit 110 realizes the precise matching of the motor output and the load characteristics through the torque balance equation T = J total · α + M loadThe total rotational inertia of the system (including the inertia of the motor and the load inertia) is dynamically related to the angular acceleration, ensuring accurate torque distribution under different inertia loads. The dynamic safety margin evaluation unit 111 quantifies the system safety margin and provides immediate warning when the safety factor η < 1.5, effectively preventing overload risks during high hardness / large diameter round shaft straightening. Through the innovative design of dynamic coupling + real-time protection, the system can adapt to sudden changes in load from aluminum alloy to high carbon steel and other materials, and ensure long-term stable operation of the motor, solving the dilemma of "not daring to accelerate" and "unexpected overload" of traditional straightening machines under complex working conditions.

[0062] Further, when the speed planning module 104 controls the speed of the main shaft, it includes controlling the acceleration a u of the main shaft and the deceleration a d of the main shaft. The specific calculation formula of the acceleration a u of the main shaft is:

[0063]

[0064] In the formula, a base is the reference acceleration, and K ref is the reference stiffness coefficient.

[0065] The specific calculation formula of the deceleration a d of the main shaft is:

[0066]

[0067] In the formula, k is the deceleration ratio coefficient, and the specific calculation formula of k is:

[0068] k = 1 + 0.02 · (lgM + lgV + lg K);

[0069] In the formula, V is the target speed of the main shaft (the theoretical maximum speed preset, the ideal running speed endpoint set according to process requirements, material properties and motor capacity).

[0070] Further, when the speed planning module 104 controls the deceleration a d of the main shaft, it adopts a segmented deceleration control strategy, which specifically includes:

[0071] First stage: when v ≥ 0.7V, the deceleration a d 1 = 0.8a d ;

[0072] Second stage: when 0.3V ≤ v < 0.7V, the deceleration a d 2 = a d ;

[0073] Third stage: when v < 0.3V, the deceleration ad 3 = 1.2a d ;

[0074] Wherein, each stage switching needs to meet:

[0075]

[0076] In the formula, θ allow is the instantaneous overload angle allowed by the main shaft motor.

[0077] Further, the speed planning module 104 further includes a motor characteristic adaptation unit 112, which is used to limit the target speed V of the main shaft according to the maximum speed ω max of the main shaft motor, and the specific limiting formula is:

[0078]

[0079] The speed planning module 104 further includes a torque smoothing control unit 113, which adjusts the acceleration a u of the main shaft to make the output torque change rate dT / dt of the main shaft motor satisfy:

[0080]

[0081] In the embodiment, the motor characteristic adaptation unit 112 dynamically restricts the target speed V of the main shaft based on the maximum speed ω max of the main shaft motor, and ensures that the linear speed of the different diameter circular shafts is always within the safe speed range of the motor, thereby fundamentally eliminating the risk of overspeed; the torque smoothing control unit 113 strictly limits the torque change rate, so that the motor output torque presents a smooth transition, effectively inhibiting the torque mutation phenomenon commonly seen in the acceleration and deceleration stages of traditional straightening machines, and through the double insurance mechanism of speed hard constraint + torque soft adjustment, the vibration and overheating problems in high dynamic load working conditions are solved, and high-speed and high-precision stable straightening is realized.

[0082] Further, the execution control module 105 is provided with a vector control unit 114 and a thermal management unit 115, the vector control unit 114 realizes accurate torque control of the main shaft motor by using the FOC algorithm, and the thermal management unit 115 adjusts the output power of the motor based on the temperature rise τ of the main shaft motor, and the specific adjustment formula is:

[0083] P out =P rated ·(1-0.01τ), when τ>70℃, run at reduced power.

[0084] In the embodiment, the vector control unit 114 adopts a FOC (field-oriented control) algorithm to precisely control the main shaft motor torque in a closed loop, and the control precision can reach ±2%, which significantly improves the stability of the straightening force; the thermal management unit 115 adjusts the output power in real time through the temperature rise τ of the main shaft motor, and automatically runs at a reduced capacity when τ>70℃, which ensures that the motor does not overheat and damage, and maximizes the continuity of the operation. Through the synergistic mechanism of precise torque control and intelligent thermal protection, the system can still maintain the best performance state when working for a long time under high load.

[0085] Wherein, the temperature rise τ of the main shaft motor is directly collected by the embedded temperature sensor (such as PT100 platinum resistance in the stator winding or bearing integrated thermocouple) installed in the main shaft motor, and at the same time, infrared thermal imaging monitoring and thermal model estimation based on current-speed are used for data fusion and verification to ensure the real-time and reliability of the temperature rise data.

[0086] Please refer to Figure 2 The application further provides a main shaft adaptive speed control method for a round shaft straightening machine, which is applied to the main shaft adaptive speed control system of the round shaft straightening machine and comprises the following steps:

[0087] S1: Real-time collection of material properties, geometric parameters and load data of the round shaft by the round shaft parameter acquisition module 101;

[0088] S2: Acquisition of the rated torque, maximum speed, moment of inertia and real-time operation data of the main shaft motor by the motor parameter acquisition module 102;

[0089] S3: Calculation of the bending stiffness coefficient and maximum load torque of the round shaft based on the material properties, geometric parameters and load data of the round shaft by the dynamic calculation module 103;

[0090] S4: Generation of the main shaft speed control strategy based on the rated torque, maximum speed, moment of inertia and real-time operation data of the main shaft motor and the calculation result of the dynamic calculation module 103 by the speed planning module 104;

[0091] S5: Driving the main shaft motor to operate based on the main shaft speed control strategy generated by the speed planning module 104 by the execution control module 105.

[0092] In the embodiment, the material properties and geometric parameters are acquired in real time by the circular shaft parameter acquisition module 101, and combined with the rated torque, rotating speed and other data of the motor parameter acquisition module 102, the dynamic calculation module 103 establishes an accurate mechanical model containing bending stiffness coefficient and maximum load torque, the speed planning module 104 dynamically adjusts the control strategy based on the model: for high hardness / large diameter circular shaft, the stiffness coefficient automatically reduces the acceleration and prolongs the deceleration time, effectively inhibiting the impact force; for low hardness / small diameter circular shaft, the acceleration is increased to the motor safety limit, so that the straightening efficiency is improved, the execution control module 105 controls the torque feedforward and segmented deceleration, ensures that the speed curve is always matched with the real-time load, and through the above-mentioned control system based on the double adaptation of material properties and motor capacity, the straightening efficiency and equipment safety of the straightening machine are balanced while ensuring the accuracy.

[0093] The above only discloses a preferred embodiment of the present application, of course cannot limit the scope of the present application, those skilled in the art can understand that the above-mentioned embodiment can be implemented in whole or in part, and the equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. A spindle adaptive speed control system of a round shaft straightening machine, characterized in that, it comprises a round shaft parameter acquisition module, a motor parameter acquisition module, a dynamic calculation module, a speed planning module and an execution control module, the round shaft parameter acquisition module is used to acquire material properties, geometric parameters and load data of the round shaft in real time, the motor parameter acquisition module is used to acquire rated torque, maximum speed, moment of inertia and real-time running data of the spindle motor, the dynamic calculation module is used to calculate bending stiffness coefficient and maximum load torque of the round shaft based on the material properties, geometric parameters and load data of the round shaft, the speed planning module is used to generate a spindle speed control strategy according to the rated torque, maximum speed, moment of inertia and real-time running data of the spindle motor and the calculation result of the dynamic calculation module, and the execution control module drives the spindle motor to run based on the spindle speed control strategy generated by the speed planning module. 2.The spindle adaptive speed control system of the round shaft straightening machine according to claim 1, characterized in that, The circular shaft parameter acquisition module comprises a material detection unit, a geometric measurement unit and a load sensing unit, the material detection unit adopts an ultrasonic flaw detector or a spectrum analyzer to measure the elastic modulus E and the yield strength σ of the circular shaft in real time y , the geometric measurement unit adopts a laser ranging sensor to obtain the diameter d and the length L of the circular shaft, and the load sensing unit adopts a pressure sensor to monitor the load weight M of the main shaft. a motor data real-time acquisition module is further arranged on the motor parameter acquisition module, and the motor data real-time acquisition module is used to acquire instantaneous speed v and angular speed ω of the spindle motor in real time. 3.The spindle adaptive speed control system of the round shaft straightening machine according to claim 2, characterized in that, the specific calculation formula of the dynamic calculation module is: where K is the bending stiffness coefficient of the circular shaft, M max is the maximum load moment of the circular shaft. 4.The spindle adaptive speed control system of the round shaft straightening machine according to claim 3, characterized in that, The dynamic calculation module is also equipped with a motor-load coupling calculation unit, which is used to calculate the actual output torque T of the motor and the load torque M. load The matching degree is calculated using the following formula: T = J total • α + M load J total = J m + J load ; where a is the angular acceleration, J total Jtotai is the total moment of inertia of the system, J load Jload is the moment of inertia of the load, J m Jmain is the moment of inertia of the main shaft motor; The dynamic calculation module is further provided with a dynamic safety margin evaluation unit, which is based on the rated torque T N and the maximum load torque M of the circular shaft max calculates the safety coefficient η, and the specific calculation formula is: wherein, when the safety factor η < 1.5, a pre-warning is triggered. 5.The spindle adaptive speed control system of the round shaft straightening machine according to claim 4, characterized in that, The speed planning module controls the spindle speed, including the control of the acceleration a u and the deceleration a d of the spindle. The specific calculation formula of the acceleration a u of the spindle is: In the formula, a base is the reference acceleration, K ref is the reference stiffness coefficient; The deceleration a of the main shaft d The specific calculation formula is: wherein, k is a deceleration proportionality coefficient, and the specific calculation formula of k is: k = 1 + 0.02 · (lg M + lg V + lg K) ; wherein, V is the target speed of the spindle. 6.The spindle adaptive speed control system of the round shaft straightening machine according to claim 5, characterized in that, The speed planning module adopts a segmented deceleration control strategy when controlling the deceleration a d of the main shaft, and specifically includes: First phase: v > 0.7V, deceleration a d 1 = 0.8a d ; Second phase: 0.3V ≤ v < 0.7V, deceleration a d 2 = a d ; Third phase: v < 0.3V, deceleration a d 3 = 1.2a d ; wherein, the following conditions need to be met when switching between stages: In the formula, θ allow is the instantaneous overload angle allowed by the spindle motor. 7.The spindle adaptive speed control system of the round shaft straightening machine according to claim 6, characterized in that, The speed planning module further comprises a motor characteristic adaptation unit for adapting the target speed V of the spindle motor in dependence on the maximum rotational speed ω max The target speed V of the spindle is limited, in particular according to the formula The speed planning module further comprises a torque smoothing control unit which adjusts the acceleration a u The spindle motor output torque rate of change dT / dt is made to satisfy:

8. A kind of round shaft straightening machine spindle adaptive speed control method, it is applied to the round shaft straightening machine spindle adaptive speed control system as claimed in claim 1, it is characterized in that, it comprises the following steps: acquiring material properties, geometric parameters and load data of the round shaft in real time by using the round shaft parameter acquisition module; acquiring rated torque, maximum speed, moment of inertia and real-time running data of the spindle motor by using the motor parameter acquisition module; calculating bending stiffness coefficient and maximum load torque of the round shaft based on the material properties, geometric parameters and load data of the round shaft by using the dynamic calculation module; generating a spindle speed control strategy based on the rated torque, maximum speed, moment of inertia and real-time running data of the spindle motor and the calculation result of the dynamic calculation module by using the speed planning module; driving the spindle motor to run based on the spindle speed control strategy generated by the speed planning module by using the execution control module.

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