A method of positioning and forming a stack of stator laminations

Abstract

The application relates to the field of automobile motors and discloses a stator lamination stack positioning forming method, which comprises the following steps: S1, on-line detection of a single stator lamination to be stacked, and generation of a single sheet error feature representing the geometric defects of the single stator lamination; S2, calculation of an optimal rotation angle for offsetting the cumulative error feature; S3, according to the optimal rotation angle, stacking of the single stator lamination on the stacked core, so that the single stator lamination is fixedly connected to the stacked core; and S4, formation of an updated cumulative error feature for next-time stacking calculation. Through on-line detection and matrix optimization, an optimal rotation orientation for active error offsetting is found for each lamination. The geometric precision of the core is pushed to a new height, which fundamentally distinguishes from the positioning mode of the existing large-rotation process that adopts a fixed angle for error averaging, and solves the inherent defects that the compensation strategy is rigid and cannot eliminate the cumulative error.

Description

Technical Field

[0001] This invention relates to the field of automotive motor technology, specifically to a method for stator lamination stacking and positioning. Background Technology

[0002] In new energy vehicles, the quality of the drive motor stator core is directly related to the vehicle's energy economy, power response, and NVH (noise, vibration, and harshness) performance. The stator core is formed by high-speed stacking of hundreds of silicon steel laminations, and micron-level thickness unevenness is inevitably generated during the stamping process. To suppress macroscopic quality problems caused by the accumulation of these micro-defects across laminations, the automotive motor manufacturing industry commonly employs a compensation technology called "large rotation process." This process intentionally rotates the laminations or already stacked cores by a fixed angle during the stacking of new laminations. Its design aims to disperse the inherent thickness variations on individual laminations in the circumferential direction, thereby probabilistically mitigating the unidirectional accumulation of defects.

[0003] This method improves the stator core lamination quality to some extent. However, in practical applications and the pursuit of higher performance, the inherent limitations of this positioning forming method are gradually becoming apparent when facing the stringent requirements of next-generation automotive drive motors. First, the positioning logic of this process is to "probabilistically average" the error; it does not know the actual error distribution of each lamination, nor can it perceive the cumulative error morphology of the current core, resulting in a significant randomness in its compensation effect. Second, this randomness directly leads to the difficulty in guaranteeing the consistency of finished product performance, posing a quality control challenge for high-end models that pursue high performance stability. More importantly, as an open-loop, fixed mechanical process, it lacks the ability to adapt to dynamic changes such as fluctuations in incoming materials and mold wear, making it difficult to meet the almost demanding precision requirements of next-generation high-performance drive motors for stator cores. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a method for positioning and forming stator laminations in a stacked manner, which solves the problems of random compensation effects and inconsistent finished product precision and performance caused by the use of fixed-angle rotation in the existing stator lamination stacking large-rotation process.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a method for stator lamination stacking and positioning, comprising the following steps: S1. Online detection of the single stator lamination to be stacked to obtain the actual three-dimensional topological data of its surface; and comparison of the actual three-dimensional topological data with the preset ideal lamination model to generate single-piece error features characterizing the geometric defects of the single stator lamination; S2. Based on the single-piece error characteristics, as well as the pre-stored characteristics and the cumulative error characteristics of the current state of the stacked iron core, calculate an optimal rotation angle to counteract the cumulative error characteristics. S3. According to the optimal rotation angle, drive the single stator lamination or the stacked iron core to perform a rotational positioning action; and after the positioning is completed, immediately stack the single stator lamination onto the stacked iron core to fix them together as one unit. S4. The single-piece error feature is transformed according to the optimal rotation angle, and then the transformed single-piece error feature is superimposed with the aforementioned cumulative error feature to form an updated cumulative error feature for the next stacking calculation.

[0006] Preferably, in step S1, the online detection is performed by a non-contact three-dimensional contour sensor to scan the surface of the single stator lamination; The single-piece error characteristics that characterize the geometric defects of the single stator lamination include: S11. The actual three-dimensional topology data obtained by the non-contact three-dimensional contour sensor is processed into an actual data matrix; S12. Represent the ideal lamination model as an ideal model matrix; S13. Subtract the actual data matrix from the ideal model matrix to obtain the error matrix that serves as the single-piece error characteristic.

[0007] Preferably, in step S12, the ideal model matrix is ​​a matrix with the same size as the actual data matrix, and all element values ​​in the ideal model matrix are set to the same preset nominal thickness value of the single stator lamination, as shown in the following specific form: ; In the formula, The ideal model matrix; The nominal thickness of the lamination is the design specification.

[0008] Preferably, in step S13, the formula for subtracting the actual data matrix from the ideal model matrix is ​​as follows: ; In the formula, The ideal model matrix; This is the single-piece error characteristic matrix; This is the actual data matrix.

[0009] Preferably, in step S2, calculating an optimal rotation angle to counteract the accumulated error characteristics includes: S21. Establish an objective function to evaluate the magnitude of the combined error, wherein the combined error is formed by superimposing the rotated single-piece error feature and the cumulative error feature; S22. Determine the optimal rotation angle by solving for the angle that minimizes the objective function; Both the single-chip error feature and the cumulative error feature are error matrices.

[0010] Preferably, in step S21, the objective function is achieved by calculating the norm of the combined error matrix formed by matrix superposition of the single-piece error features after rotation transformation and the cumulative error features. The specific formula is as follows: ; In the formula, This represents the specific rotation angle value that optimizes the offsetting effect between the new lamination and the existing core stacking error. It is a minimum parameter solving operator; It is the Frobenius norm, a method for measuring the size of a matrix. This is the cumulative error matrix of the iron core; This is the single-piece error matrix; For rotation operators.

[0011] Preferably, step S3 includes: S31, Rotating Iron Core Stacking: Inside the stamping die, a rotating device for carrying the stacked iron core is driven so that the stacked iron core is rotated to a precise target position according to the optimal rotation angle; S32. Punching and pressing a new stator lamination: After the stacked iron core has been rotated and positioned, a punch is driven downward by the slider of the punching equipment to punch and separate a new single stator lamination from the metal strip, and then the new lamination is pressed against the top surface of the stacked iron core located at the target position. S33. Synchronous locking: During the process of the punch continuing to move to the end of the stamping stroke, the locking structure integrated on the punch is used to make the new single stator lamination engage with the stacked iron core, so that the stacking and physical locking after rotation compensation are completed synchronously in the same stamping stroke.

[0012] Preferably, in step S4, the data superposition is achieved by adding the error matrix corresponding to the single-piece error feature after coordinate transformation to the error matrix corresponding to the cumulative error feature. The specific formula is as follows: ; In the formula, This is the updated cumulative error matrix; This is the cumulative error matrix prior to this stacking process; This is the single-piece error matrix after rotation transformation.

[0013] Preferably, in step S4, the coordinate transformation of the single-piece error feature according to the optimal rotation angle includes: S41. Establish a blank target matrix with the same size as the error matrix corresponding to the single-piece error feature; S42. Traverse each coordinate point of the blank target matrix and perform the inverse rotation transformation of the optimal rotation angle on the position of the coordinate point to calculate a source coordinate. S43. Based on the neighboring point values ​​of the source coordinates in the error matrix corresponding to the single-piece error feature, the interpolation of the source coordinates is calculated by an interpolation algorithm. S44. Assign the interpolation to the coordinate point of the currently traversed blank target matrix, and use the blank target matrix after traversal as the error matrix corresponding to the single-piece error feature after coordinate transformation.

[0014] Preferably, in step S43, the interpolation of the source coordinates is calculated using an interpolation algorithm, specifically using the following formula: ; In the formula, The interpolation result to be obtained; Source coordinates; This is the floor operator; Source coordinates Known error values ​​of neighboring points in the lower left corner; Source coordinates Known error values ​​of neighboring points in the lower right corner; Source coordinates Known error values ​​of neighboring points in the upper left corner; Source coordinates The known error value of the neighboring point in the upper right corner.

[0015] This invention provides a method for stator lamination stacking and positioning. It has the following advantages: 1. This invention, through online detection and matrix optimization, finds an optimal rotational orientation for each lamination to actively compensate for errors. It elevates the geometric precision of the core to new heights. This fundamentally differs from existing large-slewing processes that use a fixed angle for error "averaging," solving the inherent flaw of these processes that cannot eradicate accumulated errors due to rigid compensation strategies.

[0016] 2. This invention, through its closed-loop feedback positioning process, ensures that each stacking step precisely corrects the accumulated error of the current core, resulting in a final stator core with extremely high structural uniformity and performance consistency. Compared to existing large-slew rate processes, whose positioning results exhibit statistical randomness, leading to fluctuations in finished product performance, this method overcomes this deficiency, providing stable quality assurance for high-standard motor manufacturing.

[0017] 3. This invention, by deeply integrating sensing, real-time computing, and servo control, essentially creates a completely new and intelligent paradigm for stator lamination stacking and positioning. It transforms the forming process from following preset mechanical rules to making online optimal decisions based on real-time data. This leap transcends the existing scope of large-slew rate processes as an advanced mechanical compensation method. Attached Figure Description

[0018] Figure 1 This is a flowchart of the method steps of the present invention. Detailed Implementation

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see the appendix Figure 1 This invention provides a method for positioning and forming stator laminations, comprising the following steps: S1. Online detection of the single stator lamination to be stacked to obtain the actual three-dimensional topological data of its surface; and comparison of the actual three-dimensional topological data with the preset ideal lamination model to generate single-piece error features characterizing the geometric defects of the single stator lamination; Specifically, step S1 first processes the single stator lamination to be stacked through online detection to obtain the actual three-dimensional topological data of its surface.

[0021] For example, this online inspection can be performed by a non-contact three-dimensional profile sensor. The sensor is positioned on the transport path between the stamping station and the lamination station to perform a rapid and comprehensive surface scan of the single stator lamination as it passes by.

[0022] Subsequently, the system processes the raw scan data obtained by the sensor into a structured actual data matrix. Each element in this actual data matrix corresponds to the actual measured thickness at a specific coordinate point on the surface of the single stator lamination.

[0023] To effectively assess the errors in the aforementioned actual 3D topological data, this embodiment pre-establishes an ideal lamination model. This model is represented in data structure as an ideal model matrix, denoted as... .

[0024] Furthermore, the ideal model matrix is ​​a matrix with the same size as the actual data matrix, and all element values ​​within the ideal model matrix are set to the same preset nominal thickness value of the single stator lamination. Its specific form is as follows: ; In the formula, The ideal model matrix; The nominal thickness of the lamination; The size of this matrix corresponds to the size of the actual data matrix.

[0025] After obtaining the actual data matrix and the ideal model matrix, the system compares the two to generate a single-piece error feature characterizing the geometric defects of the single stator lamination. This single-piece error feature is numerically represented as a single-piece error feature matrix.

[0026] Specifically, this generation process is achieved by subtracting the actual data matrix from the ideal model matrix. This operation calculates the deviation between the actual thickness and the nominal thickness point by point, thereby obtaining the error matrix as the error characteristic of the single piece. The calculation formula is as follows: ; In the formula, The ideal model matrix; This is the single-piece error characteristic matrix; This is the actual data matrix; The core technical objective of this formula is to accurately and rapidly quantify the geometric errors of a single stator lamination. This involves transforming the unevenness of the lamination in the physical world into a digital error model that can be processed by a computer.

[0027] This formula uses the standard deviation method for defining error in the fields of engineering and measurement; In the formula, It represents a theoretically perfect lamination with a uniform nominal thickness. It is a numerical benchmark.

[0028] This represents lamination topology data that includes real geometric deviations, collected through online sensors.

[0029] By performing a matrix subtraction operation on the two, each element in the resulting matrix precisely represents the thickness deviation at the corresponding position on the lamination. A positive value indicates that the thickness at that point exceeds the nominal value, while a negative value indicates that the thickness at that point is below the nominal value.

[0030] Through the above steps, this invention can transform a stator lamination, which has an unavoidable random manufacturing error, into a precise digital error matrix that can be processed by subsequent algorithms. Each element of this matrix directly reflects the thickness deviation at the corresponding position on the lamination, serving as the core data foundation for achieving subsequent closed-loop adaptive error compensation.

[0031] S2. Based on the single-piece error characteristics, as well as the pre-stored characteristics and the cumulative error characteristics of the current state of the stacked iron core, calculate an optimal rotation angle to counteract the cumulative error characteristics. Specifically, the purpose of step S2 is to calculate an optimal rotation angle for actively counteracting the cumulative error characteristics, based on the single-piece error characteristics and a pre-stored cumulative error characteristics that characterize the current state of the stacked core.

[0032] Here, both the single-piece error feature and the cumulative error feature are error matrices in terms of data structure. Specifically, the single-piece error feature corresponds to the single-piece error feature matrix generated in the preceding steps, while the cumulative error feature corresponds to a core cumulative error matrix that is dynamically maintained within the system.

[0033] To determine the optimal rotation angle, this embodiment first establishes an objective function to evaluate the magnitude of the combined error. The combined error is formed by superimposing the single-piece error characteristics after rotation and the cumulative error characteristics, and its physical meaning represents the overall unevenness of the newly formed iron core after the new laminations are stacked at a certain angle.

[0034] Subsequently, the optimal rotation angle is determined by solving for the angle that minimizes the objective function.

[0035] Furthermore, the objective function is achieved by calculating the norm of the combined error matrix formed by matrix superposition of the single-piece error features after rotation transformation and the cumulative error features. This process can be precisely described by the following formula: ; The core technical objective of this formula is to find the optimal rotation angle among all possible rotation angles that best cancels out the cumulative error of the new lamination and the existing core. .

[0036] This formula abstracts the physical compensation problem into a rigorously defined mathematical optimization problem; In the formula, Used to simulate rotating the error matrix of a new lamination by an arbitrary angle. In digital computing, this is a standard two-dimensional affine transformation operation, which can be accurately implemented through coordinate transformation combined with algorithms such as bilinear interpolation, ensuring the precision and effectiveness of the rotation operation.

[0037] This is achieved by using matrix addition to simulate the linear superposition of errors when a rotated new lamination is stacked on an existing core. The result is a "predictive" combined error matrix.

[0038] The Frobenius norm is a standard mathematical tool for measuring the "size" or "energy" of a matrix. In this application, it is used as an evaluation function to quantify a complex combined error matrix into a single scalar value that represents the overall unevenness. The smaller the norm value, the closer the predicted combined error matrix is ​​to zero, meaning the physical surface of the core is smoother.

[0039] To solve for the minimum parameter, this operator represents the optimization objective of the entire optimization process: traversing all possible angles. Find the value that minimizes the evaluation function. .

[0040] The solution process is well-defined and feasible in engineering. The most stable and direct implementation method is high-resolution discrete search: Discretization: The continuous angle domain of [0, 360) is discretized according to a preset angle resolution (e.g., 0.5°) to form a set containing a finite number of candidate angles (e.g., 720 angles).

[0041] Iterative evaluation: In a loop, the norm value corresponding to each candidate angle is calculated sequentially.

[0042] Comparison and Selection: After traversing all candidate angles and calculating their corresponding norm values, a simple comparison operation can determine the angle with the smallest norm value, which is the desired angle. .

[0043] In this way, the algorithm formula can transform a complex physical location problem into a well-defined computational optimization problem with a clear path.

[0044] In the specific implementation process, the optimal rotation angle is solved. The method can be exemplified by using a discretized search algorithm.

[0045] By performing this step, the system can transform the abstract error compensation requirement into a precise angle control command usable by the physical actuator. This command is the key link connecting error perception and error correction actions, providing the core decision-making basis for subsequent precise positioning and stacking.

[0046] S3. According to the optimal rotation angle, drive the single stator lamination or the stacked iron core to perform a rotational positioning action; and after the positioning is completed, immediately stack the single stator lamination onto the stacked iron core to fix them together as one unit. Specifically, step S3 can be completed within a stamping die that integrates rotation, blanking, and stacking functions. The specific operation flow is as follows: First, this embodiment performs the action of rotating the stacked iron cores. Specifically, inside the stamping die, a rotating device is driven to carry the stacked iron cores. The rotating device can be, exemplarily, a rotary table driven by a high dynamic response servo motor.

[0047] The rotating device receives the optimal rotation angle calculated in the preceding steps as a control command to precisely rotate the stacked iron core to a target position.

[0048] After the stacked iron core has been rotated and positioned, the action of punching and pressing down the new lamination is performed. This action is achieved by the slide of the stamping equipment driving a punch to move downward.

[0049] The punch first cuts a new single stator lamination from the metal strip, and then presses the new lamination against the top surface of the stacked iron core located at the target position.

[0050] In order to secure the new lamination to the stacked iron core as a whole, this embodiment completes the locking action synchronously within the same stamping stroke.

[0051] As the punch continues to move to the end of the stamping stroke, the new single stator lamination is mechanically engaged with the stacked iron core by means of the locking structure integrated on the punch, for example, by means of rivets or interlocking features.

[0052] Through the above method, the present invention can simultaneously complete rotational compensation based on the optimal angle, stacking of new laminations, and physical locking within the same stamping stroke. This step precisely materializes the mathematical decisions of the previous step into the geometric structure of the iron core, providing a physical basis for subsequent updates to the cumulative error characteristics.

[0053] S4. The single-piece error feature is transformed according to the optimal rotation angle, and then the transformed single-piece error feature is superimposed with the aforementioned cumulative error feature to form an updated cumulative error feature for the next stacking calculation. Specifically, the purpose of step S4 is to integrate the error information of the newly stacked lamination into the cumulative error feature that characterizes the overall state of the core, so as to form an updated cumulative error feature for the next stacking calculation.

[0054] This step first transforms the single-piece error characteristics according to the optimal rotation angle calculated in the previous steps. This transformation simulates the physical rotation process of the stamping at the data level.

[0055] Furthermore, the implementation method of the coordinate transformation is as follows: first, a blank target matrix with the same size as the error matrix corresponding to the single-piece error feature is established.

[0056] Subsequently, each coordinate point of the blank target matrix is ​​traversed, and the position of that coordinate point is subjected to the inverse rotation transformation of the optimal rotation angle to calculate a source coordinate.

[0057] Since the source coordinates are usually not located on integer grid points, it is necessary to calculate the accurate interpolation of the source coordinates using an interpolation algorithm based on the values ​​of the neighboring points in the error matrix corresponding to the single-piece error feature.

[0058] For example, the interpolation algorithm can be a bilinear interpolation algorithm, which calculates the interpolation of the source coordinates using the values ​​of the four nearest integer grid points surrounding the source coordinates. Its specific calculation formula is as follows: ; In the formula, The interpolation result to be obtained; Source coordinates; This is the floor operator; Source coordinates Known error values ​​of neighboring points in the lower left corner; Source coordinates Known error values ​​of neighboring points in the lower right corner; Source coordinates Known error values ​​of neighboring points in the upper left corner; Source coordinates The known error value of the neighboring point in the upper right corner.

[0059] Finally, the calculated interpolation value is assigned to the coordinates of the currently traversed points in the blank target matrix. After traversing all points, the blank target matrix becomes the error matrix corresponding to the single-piece error feature after coordinate transformation.

[0060] After completing the coordinate transformation, this step immediately superimposes the transformed individual error features with the aforementioned cumulative error features. This data superposition involves adding the error matrix corresponding to the coordinate-transformed individual error features to the error matrix corresponding to the cumulative error features. The specific formula is as follows: ; In the formula, This is the updated cumulative error matrix; This is the cumulative error matrix prior to this stacking process; This is the single-piece error matrix after rotation transformation.

[0061] Through this step, the system completes closed-loop feedback. The resulting updated cumulative error matrix will serve as the input for the next execution of step S2, providing the latest and most accurate core state reference for calculating the optimal rotation angle of the next lamination.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for positioning and forming stator laminations, characterized in that, Includes the following steps: S1. Online detection of the single stator lamination to be stacked is performed using a non-contact three-dimensional contour sensor to obtain the actual three-dimensional topological data of its surface; and the actual three-dimensional topological data is compared with a preset ideal lamination model to generate single-piece error features characterizing the geometric defects of the single stator lamination. S2. Based on the single-piece error characteristics, as well as the pre-stored characterization and the cumulative error characteristics of the current state of the stacked iron core, an objective function is established to evaluate the magnitude of the combined error. The combined error is formed by the superposition of the rotated single-piece error characteristics and the cumulative error characteristics. By solving for the angle that minimizes the objective function, an optimal rotation angle for offsetting the cumulative error characteristics is calculated. S3. According to the optimal rotation angle, drive the single stator lamination or the stacked iron core to perform a rotational positioning action; and after the positioning is completed, immediately stack the single stator lamination onto the stacked iron core to fix them together as one unit. S4. The single-piece error feature is transformed according to the optimal rotation angle, and then the transformed single-piece error feature is superimposed with the aforementioned cumulative error feature to form an updated cumulative error feature for the next stacking calculation. In step S2, the objective function is achieved by calculating the norm of the combined error matrix formed by matrix superposition of the single-piece error features after rotation transformation and the cumulative error features. The specific formula is as follows: ； In the formula, This represents the specific rotation angle value that optimizes the offsetting effect between the new lamination and the existing core stacking error. It is a minimum parameter solving operator; It is the Frobenius norm, a method for measuring the size of a matrix. This is the cumulative error matrix of the iron core; This is the single-piece error matrix; For rotation operators; In step S4, the coordinate transformation of the single-piece error feature according to the optimal rotation angle includes: S41. Establish a blank target matrix with the same size as the error matrix corresponding to the single-piece error feature; S42. Traverse each coordinate point of the blank target matrix and perform the inverse rotation transformation of the optimal rotation angle on the position of the coordinate point to calculate a source coordinate. S43. Based on the neighboring point values ​​of the source coordinates in the error matrix corresponding to the single-piece error feature, the interpolation of the source coordinates is calculated by an interpolation algorithm. S44. Assign the interpolation to the coordinate point of the currently traversed blank target matrix, and use the blank target matrix after traversal as the error matrix corresponding to the single-piece error feature after coordinate transformation.

2. The stator lamination stacking and positioning forming method according to claim 1, characterized in that, In step S1, the online detection is performed by a non-contact three-dimensional contour sensor to scan the surface of the single stator lamination; The single-piece error characteristics that characterize the geometric defects of the single stator lamination include: S11. The actual three-dimensional topology data obtained by the non-contact three-dimensional contour sensor is processed into an actual data matrix; S12. Represent the ideal lamination model as an ideal model matrix; S13. Subtract the actual data matrix from the ideal model matrix to obtain the error matrix that serves as the single-piece error characteristic.

3. The stator lamination stacking and positioning forming method according to claim 2, characterized in that, In step S12, the ideal model matrix is ​​a matrix with the same size as the actual data matrix, and all element values ​​in the ideal model matrix are set to the same preset nominal thickness value of the single stator lamination, as shown in the following specific form: ； In the formula, The ideal model matrix; The nominal thickness of the lamination is the design specification.

4. The stator lamination stacking and positioning forming method according to claim 1, characterized in that, In step S13, the formula for subtracting the actual data matrix from the ideal model matrix is ​​as follows: ； In the formula, The ideal model matrix; This is the single-piece error characteristic matrix; This is the actual data matrix.

5. The stator lamination stacking and positioning forming method according to claim 1, characterized in that, Both the single-chip error feature and the cumulative error feature are error matrices.

6. The stator lamination stacking and positioning forming method according to claim 1, characterized in that, Step S3 includes: S31, Rotating Iron Core Stacking: Inside the stamping die, a rotating device for carrying the stacked iron core is driven so that the stacked iron core is rotated to a precise target position according to the optimal rotation angle; S32. Punching and pressing a new stator lamination: After the stacked iron core has been rotated and positioned, a punch is driven downward by the slider of the punching equipment to punch and separate a new single stator lamination from the metal strip, and then the new lamination is pressed against the top surface of the stacked iron core located at the target position. S33. Synchronous locking: During the process of the punch continuing to move to the end of the stamping stroke, the locking structure integrated on the punch is used to make the new single stator lamination engage with the stacked iron core, so that the stacking and physical locking after rotation compensation are completed synchronously in the same stamping stroke.

7. The stator lamination stacking and positioning forming method according to claim 1, characterized in that, In step S4, the data superposition is achieved by adding the error matrix corresponding to the single-piece error feature after coordinate transformation to the error matrix corresponding to the cumulative error feature. The specific formula is as follows: ； In the formula, This is the updated cumulative error matrix; This is the cumulative error matrix prior to this stacking process; This is the single-piece error matrix after rotation transformation.

8. The stator lamination stacking and positioning forming method according to claim 1, characterized in that, In step S43, the interpolation of the source coordinates is calculated using an interpolation algorithm, specifically using the following formula: ； In the formula, The interpolation result to be obtained; Source coordinates; For floor operations, It is also a floor operation; Source coordinates Known error values ​​of neighboring points in the lower left corner; Source coordinates Known error values ​​of neighboring points in the lower right corner; Source coordinates Known error values ​​of neighboring points in the upper left corner; Source coordinates The known error value of the neighboring point in the upper right corner.

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