A distributed control method and system for feeding motor rotor laminations

Abstract

This application relates to the field of automatic feeding technology, and provides a distributed control method and system for feeding motor rotor laminations. The method includes: setting up programmable logic controllers (PLCs) at multiple feeding nodes, each controller connected to a synchronous Buck topology circuit; reading and parsing the feeding task script, identifying the collaborative feeding nodes and their task control precision from multiple feeding nodes; sending a precision synchronization command to a coordination terminal based on the task control precision to obtain a corresponding fluctuation limiting signal; and the coordination terminal performing distributed collaborative control on the output of the synchronous Buck circuit connected to the collaborative feeding nodes based on the fluctuation limiting signal to complete the execution of the feeding task script. This application solves the technical problems of inconsistent actions and large precision fluctuations caused by independent control of each feeding node in the traditional motor rotor lamination feeding process, achieving the technical effect of highly consistent actions of each feeding node and controllable feeding precision through distributed synchronous control and high-precision DC bus clamping.

Description

Technical Field

[0001] This application relates to the field of automatic feeding technology, specifically to a distributed control method and system for feeding motor rotor laminations. Background Technology

[0002] As a core component of motors, the machining accuracy of motor rotor laminations directly affects the overall performance of the machine. In the lamination production process, the feeding stage plays a crucial role in accurately and stably delivering the lamination material to the stamping station. Traditional feeding systems typically employ centralized control or single-node independent control modes, resulting in problems such as asynchronous actions, large accuracy fluctuations, and poor system stability. This is especially problematic in high-speed, high-volume production scenarios, easily leading to lamination misalignment, uneven stacking, or decreased production efficiency. Furthermore, existing systems lack effective physical-level synchronization mechanisms when dealing with the coordinated operation of multiple feeding nodes, failing to fundamentally guarantee the consistency of actions across nodes. This often necessitates compensation through complex software algorithms, increasing control complexity and the risk of failure. Therefore, achieving high-precision coordinated control of multiple feeding nodes to ensure synchronized feeding actions and system stability and reliability has become a pressing technical problem to be solved in the field of motor rotor lamination production. Summary of the Invention

[0003] This application provides a distributed control method and system for feeding motor rotor laminations, aiming to solve the technical problems of inconsistent actions and large accuracy fluctuations caused by independent control of each feeding node in the traditional motor rotor lamination feeding process.

[0004] The first aspect disclosed in this application provides a distributed control method for feeding motor rotor laminations. The method includes: setting up programmable logic controllers (PLCs) at multiple feeding nodes, wherein each PLC is connected to a synchronous Buck topology circuit to obtain multiple synchronous Buck topologies circuits, and the multiple synchronous Buck topologies circuits are connected in parallel to a coordination terminal via a DC bus; reading the feeding task script of the motor rotor laminations and parsing the feeding task script to identify multiple collaborative feeding nodes and the task control precision of the multiple collaborative feeding nodes; sending a precision synchronization command to the coordination terminal according to the task control precision to obtain a fluctuation limiting signal corresponding to the task control precision; and the coordination terminal performing distributed collaborative control on the signals output by the synchronous Buck topologies circuits connected to the multiple collaborative feeding nodes according to the fluctuation limiting signal to execute the feeding task script.

[0005] Another aspect of this application discloses a distributed control system for feeding motor rotor laminations. The system includes: a controller setting module: programmable logic controllers (PLCs) are set at multiple feeding nodes, wherein each PLC is connected to a synchronous Buck topology circuit to obtain multiple synchronous Buck topology circuits, and the multiple synchronous Buck topology circuits are connected in parallel to a coordination terminal via a DC bus; a task parsing module: reads the feeding task script of the motor rotor laminations and parses the feeding task script to identify multiple collaborative feeding nodes and the task control precision of the multiple collaborative feeding nodes; an instruction sending module: sends a precision synchronization instruction to the coordination terminal according to the task control precision to obtain a fluctuation limiting signal corresponding to the task control precision; and a collaborative control module: the coordination terminal performs distributed collaborative control on the signals output by the synchronous Buck topology circuits connected to the multiple collaborative feeding nodes according to the fluctuation limiting signal, and executes the feeding task script.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0007] The aforementioned distributed control method for feeding motor rotor laminations first installs a programmable logic controller (PLC) at each feeding node and connects it to a synchronous Buck topology circuit, forming multiple parallel synchronous Buck circuits. These circuits are then connected to a coordination terminal via a DC bus for unified physical layer management. Next, the feeding task script for the motor rotor laminations is read and parsed to identify the feeding nodes requiring collaborative operation and their control precision. Then, synchronization commands are sent to the coordination terminal based on the precision requirements of each node, generating corresponding fluctuation limiting signals. Finally, the coordination terminal uses these signals to perform distributed control of the synchronous Buck circuit outputs of each collaborative node, ensuring that all feeding nodes execute feeding actions with high precision and synchronization according to the task script.

[0008] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1This is a flowchart illustrating a distributed control method for feeding motor rotor laminations in one embodiment.

[0011] Figure 2 This is a diagram of the distributed control system architecture for feeding motor rotor laminations in one embodiment.

[0012] Figure 3 This is a schematic diagram of a synchronous Buck topology circuit in one embodiment.

[0013] Explanation of reference numerals in the attached diagram: Controller setting module 11, Task parsing module 12, Command sending module 13, Cooperative control module 14. Detailed Implementation

[0014] This application provides a distributed control method and system for feeding motor rotor laminations, which solves the technical problems of inconsistent actions and large accuracy fluctuations caused by independent control of each feeding node in the traditional motor rotor lamination feeding process.

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0016] It should be noted that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product, or device.

[0017] Example 1, as Figure 1 , Figure 3 As shown, this application provides a distributed control method for feeding motor rotor laminations, the method comprising:

[0018] Programmable logic controllers are set up at multiple feeding nodes, and each programmable logic controller is connected to a synchronous Buck topology circuit to obtain multiple synchronous Buck topology circuits. The multiple synchronous Buck topology circuits are integrated into the coordination terminal in parallel through a DC bus.

[0019] In this embodiment, the production line has multiple feeding nodes, each equipped with a programmable logic controller (PLC) for control calculations and signal processing. Each PLC is connected to a synchronous Buck topology circuit via a control interface. This synchronous Buck topology circuit includes high-side and low-side switching transistors, inductors, and filter capacitors, which convert the control signals output by the PLC into precise current or power signals to regulate and output the driving signals of the feeding nodes. Multiple synchronous Buck topologies are connected in parallel to a coordination terminal via a DC bus, forming a unified power and signal sharing network. This allows the output signals of each node to be uniformly controlled and synchronized by the coordination terminal. This coordination terminal is typically a multi-channel digital power controller, capable of monitoring the output status of each synchronous Buck circuit in real time and sending synchronization control signals to each node via the DC bus. This achieves physical-level power clamping and action synchronization of multiple feeding nodes, thereby maintaining the overall stability and coordination of operation.

[0020] Furthermore, this application provides that each synchronous Buck topology circuit includes a first switching transistor, a second switching transistor, an inductor, a filter capacitor, and a sampling circuit; wherein, the first switching transistor is a high-side MOSFET, the second switching transistor is a low-side MOSFET, and a modulation signal is obtained by controlling the high-side MOSFET and the low-side MOSFET to conduct alternately; the inductor and the filter capacitor are used to filter the modulation signal; and the sampling circuit feeds back the filtered modulation signal to the programmable logic controller.

[0021] Preferably, in each feeding node, the synchronous Buck topology circuit includes a first switching transistor and a second switching transistor, which are a high-side MOSFET and a low-side MOSFET, respectively. It also includes an inductor, a filter capacitor, and a sampling circuit. In actual control, the PLC controls the high-side and low-side MOSFETs to conduct alternately according to the task instructions, and generates a modulation signal through pulse width modulation (PWM). Specifically, the PLC first calculates the output duty cycle according to the feeding task requirements. When the high-side MOSFET is turned on, current flows from the input to the inductor, and the inductor begins to store energy. When the high-side MOSFET is turned off and the low-side MOSFET is turned on, the inductor releases the stored energy while maintaining continuous current flow. The pulse modulation signal is then smoothed by the filter capacitor, filtering the pulsating voltage and current into a stable output close to DC. Finally, the sampling circuit detects the filtered voltage or current signal in real time and sends the feedback signal back to the PLC, helping the PLC dynamically adjust the duty cycle of the high-side and low-side MOSFETs, thereby achieving closed-loop control. This ensures that the drive power output of the feeding node is accurate and stable, and meets the action requirements set in the subsequent task script.

[0022] Furthermore, this application provides a diode connected in series at the output of each synchronous Buck topology circuit; if a short-circuit abnormality is detected in the current synchronous Buck topology circuit, the diode is controlled to conduct on the DC bus to isolate the current synchronous Buck topology circuit.

[0023] Preferably, a diode is connected in series at the output of each synchronous Buck topology circuit. This diode is used to protect the entire DC bus and other parallel circuits in case of abnormal conditions. Under normal circumstances, the synchronous Buck topology circuit outputs a normal voltage, and the diode is forward-biased, allowing the circuit to output power to the DC bus normally. When an abnormal operation is detected in a synchronous Buck topology circuit, such as a short circuit at the output or damage to the internal MOSFET causing an abnormal increase in current, the PLC or coordination terminal will immediately send a control signal to drive the diode at that output to reverse or cut off the connection between the current circuit and the bus. This allows the current to bypass through the diode and flow to the bus, preventing the short-circuit current from further affecting other synchronous Buck circuits, ensuring that the remaining nodes can continue to operate stably, and avoiding overall voltage fluctuations or bus damage. This allows the feeding system to maintain the stability and safety of distributed collaborative control even when a single circuit is abnormal, thereby ensuring the continuity and reliability of the entire feeding task.

[0024] The feeding task script for the motor rotor laminations is read and parsed to identify multiple collaborative feeding nodes and the task control precision of the multiple collaborative feeding nodes.

[0025] In one embodiment, the feeding task script for the motor rotor laminations is first read from the storage medium or the host computer control terminal. This feeding task script describes the action information of each feeding node in a structured form. By parsing this action information, information such as the node number, action type, and execution time can be obtained. Subsequently, based on this information, the time overlap or path relationship between nodes is determined, and feeding nodes that need to be executed collaboratively are identified and marked as collaborative feeding nodes. Then, task accuracy parameters such as position accuracy threshold and speed fluctuation threshold of these collaborative nodes are extracted, and the task control accuracy of each collaborative node is determined through normalization processing, laying the data foundation for the subsequent generation of accuracy synchronization instructions and distributed collaborative control.

[0026] Furthermore, this application provides a method for parsing the feeding task script and identifying multiple collaborative feeding nodes from the multiple feeding nodes, including:

[0027] The feeding task script is parsed to obtain a node information table, which includes structured storage of feeding node numbers, action types, execution sequences, and execution paths. Based on the node information table, collaborative feeding nodes are identified. When the overlap of action times is greater than a preset overlap threshold, or when there is an interaction relationship between nodes in the feeding path, they are identified as collaborative feeding nodes.

[0028] Preferably, the read feeding task script is first parsed according to preset key names to form a structured node information table. Each record in this node information table contains information such as feeding node number, action type (e.g., push, grip, or shift), execution sequence (e.g., start time, duration), and execution path (feeding trajectory or spatial position sequence). Subsequently, collaborative feeding node identification is performed on the node information table. During this process, the overlap of each node's action time is calculated as the proportion of the intersection of different node action time periods to their total action time. When the calculated action time overlap exceeds a preset overlap threshold, it indicates that these nodes need to coordinate their operations in time, and these nodes are marked as collaborative feeding nodes. Furthermore, the interdependence between nodes in the feeding path is analyzed; that is, it is determined whether they share the same track, or whether the Euclidean distance between paths at the same time is less than a preset tolerance distance. This indicates that there is an interaction relationship between the feeding paths, and these related nodes are also identified as collaborative feeding nodes, and their identifiers and related parameters are recorded in the node information table, providing a data foundation for subsequent fluctuation limiting signal generation and coordinated terminal control.

[0029] Table 1: Example Table of Node Information

[0030]

[0031] Table 1 above is an example of node information. The table shows the node number, action type, execution sequence, and execution path, which can help identify which nodes belong to the collaborative feeding nodes and provide basic data for task control accuracy calculation and fluctuation limit signal generation.

[0032] Furthermore, this application provides a method for obtaining the task control accuracy of the plurality of collaborative feeding nodes, including:

[0033] Extract the parameter set for each of the multiple collaborative feeding nodes to characterize the task control accuracy, and normalize the parameter set to obtain the task control accuracy; wherein, the parameter set includes a position accuracy threshold, a speed fluctuation threshold, a time jitter threshold, and an allowable error range.

[0034] Optionally, after identifying the collaborative feeding nodes, a set of parameters characterizing the task control accuracy is extracted for each collaborative feeding node. This includes the node's position accuracy threshold, speed fluctuation threshold, time jitter threshold, and allowable error range. The position accuracy threshold refers to the maximum allowable displacement deviation of the node during feeding; the speed fluctuation threshold refers to the allowable fluctuation range of the feeding action speed; the time jitter threshold refers to the maximum deviation of the action start or end time; and the allowable error range refers to the acceptable limit for the overall deviation of the node's actions. Subsequently, each parameter in the parameter set is subtracted from its minimum value and divided by its range to normalize these parameters to values ​​between 0 and 1, eliminating differences in the dimensions and magnitudes of different physical quantities and enabling unified measurement and comparison of the parameters. Then, the normalized parameter set is weighted to form the final task control accuracy index. This task control accuracy is used to generate fluctuation limiting signals and guide distributed collaborative control, enabling each node to execute actions efficiently and stably according to uniform accuracy requirements in the feeding task.

[0035] According to the task control precision, a precision synchronization command is sent to the coordination terminal to obtain a fluctuation limiting signal corresponding to the task control precision.

[0036] In one embodiment, after acquiring the task control accuracy of each collaborative feeding node, the control accuracy information of each node is encapsulated into an accuracy synchronization command and sent to the coordination terminal. Upon receiving the accuracy synchronization command, the coordination terminal converts the task control accuracy into a corresponding fluctuation limiting signal according to a pre-set accuracy level mapping template. The fluctuation limiting signal is used to constrain the output fluctuation of the synchronous Buck topology circuit of each node, thereby achieving physical-level motion accuracy control. For example, for standard accuracy mode, the fluctuation limiting signal requires the DC bus voltage ripple to be controlled within a range of less than +0.1V to ensure that the feeding node can maintain stable output during high-speed transmission, meeting the execution requirements of general feeding actions. For high-precision mode, the fluctuation limiting signal requires the bus voltage ripple to be strictly controlled within a range of ±0.02V, used for speed reduction processing of the feeding node before visual positioning, or to achieve high-precision operation in the final positioning action, ensuring that the feeding position and attitude meet strict requirements. After obtaining the fluctuation limiting signal, the coordination terminal will drive the synchronous Buck topology circuit of each collaborative feeding node to output accurately according to the fluctuation limiting signal, thereby achieving high-precision, synchronous, and stable operation of the entire feeding system.

[0037] Furthermore, this application provides a method for obtaining a fluctuation limiting signal corresponding to the task control accuracy, comprising:

[0038] The task control precision is mapped according to the precision level mapping template to obtain the task control precision level. The precision level mapping template includes multiple control precision intervals, and each control precision interval includes a predefined level. A fluctuation limiting strategy template is configured for the precision level mapping template. The fluctuation limiting strategy template includes amplitude limiting, slope limiting, dead zone response interval, and fluctuation suppression time window corresponding to each precision level. A fluctuation limiting signal corresponding to the task control precision is obtained through the fluctuation limiting strategy template.

[0039] Preferably, upon receiving the precision synchronization command, the coordination terminal parses the task control precision of each collaborative feeding node from the command and maps these precisions to a pre-built precision level mapping template. This template divides continuous control precision parameters into several precision intervals, each corresponding to a predefined task control precision level. For example, a low precision interval corresponds to a standard precision level, and a high precision interval corresponds to a high precision level. By comparing the normalized control precision value of a node with the boundary values ​​of each precision interval, the task control precision level of each node can be determined. Subsequently, the coordination terminal calls the fluctuation limiting strategy template based on the task control precision level. This template is pre-configured according to actual business needs and includes a limiting control parameter group for each task control precision level. Each limiting control parameter group includes amplitude limiting, slope limiting, dead zone response interval, and fluctuation suppression time window. Amplitude limiting is used to limit the maximum fluctuation amplitude of the output signal; slope limiting is used to control the signal change rate and prevent abrupt changes; dead zone response interval is used to ignore small interference signals and avoid frequent responses; and fluctuation suppression time window is used to smooth output fluctuations within a certain time period. Finally, the coordinating terminal generates a fluctuation limiting signal that matches the task control precision based on the task control precision level of the node and the matched fluctuation limiting strategy. This fluctuation limiting signal directly acts on the synchronous Buck topology circuit of each collaborative feeding node to achieve precision constraints on the output signal, thereby ensuring that the entire feeding system is both stable and meets the task precision requirements of each node under distributed collaborative control.

[0040] Furthermore, this application provides a method to reconfigure the fluctuation limiting signal and send it to the corresponding programmable logic controller when the output error of any of the plurality of collaborative feeding nodes is detected to be greater than the task control accuracy error threshold.

[0041] Preferably, during the operation of the feeding system, the coordination terminal continuously monitors the output signals of each collaborative feeding node, obtains the real-time output voltage or current of the synchronous Buck topology circuit through a sampling loop, and compares it with a pre-set target value to calculate the output error. When the output error of any collaborative feeding node exceeds the task control accuracy error threshold corresponding to that node, the coordination terminal immediately triggers an anomaly handling mechanism. That is, the actual output deviation is taken into consideration, and the task control accuracy of the node is reassessed by normalizing the current position error, speed error, and time error. This allows the matching of the fluctuation limiting signal corresponding to the node to be matched and resent to the PLC corresponding to the collaborative feeding node. The PLC adjusts the duty cycle or output power of the synchronous Buck topology circuit according to the new fluctuation limiting signal to achieve closed-loop correction, thereby ensuring that the feeding node actions maintain high precision and synchronization, and avoiding local anomalies from affecting the stable operation of the entire feeding system.

[0042] The coordination terminal performs distributed collaborative control on the signals output by the synchronous Buck topology circuit connected to the multiple collaborative feeding nodes according to the fluctuation limiting signal, and executes the feeding task script.

[0043] In one embodiment, after acquiring the fluctuation limiting signals from each collaborative feeding node, the coordination terminal sends these signals to the corresponding PLCs. Each PLC, upon receiving the fluctuation limiting signal, maps it to the duty cycle adjustment parameters or output power limit values ​​of the synchronous Buck topology circuit. For example, based on the relationship between the input bus voltage and the target output voltage of the Buck circuit, the theoretical value of the required duty cycle is calculated. Then, the allowable amplitude range of fluctuation limiting is added to or subtracted from the theoretical value to form the upper and lower limits of the duty cycle, and the rate of change of the duty cycle is limited by the slope limiting. Subsequently, the PLC adjusts the output voltage or current of the synchronous Buck topology circuit according to these parameter constraints to ensure that the amplitude, rate of change, and jitter range of the output signal all meet the fluctuation limiting requirements, thereby achieving physical-level motion precision control. Simultaneously, the coordination terminal performs distributed scheduling of each collaborative node according to the execution order and timing requirements of the feeding task script, ensuring the synchronization of actions, thereby completing a high-speed, accurate, and stable distributed feeding operation.

[0044] Furthermore, this application provides a method for the coordination terminal to perform distributed coordinated control on the signals output by the synchronous Buck topology circuit connected to the plurality of coordinated feeding nodes according to the fluctuation limiting signal, including:

[0045] The coordination terminal sends the fluctuation limiting signal to the programmable logic controllers corresponding to the multiple collaborative feeding nodes. The programmable logic controller maps the fluctuation limiting signal to the duty cycle adjustment parameter of the synchronous Buck topology circuit. Based on the duty cycle adjustment parameter, it adjusts the signal output by the synchronous Buck topology circuit to obtain a distributed collaborative control signal. The distributed collaborative control signal is used to control the multiple collaborative feeding nodes to execute the feeding task script.

[0046] Preferably, the coordinating terminal first sends the fluctuation limiting signal of each collaborative feeding node to the corresponding PLC. Upon receiving the fluctuation limiting signal, each PLC divides the node's target output voltage by the bus voltage to calculate the initial value of the duty cycle. Then, it dynamically corrects the duty cycle based on the amplitude and slope limiting in the fluctuation limiting signal, thereby obtaining the duty cycle adjustment parameters for the synchronous Buck topology circuit. These duty cycle adjustment parameters are used to control the conduction time of the high-side and low-side MOSFETs, thereby adjusting the amplitude and rate of change of the output voltage or current. Subsequently, the PLC performs closed-loop regulation of the synchronous Buck circuit according to the duty cycle adjustment parameters, keeping the output signal within the range set by the fluctuation limiting signal, forming a distributed collaborative control signal. Afterward, the PLC uses this collaborative control signal to drive the actuator of the feeding node, completing the feeding action according to the action sequence, time, and path specified in the feeding task script. The entire process provides real-time, precise physical layer control for each collaborative feeding node, achieving synchronization and coordination between nodes, thereby ensuring the stability and controllability of the entire feeding system in high-speed or high-precision operating modes.

[0047] Furthermore, this application provides a method for the coordinated terminal to perform distributed coordinated control on the signals output by the synchronous Buck topology circuit connected to the plurality of coordinated feeding nodes according to the fluctuation limiting signal, the method further comprising:

[0048] The coordination terminal includes a clock synchronization protocol, which sends a timestamp signal to the synchronous Buck topology circuit connected to the plurality of collaborative feeding nodes according to the clock synchronization protocol; the coordination terminal synchronously controls the output of the synchronous Buck topology circuit according to the timestamp signal and the fluctuation limiting signal.

[0049] Optionally, the coordinating terminal incorporates a clock synchronization protocol to unify the time base of all collaborative feeding nodes in the feeding system. When the feeding system starts, the coordinating terminal sends a timestamp signal to all collaborative feeding nodes. This signal contains precise global time information used to calibrate the internal clock of each node. After receiving the timestamp signal, each node aligns its local clock with the global clock to achieve clock synchronization, ensuring that all nodes perform control operations under the same time base. Subsequently, the coordinating terminal controls the output of the synchronous Buck topology circuit of each node in conjunction with the fluctuation limiting signal. Specifically, the coordinating terminal associates the fluctuation limiting signal with the timestamp signal based on the feeding task script and the task control precision of each node, generating a synchronization control command. According to this synchronization control command, each node adjusts its output signal to a predetermined time point based on its local clock and the received timestamp signal, achieving high-precision, synchronous duty cycle adjustment. In this way, the outputs of each synchronous Buck topology circuit change synchronously at the physical level according to a unified time base, realizing precise collaborative control of multiple collaborative feeding nodes and ensuring the stability and consistency of the feeding task in high-speed or high-precision modes.

[0050] In summary, the embodiments of this application have at least the following technical effects:

[0051] This embodiment first sets up programmable logic controllers (PLCs) at multiple feeding nodes, each PLC being connected to a synchronous Buck topology circuit, resulting in multiple synchronous Buck topologies. These multiple synchronous Buck topologies are then integrated in parallel to a coordination terminal via a DC bus. Next, the feeding task script for the motor rotor laminations is read and parsed to identify multiple collaborative feeding nodes and their task control precision. Then, a precision synchronization command is sent to the coordination terminal according to the task control precision, resulting in a fluctuation limiting signal corresponding to the precision. Finally, the coordination terminal performs distributed collaborative control on the signals output by the synchronous Buck topologies connected to the multiple collaborative feeding nodes according to the fluctuation limiting signal, executing the feeding task script. These technical effects collectively solve the technical problems of inconsistent actions and large precision fluctuations caused by independent control of each feeding node in traditional motor rotor lamination feeding processes. This achieves the technical effect of highly consistent actions and controllable feeding precision for each feeding node through distributed synchronous control and high-precision DC bus clamping.

[0052] Example 2, based on the same inventive concept as the distributed control method for feeding motor rotor laminations in the foregoing examples, such as... Figure 2As shown, this application provides a distributed control system for feeding motor rotor laminations. The system includes: a controller setting module 11: setting programmable logic controllers (PLCs) at multiple feeding nodes, wherein each PLC is connected to a synchronous Buck topology circuit to obtain multiple synchronous Buck topology circuits, and the multiple synchronous Buck topology circuits are connected in parallel to a coordination terminal via a DC bus; a task parsing module 12: reading the feeding task script of the motor rotor laminations and parsing the feeding task script to identify multiple collaborative feeding nodes and the task control precision of the multiple collaborative feeding nodes; an instruction sending module 13: sending a precision synchronization instruction to the coordination terminal according to the task control precision to obtain a fluctuation limiting signal corresponding to the task control precision; and a collaborative control module 14: the coordination terminal performs distributed collaborative control on the signals output by the synchronous Buck topology circuits connected to the multiple collaborative feeding nodes according to the fluctuation limiting signal, and executes the feeding task script.

[0053] Furthermore, the controller setting module 11 is also used to perform the following method:

[0054] Each synchronous Buck topology circuit includes a first switch, a second switch, an inductor, a filter capacitor, and a sampling circuit. The first switch is a high-side MOSFET, and the second switch is a low-side MOSFET. A modulation signal is obtained by controlling the high-side MOSFET and the low-side MOSFET to conduct alternately. The inductor and the filter capacitor are used to filter the modulation signal. The sampling circuit feeds the filtered modulation signal back to the programmable logic controller.

[0055] Furthermore, the controller setting module 11 is also used to perform the following method:

[0056] A diode is connected in series at the output of each synchronous Buck topology circuit; if a short circuit abnormality is detected in the current synchronous Buck topology circuit, the diode is controlled to conduct on the DC bus to isolate the current synchronous Buck topology circuit.

[0057] Furthermore, the task parsing module 12 is also used to perform the following methods:

[0058] The feeding task script is parsed to obtain a node information table, which includes structured storage of feeding node numbers, action types, execution sequences, and execution paths. Based on the node information table, collaborative feeding nodes are identified. When the overlap of action times is greater than a preset overlap threshold, or when there is an interaction relationship between nodes in the feeding path, they are identified as collaborative feeding nodes.

[0059] Furthermore, the task parsing module 12 is also used to perform the following methods:

[0060] Extract the parameter set for each of the multiple collaborative feeding nodes to characterize the task control accuracy, and normalize the parameter set to obtain the task control accuracy; wherein, the parameter set includes a position accuracy threshold, a speed fluctuation threshold, a time jitter threshold, and an allowable error range.

[0061] Furthermore, the instruction sending module 13 is also used to perform the following method:

[0062] The task control precision is mapped according to the precision level mapping template to obtain the task control precision level. The precision level mapping template includes multiple control precision intervals, and each control precision interval includes a predefined level. A fluctuation limiting strategy template is configured for the precision level mapping template. The fluctuation limiting strategy template includes amplitude limiting, slope limiting, dead zone response interval, and fluctuation suppression time window corresponding to each precision level. A fluctuation limiting signal corresponding to the task control precision is obtained through the fluctuation limiting strategy template.

[0063] Furthermore, the instruction sending module 13 is also used to perform the following method:

[0064] When the output error of any of the multiple collaborative feeding nodes is detected to be greater than the task control accuracy error threshold, the fluctuation limiting signal is reconfigured and sent to the corresponding programmable logic controller.

[0065] Furthermore, the collaborative control module 14 is also used to perform the following methods:

[0066] The coordination terminal sends the fluctuation limiting signal to the programmable logic controllers corresponding to the multiple collaborative feeding nodes. The programmable logic controller maps the fluctuation limiting signal to the duty cycle adjustment parameter of the synchronous Buck topology circuit. Based on the duty cycle adjustment parameter, it adjusts the signal output by the synchronous Buck topology circuit to obtain a distributed collaborative control signal. The distributed collaborative control signal is used to control the multiple collaborative feeding nodes to execute the feeding task script.

[0067] Furthermore, the collaborative control module 14 is also used to perform the following methods:

[0068] The coordination terminal includes a clock synchronization protocol, which sends a timestamp signal to the synchronous Buck topology circuit connected to the plurality of collaborative feeding nodes according to the clock synchronization protocol; the coordination terminal synchronously controls the output of the synchronous Buck topology circuit according to the timestamp signal and the fluctuation limiting signal.

[0069] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this specification. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.

[0070] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0071] This specification and accompanying drawings are merely illustrative examples of this application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Therefore, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A method of distributed control of a feed of motor rotor laminations, characterized by, The method comprises: A programmable logic controller is arranged at each of the plurality of feeding nodes, wherein each programmable logic controller is connected to a synchronous Buck topology circuit to obtain a plurality of synchronous Buck topology circuits, and the plurality of synchronous Buck topology circuits are integrated in parallel through a DC bus to a coordination terminal; A feeding task script of a motor rotor lamination is read, and the feeding task script is parsed to identify a plurality of collaborative feeding nodes from the plurality of feeding nodes and a task control precision of the plurality of collaborative feeding nodes; An accuracy synchronization instruction is sent to the coordination terminal according to the task control precision to obtain a fluctuation limiting signal corresponding to the task control precision; The coordination terminal performs distributed collaborative control on signals output by the synchronous Buck topology circuits connected to the plurality of collaborative feeding nodes according to the fluctuation limiting signal to execute the feeding task script; The coordination terminal sends the fluctuation limiting signal to the programmable logic controller corresponding to the plurality of collaborative feeding nodes, and the programmable logic controller maps the fluctuation limiting signal to a duty cycle adjustment parameter of the synchronous Buck topology circuit; The signal output by the synchronous Buck topology circuit is constrained and adjusted based on the duty cycle adjustment parameter to obtain a distributed collaborative control signal; The distributed collaborative control signal is used to control the plurality of collaborative feeding nodes to execute the feeding task script.

2. A method of distributing control of the feeding of motor rotor laminations as claimed in claim 1, characterized in that, Each synchronous Buck topology circuit comprises a first switch tube, a second switch tube, an inductor, a filter capacitor, and a sampling circuit; The first switch tube is a high-side MOSFET, and the second switch tube is a low-side MOSFET. The high-side MOSFET and the low-side MOSFET are controlled to alternately conduct to obtain a modulation signal. The inductor and the filter capacitor are used to filter the modulation signal. The sampling circuit feeds back the filtered modulation signal to a programmable logic controller.

3. A method of distributing control of feeding of motor rotor laminations as recited in claim 1, wherein, The feeding task script is parsed to identify a plurality of collaborative feeding nodes from the plurality of feeding nodes, and the method comprises: The feeding task script is parsed to obtain a node information table, and the node information table comprises a structuredly stored feeding node number, action type, execution time sequence, and execution path; According to the node information table, collaborative feeding node identification is performed. When the action time overlap degree is greater than a preset overlap degree threshold, or there is an interaction relationship between the nodes of the feeding path, the collaborative feeding node is identified.

4. A method of distributing control of the feeding of motor rotor laminations as claimed in claim 3, wherein, The task control precision of the plurality of collaborative feeding nodes is obtained, and the method comprises: A parameter set used to represent the task control precision of each collaborative feeding node in the plurality of collaborative feeding nodes is extracted, and the parameter set is normalized to obtain the task control precision; The parameter set comprises a position accuracy threshold, a speed fluctuation threshold, a time jitter threshold, and an allowable error range.

5. A method of distributing control of the feeding of motor rotor laminations as recited in claim 1, wherein, The fluctuation limiting signal corresponding to the task control precision is obtained, and the method comprises: According to the precision level mapping template, the task control precision is mapped to a level, and a task control precision level is obtained. The precision level mapping template includes a plurality of control precision intervals, and each control precision interval includes a predefined level. A fluctuation limiting strategy template of the precision level mapping template is configured, and the fluctuation limiting strategy template includes an amplitude limiting, a slope limiting, a dead zone response interval, and a fluctuation suppression time window corresponding to each precision level. A fluctuation limiting signal corresponding to the task control precision is obtained through the fluctuation limiting strategy template.

6. A method of distributing control of the feeding of motor rotor laminations as recited in claim 1, wherein, The coordination terminal performs distributed collaborative control on the signals output by the synchronous Buck topology circuits connected to the plurality of collaborative feeding nodes according to the fluctuation limiting signal. The coordination terminal includes a clock synchronization protocol, and sends a timestamp signal to the synchronous Buck topology circuits connected to the plurality of collaborative feeding nodes according to the clock synchronization protocol. The coordination terminal synchronously controls the output of the synchronous Buck topology circuits according to the timestamp signal and the fluctuation limiting signal.

7. A method of distributing control of the feeding of motor rotor laminations as defined in claim 1, wherein, The output end of each synchronous Buck topology circuit is connected in series with a diode component. If a running short-circuit abnormality is detected in the current synchronous Buck topology circuit, the diode component is controlled to conduct on the DC bus to isolate the current synchronous Buck topology circuit.

8. A method of distributing control of the feeding of motor rotor laminations as recited in claim 1, wherein, When the output error of any collaborative feeding node in the plurality of collaborative feeding nodes is greater than the task control precision error threshold, the fluctuation limiting signal is reconfigured and sent to the corresponding programmable logic controller.

9. A feed distribution control system for motor rotor stampings, characterized by, A motor rotor lamination feeding distributed control method for implementing any one of claims 1-8, the system comprising: A controller setting module: a plurality of programmable logic controllers are set in a plurality of feeding nodes, wherein each programmable logic controller is connected to a synchronous Buck topology circuit to obtain a plurality of synchronous Buck topology circuits, and the plurality of synchronous Buck topology circuits are integrated in parallel to a coordination terminal through a DC bus; A task analysis module: a feeding task script of a motor rotor lamination is read and analyzed, a plurality of collaborative feeding nodes are identified from the plurality of feeding nodes, and a task control precision of the plurality of collaborative feeding nodes is obtained; An instruction sending module: a precision synchronization instruction corresponding to the task control precision is sent to the coordination terminal to obtain a fluctuation limiting signal corresponding to the task control precision; A collaborative control module: the coordination terminal performs distributed collaborative control on the signals output by the synchronous Buck topology circuits connected to the plurality of collaborative feeding nodes according to the fluctuation limiting signal, and executes the feeding task script.

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