A method for dynamic flow control based on multi-body contact deformation calculation

Abstract

This application relates to the field of processing parameter control technology and discloses a dynamic flow rate control method based on multi-body contact deformation calculation. The method includes: acquiring processing parameters and structural parameters of the loading component and the substrate; analyzing and modeling the Z-axis deformation of the loading component and the substrate based on their structural parameters to obtain contour curves of the lower edge of the loading component and the upper edge of the substrate; constructing a flow rate calculation model based on the contour curves; calculating the real-time slurry flow rate based on the flow rate calculation model; acquiring the target slurry flow rate and calculating the slurry flow rate error; collecting the support load of the loading component; calculating processing stability indicators based on the support load; formulating a feedback adjustment strategy based on the processing stability indicators and the slurry flow rate error; and adjusting the slurry flow rate in real time based on the feedback adjustment strategy. This application achieves refined control of the slurry flow rate by using multi-body contact deformation analysis to provide real-time feedback adjustment of pressure and propulsion speed.

Description

Technical Field

[0001] This application relates to the field of processing parameter control technology, specifically to a method for dynamic flow control based on multi-body contact deformation calculation. Background Technology

[0002] Existing technologies have some shortcomings in the processing control of fluid deposition pattern transfer. The parameter settings of existing processing equipment rely heavily on the operator's experience. Existing technologies cannot accurately predict the deformation of the lower edge of the loading component and the upper edge of the substrate based on the applied load. They do not consider the mapping relationship between the applied load, the feed speed, and the slurry flow rate. As a result, the processing stability under complex working conditions cannot be guaranteed, or flow deviation problems may occur in actual production. For example, the loading component may undergo cumulative deformation under continuous pressure, resulting in slurry accumulation or leakage.

[0003] Current processing equipment often employs a single PID controller for feedback control, adjusting processing parameters solely based on slurry flow rate errors without considering real-time stability during processing to develop dynamic strategies. This simplistic adjustment approach struggles to cope with complex and ever-changing operating conditions. Furthermore, existing strategies fail to develop optimal adjustment plans based on operating conditions, resulting in a sacrifice of production efficiency in pursuit of control precision, or an inability to control quality while ensuring efficiency.

[0004] Chinese patent CN206696650U discloses a synchronous control system for a rotary screen printing machine, including a central processing unit, a printing unit control system, a synchronization controller, a fabric feeding unit, a drying unit, and a fabric dosing unit. The printing unit control system includes a drive roller servo motor, a driven roller servo motor, a rotary screen shaft servo motor, a doctor blade device, and a servo controller. The fabric feeding unit includes a fabric feeding roller and a fabric feeding motor. The drying unit includes a drying conveyor device and a drying chamber environment monitoring device. The drying conveyor device includes a drying conveyor belt and a drying motor. The drying chamber environment monitoring device includes a temperature sensor, a humidity sensor, a heat exchanger, an exhaust fan, and an STM32 controller. The fabric dosing unit includes a take-up roller and a take-up motor. This solution uses a printing unit control system and a synchronization controller to ensure that the linear speed of the fabric remains synchronized between the fabric feeding unit, printing unit, drying unit, and fabric dosing unit of the rotary screen printing machine.

[0005] For example, patent application CN1858667A discloses a method for compensating the position error value of multi-axis synchronization in a magnetic rod flatbed printing machine. The method includes: adding an encoder to the pressure roller of the position servo drive shaft; starting the magnetic rod flatbed printing machine; and sending the encoder signal to the high-speed counter port of the electrical control cabinet to monitor the operation of the position servo drive shaft in real time. This solution can eliminate accumulated errors and improve the control accuracy of the control system.

[0006] All of the above technical solutions suffer from the problem described in the background: they fail to formulate dynamic strategies based on real-time working conditions during the processing, making it difficult to cope with complex and ever-changing working conditions.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this application and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0008] The technical problem this application aims to solve is to overcome the shortcomings of existing technologies and provide a dynamic flow control method based on multi-body contact deformation calculation. This method uses multi-body contact deformation analysis to provide real-time feedback and adjust pressure and propulsion speed, thereby achieving precise control of slurry flow rate. To solve the above technical problem, this application provides the following technical solution:

[0009] A dynamic flow control method based on multi-body contact deformation calculation includes the following steps:

[0010] Obtain the processing parameters and the structural parameters of the loading component and the substrate;

[0011] Based on the structural parameters of the loading member and the substrate, the Z-direction deformation of the loading member and the substrate is analyzed and modeled to obtain the contour curves of the lower edge of the loading member and the upper edge of the substrate.

[0012] A flow calculation model is constructed based on the contour curves of the lower edge of the loading component and the upper edge of the substrate.

[0013] Calculate the real-time slurry flow rate based on the aforementioned flow rate calculation model; obtain the target slurry flow rate and calculate the slurry flow rate error;

[0014] Collect the support load of the loaded component; calculate the processing stability index based on the support load;

[0015] Based on the aforementioned processing stability index and slurry flow error, a feedback adjustment strategy is formulated, and the slurry flow is adjusted in real time based on the feedback adjustment strategy.

[0016] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the processing parameters include external load and propulsion speed; wherein, the external load is a load uniformly applied to the loading member by the pressure-applying member and directed vertically downward; the propulsion speed is the moving speed of the pressure-applying member on the surface of the loading member along the processing path direction;

[0017] The structural parameters of the loading member include the loading member thickness, loading member width, and the elastic modulus and Poisson's ratio of the loading member material.

[0018] The structural parameters of the printing substrate include the thickness of the printing substrate, the elastic modulus and Poisson's ratio of the printing substrate material, and the width of the pressure zone of the printing substrate.

[0019] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the following steps are taken: The Z-axis deformation of the loaded component is analyzed and modeled to obtain the contour curve of the lower edge of the loaded component, specifically including:

[0020] A spatial rectangular coordinate system is established with the plane parallel to the surface of the printing substrate as the xOy plane and the vertically downward direction as the positive direction of the z-axis;

[0021] In the spatial rectangular coordinate system, the loaded component is modeled as a simply supported beam model; the simply supported beam model is subjected to a uniformly distributed external load on its upper part and is kept in balance by the support loads from the substrate at both ends;

[0022] Based on the simply supported beam model, a set of equilibrium differential equations is constructed; the set of equilibrium differential equations is used to describe the functional relationship between the stress distribution of the loaded member along the y-axis and the thickness, width, elastic modulus and Poisson's ratio of the loaded member material, and the applied load;

[0023] Solving the equilibrium differential equations yields the stress distribution function along the y-axis at the lower edge of the loaded member.

[0024] Using the linear elastic constitutive relation, the strain distribution function of the lower edge of the loaded member is calculated based on the stress distribution function of the lower edge of the loaded member, and the profile curve of the lower edge of the loaded member is calculated based on the strain distribution function of the lower edge of the loaded member.

[0025] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the following steps are taken: The Z-axis deformation of the substrate is analyzed and modeled to obtain the contour curve of the upper edge of the substrate, specifically including:

[0026] In the spatial rectangular coordinate system, the printing substrate is modeled as a fixed column model; the two ends of the fixed column model are subjected to pressure loads from the two ends of the loading member;

[0027] Based on the fixed column model, a polynomial stress function equation is constructed; the stress function equation is used to describe the functional relationship between the stress distribution of the substrate along the y-axis and the thickness of the substrate, the elastic modulus and Poisson's ratio of the substrate material, the width of the pressure zone of the substrate, and the pressure load.

[0028] Solving the stress function equation yields the stress distribution function along the y-axis at the upper edge of the substrate.

[0029] Using linear elastic constitutive relations, the strain distribution function of the upper edge of the printing substrate is calculated based on the stress distribution function of the upper edge of the printing substrate, and the profile curve of the upper edge of the printing substrate is calculated based on the strain distribution function of the upper edge of the printing substrate.

[0030] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the flow calculation model is based on the difference between the contour curve of the lower edge of the loading component and the upper edge of the substrate to obtain the transfer space height curve, and the slurry flow rate is calculated based on the transfer space height curve, the applied load, and the propulsion speed.

[0031] The transfer space height curve is used to describe the distribution of the transfer space height of the slurry along the y-axis; the slurry flow rate is the amount of slurry transferred per unit time.

[0032] The target slurry flow rate is a preset reference value for the slurry flow rate; the slurry flow rate error is the difference between the target slurry flow rate and the real-time slurry flow rate.

[0033] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, wherein: the processing stability index includes a path balance index and a path fluctuation index; the processing stability index is calculated based on the support load, including:

[0034] The support loads at both ends of the loading component are collected synchronously; the support loads at both ends of the loading component at different times are organized into a support load sequence at both ends of the loading component; based on the support load sequence, the support loads at both ends of the loading component at the most recent m times are extracted; m is a positive integer.

[0035] Calculate the absolute value of the difference between the support loads at both ends of the loaded component at each of the m time points and take the average value as the path balance index;

[0036] The variances of the support loads at both ends of the loaded component at the most recent m moments are calculated and their mean values ​​are obtained, which are used as the path fluctuation index.

[0037] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the feedback adjustment strategy includes setting a PID controller to adjust processing parameters to suppress slurry flow error; the PID controller includes a first PID controller and a second PID controller; the feedback adjustment strategy specifically includes a first adjustment strategy and a second adjustment strategy; wherein, the first adjustment strategy includes: if the absolute value of the slurry flow error is greater than or equal to a preset flow error threshold, then inputting the slurry flow error into the first PID controller; the first PID controller calculates and outputs the adjustment amount of the propulsion speed; the propulsion speed is adjusted based on the adjustment amount of the propulsion speed until the slurry flow error is less than the flow error threshold.

[0038] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the second adjustment strategy includes: if the absolute value of the slurry flow error is greater than or equal to a preset flow error threshold, then the slurry flow error is input into a second PID controller; the second PID controller calculates and outputs the adjustment amount of the applied load; the applied load is adjusted based on the adjustment amount of the applied load until the slurry flow error is less than the flow error threshold.

[0039] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the method includes: formulating a feedback adjustment strategy based on the processing stability index and slurry flow error, including:

[0040] Set a balance index threshold; if the path balance index is less than the balance index threshold, then select the second adjustment strategy;

[0041] If the path balance index is greater than or equal to the balance index threshold, the adjustment amount of the applied load is calculated in real time by the second PID controller; if the adjustment amount of the applied load is less than 0, the second adjustment strategy is selected; otherwise, the first adjustment strategy is selected.

[0042] As a preferred embodiment of the flow dynamic control method based on multi-body contact deformation calculation described in this application, the method further includes: formulating a feedback adjustment strategy based on the processing stability index and slurry flow error;

[0043] Set a fluctuation index threshold; if the path fluctuation index is greater than the fluctuation index threshold, then compensate and adjust the PID controller corresponding to the selected feedback adjustment strategy, specifically including:

[0044] The adjustment compensation factor of the PID controller is set based on the path fluctuation index; specifically, it includes: setting the value range of the adjustment compensation factor; setting a specific value for the adjustment compensation factor within the value range based on the path fluctuation index, and the path fluctuation index and the value of the adjustment compensation factor are negatively correlated.

[0045] When calculating the adjustment amount of the corresponding processing parameters through the PID controller, the proportional term is multiplied by the adjustment compensation factor.

[0046] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0047] This application analyzes the Z-axis deformation of the loading component and the substrate, models and clarifies the relationship between the applied load, the propulsion speed and the slurry flow rate, and adjusts the processing parameters accordingly. This can avoid slurry accumulation or deposition deviation caused by processing parameters and slurry flow rate, thereby improving processing quality.

[0048] A switching strategy based on feedback adjustment based on processing stability indicators is adopted, balancing control accuracy and processing stability, and adapting to parameter adjustment requirements under different operating conditions. By adjusting the compensation factor, the problem of traditional PID controllers being prone to runaway under complex operating conditions is solved, ensuring stable and reliable parameter control throughout the entire processing process. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0050] Figure 1 A flowchart of a flow dynamic control method based on multi-body contact deformation calculation provided for this application;

[0051] Figure 2 A cross-sectional view of a simply supported beam model of a loading member provided in this application;

[0052] Figure 3 A cross-sectional view of a fixed column model of a printing substrate provided in this application. Detailed Implementation

[0053] The technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of this application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0054] This embodiment introduces a method for dynamic flow control based on multi-body contact deformation calculation, referring to... Figure 1 The method includes the following steps:

[0055] Obtain the processing parameters and the structural parameters of the loading component and the substrate;

[0056] The processing parameters include external load and propulsion speed; wherein, the external load is a load uniformly applied to the loading member by the pressure-applying member in a vertically downward direction; the propulsion speed is the speed at which the pressure-applying member moves along the processing path on the surface of the loading member.

[0057] The loading member is a deformable structural component positioned above the printing substrate. It defines the passage area of ​​the slurry during loading and forms a controlled deformation space with the printing substrate to influence the slurry transfer path and amount. The structural parameters of the loading member include its thickness, width, and the elastic modulus and Poisson's ratio of the material.

[0058] The printing substrate is a flexible or semi-flexible bearing surface that is pressed under the loading member to receive the slurry. The structural parameters of the printing substrate include the thickness of the printing substrate, the elastic modulus and Poisson's ratio of the printing substrate material, and the width of the pressure-bearing area of ​​the printing substrate. In this embodiment, the width of the pressure-bearing area of ​​the printing substrate is equal to the width of the loading member.

[0059] Based on the structural parameters of the loading member and the substrate, the Z-direction deformation of the loading member and the substrate is analyzed and modeled to obtain the contour curves of the lower edge of the loading member and the upper edge of the substrate.

[0060] The Z-axis deformation of the loaded member is analyzed and modeled to obtain the contour curve of the lower edge of the loaded member, specifically including:

[0061] A spatial rectangular coordinate system is established with the plane parallel to the surface of the printing substrate as the xOy plane and the vertically downward direction as the positive direction of the z-axis;

[0062] In the spatial rectangular coordinate system, the loaded component is modeled as a simply supported beam model; the simply supported beam model is subjected to a uniformly distributed external load on its upper part and is kept in balance by the support loads from the substrate at both ends. Figure 2 A schematic cross-sectional view of a simply supported beam model with a loaded member in a spatial rectangular coordinate system on the yOz plane is provided; refer to Figure 2 d1 is the thickness of the loaded member; w1 is the width of the loaded member; q0 is the external load; q1L and q1R are the support loads at both ends of the simply supported beam model, respectively.

[0063] Based on the simply supported beam model, a set of equilibrium differential equations is constructed. The set of equilibrium differential equations describes the functional relationship between the stress distribution of the loaded member along the y-axis and the thickness, width, elastic modulus and Poisson's ratio of the loaded member material, and the applied load. In this embodiment, the set of equilibrium differential equations (i.e., the Airy stress function equations) is constructed using the static equilibrium equations and stress function method in plane elasticity theory.

[0064] Solving the equilibrium differential equations yields the stress distribution function along the y-axis at the lower edge of the loaded member; alternatively, the equilibrium differential equations can be solved using the eigenvalue method of higher-order linear differential equations with constant coefficients. The eigenvalue method is a widely used solution method in elasticity theory for problems such as beam bending and rectangular structure compression.

[0065] Using the linear elastic constitutive relation, the strain distribution function of the lower edge of the loaded member is calculated based on the stress distribution function of the lower edge of the loaded member, and the profile curve of the lower edge of the loaded member is calculated based on the strain distribution function of the lower edge of the loaded member.

[0066] The linear elastic constitutive relation, such as Hooke's law, describes the proportional relationship between stress and strain based on the elastic modulus and Poisson's ratio, thus transforming the stress distribution function along the y-axis of the lower edge of the loaded member into a strain distribution function along the y-axis. Based on the geometric relationship between strain and displacement, integrating the strain yields the displacement, thus transforming the strain distribution function along the y-axis of the lower edge of the loaded member into a displacement distribution function along the y-axis. Before deformation, the lower edge of the loaded member is a straight line parallel to the y-axis. Subtracting the displacement distribution function from the function of this straight line yields the profile curve of the lower edge of the loaded member along the y-axis. This profile curve describes the height of the lower edge of the loaded member at each y-axis coordinate.

[0067] The Z-axis deformation of the printing substrate is analyzed and modeled to obtain the contour curve of the upper edge of the printing substrate, specifically including:

[0068] In the spatial rectangular coordinate system, the printing substrate is modeled as a fixed column model; the two ends of the fixed column model are subjected to pressure loads from the two ends of the loading member. Figure 3 A schematic diagram of the cross-section of a fixed cylindrical model of a printing substrate in a spatial rectangular coordinate system on the yOz plane is provided; (Refer to...) Figure 3 d2 is the thickness of the substrate; w2 is the width of the pressure zone of the substrate; q2L and q2R are the pressure loads from the two ends of the loading member on the two ends of the fixed column model.

[0069] Based on the fixed column model, a polynomial stress function equation is constructed. The stress function equation is used to describe the functional relationship between the stress distribution of the substrate along the y-axis and the thickness of the substrate, the elastic modulus and Poisson's ratio of the substrate material, the width of the pressure zone of the substrate, and the pressure load. In this embodiment, a polynomial stress function equation is constructed using the stress function method of linear elasticity and the compatibility condition theory.

[0070] Solving the stress function equation yields the stress distribution function along the y-axis at the upper edge of the substrate. Optionally, the stress function equation can be solved using the boundary condition constraint method. The boundary condition constraint method establishes a set of parametric equations by substituting the stress function equation into the stress or shear stress conditions at the substrate boundary, and then analytically solves for the unknown coefficients in the stress function equation based on the set of parametric equations. This method is an analytical solution method in linear elasticity.

[0071] Using linear elastic constitutive relations, the strain distribution function of the upper edge of the substrate is calculated based on the stress distribution function, and the profile curve of the upper edge is calculated based on the strain distribution function. Referring to the process of calculating the profile curve based on the stress distribution function of the lower edge of the loaded member, the stress distribution function along the y-axis of the upper edge of the substrate is transformed into a strain distribution function along the y-axis using linear elastic constitutive relations. The displacement distribution function along the y-axis of the upper edge of the substrate is then obtained through integration. Before deformation, the upper edge of the substrate is a straight line parallel to the y-axis. Subtracting the displacement distribution function from the function of this straight line yields the profile curve of the upper edge of the substrate along the y-axis. This profile curve describes the height of the upper edge of the substrate at each y-axis coordinate.

[0072] In this embodiment, the equation of the contour curve of the lower edge of the loading member takes the applied load as the independent variable (the thickness of the loading member, the width of the loading member, the elastic modulus and Poisson's ratio of the loading member material are all constant parameters); the equation of the contour curve of the upper edge of the substrate takes the pressure load as the independent variable (the thickness of the substrate, the elastic modulus and Poisson's ratio of the substrate material, and the width of the pressure area of ​​the substrate are all constant parameters); the applied load on the loading member is transmitted to the substrate through the loading member, forming a pressure load on the substrate. Therefore, in this embodiment, it is preferable to determine the functional relationship between the applied load and the pressure load through simulation experiments, so that the pressure load in the equation of the contour curve of the upper edge of the substrate is represented as a function of the applied load, so that the equations of the contour curves of the lower edge of the loading member and the upper edge of the substrate have a unique independent variable (applied load), which facilitates subsequent calculation and control.

[0073] A flow calculation model is constructed based on the contour curves of the lower edge of the loading component and the upper edge of the substrate.

[0074] The flow calculation model is based on the difference between the contour curves of the lower edge of the loading component and the upper edge of the substrate to obtain the transfer space height curve, and the slurry flow rate is calculated based on the transfer space height curve, the applied load, and the propulsion speed.

[0075] The transfer space height curve is used to describe the distribution of the transfer space height of the slurry along the y-axis; the slurry flow rate is the amount of slurry transferred per unit time.

[0076] During processing, under the action of an external load, the loading component and the substrate deform vertically, changing the volume of the space between them and thus affecting the transfer of the slurry within that space. The propulsion speed affects the length of the slurry transfer channel per unit time, and therefore also affects the slurry flow rate.

[0077] Optionally, the flow calculation model is constructed based on Poiseuille's laminar flow theory. The slurry is driven by an external load, and its flow direction is parallel to the xOy plane. The transfer space is a narrow channel between the lower edge of the loading component and the upper edge of the substrate. The slurry exhibits quasi-steady laminar flow in the transfer space, which meets the applicable conditions of Poiseuille's laminar flow theory. Let the direction of the propulsion velocity be parallel to the x-axis. According to Poiseuille's laminar flow theory, the slurry flow rate is positively correlated with the height of the transfer space and the pressure difference, and negatively correlated with the slurry viscosity and the length of the transfer channel. The pressure difference is the difference in pressure between the upper and lower surfaces of the slurry, essentially reflecting the driving force of the external load on the slurry. Those skilled in the art can estimate this relationship using empirical models or through finite element simulation to establish a functional relationship between the external load and the pressure difference. The slurry viscosity is an inherent property parameter of the slurry. The length of the transfer channel is the product of the propulsion velocity and the unit time. Therefore, the slurry flow rate is jointly determined by the external load and the propulsion velocity, where the external load affects the height of the transfer space and the pressure difference, and the propulsion velocity affects the length of the transfer channel.

[0078] Calculate the real-time slurry flow rate based on the aforementioned flow rate calculation model; obtain the target slurry flow rate and calculate the slurry flow rate error;

[0079] The target slurry flow rate is a pre-set reference value for the slurry flow rate; those skilled in the art can set the target slurry flow rate for each processing stage according to actual processing requirements.

[0080] The slurry flow rate error is the difference between the target slurry flow rate and the real-time slurry flow rate.

[0081] Collect the support load of the loaded component; calculate the processing stability index based on the support load;

[0082] The processing stability index includes a path balance index and a path fluctuation index; the processing stability index is calculated based on the support load, including:

[0083] The support loads at both ends of the loading component are collected synchronously; the support loads at both ends of the loading component at different times are organized into a support load sequence at both ends of the loading component; based on the support load sequence, the support loads at both ends of the loading component at the most recent m times are extracted; m is a positive integer.

[0084] Calculate the absolute value of the difference between the support loads at both ends of the loaded component at each of the m time points and take the average value as the path balance index;

[0085] The variances of the support loads at both ends of the loaded component at the most recent m moments are calculated and their mean values ​​are obtained, which are used as the path fluctuation index.

[0086] The substrate may contain asymmetrical or fluctuating processing areas, such as significant depressions or thickness variations on one side of the edge, which can easily lead to slurry accumulation or deposition deviations. By installing pressure sensors or strain gauges at both ends of the loading component, the support load at both ends can be collected in real time, effectively identifying unstable processing areas and formulating corresponding feedback adjustment strategies based on the actual situation to ensure processing quality. When the path balance index is too high, the forces on both ends of the loading component are uneven, causing the loading component to tilt to one side; when the path fluctuation index is too high, the forces on the loading component fluctuate significantly, corresponding to undulations in the substrate or complex processing patterns.

[0087] Based on the aforementioned processing stability index and slurry flow error, a feedback adjustment strategy is formulated, and the slurry flow is adjusted in real time based on the feedback adjustment strategy.

[0088] The feedback adjustment strategy includes setting a PID controller to adjust processing parameters to suppress slurry flow rate errors, ensuring that the real-time slurry flow rate is as consistent as possible with the target slurry flow rate. The PID controller includes a first PID controller and a second PID controller; the feedback adjustment strategy specifically includes a first adjustment strategy and a second adjustment strategy; wherein, the first adjustment strategy includes: if the absolute value of the slurry flow rate error is greater than or equal to a preset flow rate error threshold, then inputting the slurry flow rate error into the first PID controller; the first PID controller calculates and outputs an adjustment amount for the propulsion speed; and adjusting the propulsion speed based on the adjustment amount until the slurry flow rate error is less than the flow rate error threshold.

[0089] The second adjustment strategy includes: if the absolute value of the slurry flow error is greater than or equal to a preset flow error threshold, then the slurry flow error is input to the second PID controller; the second PID controller calculates and outputs the adjustment amount of the applied load; the applied load is adjusted based on the adjustment amount of the applied load until the slurry flow error is less than the flow error threshold.

[0090] In this embodiment, both the first PID controller and the second PID controller calculate the adjustment amount of the processing parameters using proportional coefficient, integral coefficient, and derivative coefficient. This allows the corresponding processing parameters to be adjusted according to the adjustment amount, suppressing slurry flow error and ensuring that the slurry flow rate remains consistent with the preset target slurry flow rate, thus guaranteeing processing quality.

[0091] Based on the aforementioned processing stability indicators and slurry flow error, a feedback adjustment strategy is formulated, including:

[0092] Set a threshold for the balance index; those skilled in the art can set the specific value of the balance index threshold based on experience or actual needs;

[0093] If the path balance index is less than the balance index threshold, then the second adjustment strategy is selected;

[0094] If the path balance index is greater than or equal to the balance index threshold, the adjustment amount of the applied load is calculated in real time by the second PID controller; if the adjustment amount of the applied load is less than 0, the second adjustment strategy is selected; otherwise, the first adjustment strategy is selected.

[0095] When the path balance index is less than the balance index threshold, the forces at both ends of the loading component are relatively balanced, and there is a stable environment for adjusting the external load. When the forces at both ends of the loading component are unbalanced, and the adjustment amount of the external load is less than 0, reducing the external load will not aggravate the force imbalance. Prioritizing the adjustment of the external load can achieve more sensitive slurry flow rate adjustment and can minimize the disturbance to the processing cycle caused by adjusting the propulsion speed. When the forces at both ends of the loading component are unbalanced and it is necessary to increase the external load, choosing to adjust the propulsion speed can avoid aggravating the force imbalance caused by increasing the external load.

[0096] The feedback adjustment strategy based on the aforementioned processing stability index and slurry flow error also includes:

[0097] Set a threshold for the volatility indicator; those skilled in the art can set the specific value of the volatility indicator threshold based on experience or actual needs;

[0098] If the path fluctuation index is greater than the fluctuation index threshold, then the PID controller corresponding to the selected feedback adjustment strategy is adjusted to compensate, specifically including:

[0099] The adjustment compensation factor of the PID controller is set based on the path fluctuation index; specifically, it includes: setting the value range of the adjustment compensation factor; setting a specific value for the adjustment compensation factor within the value range based on the path fluctuation index, and the path fluctuation index and the value of the adjustment compensation factor are negatively correlated.

[0100] It should be noted that the PID controller corresponding to the first adjustment strategy is the first PID controller; the PID controller corresponding to the second adjustment strategy is the second PID controller.

[0101] When the path fluctuation index is large, a smaller adjustment compensation factor is used to ensure the stability of the slurry flow control and suppress overshoot and oscillation. When the path fluctuation index is small, a larger adjustment compensation factor is used to improve the system response speed and accelerate the efficiency of slurry flow regulation. Those skilled in the art can determine a reasonable range of values ​​for the path fluctuation index based on experience or experiments to ensure that the adjustment compensation factor can effectively compensate the PID controller.

[0102] When calculating the adjustment amount of the corresponding processing parameters through the PID controller, the proportional term is multiplied by the adjustment compensation factor.

[0103] The proportional term is the product of the proportional coefficient and the slurry flow error in the formula for calculating the adjustment amount of the processing parameters by the PID controller. This application achieves dynamic optimization and adjustment compensation of the feedback adjustment strategy by calculating the path balance index and the path fluctuation index, which can output the most suitable feedback adjustment strategy for different processing conditions, ensuring the processing quality under complex working conditions.

[0104] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of protection of this application, and these forms are all within the protection scope of this application.

Claims

1. A method for dynamic flow control based on multi-body contact deformation calculation, characterized in that, include: Obtain the processing parameters and the structural parameters of the loading component and the substrate; Based on the structural parameters of the loading member and the substrate, the Z-direction deformation of the loading member and the substrate is analyzed and modeled to obtain the contour curves of the lower edge of the loading member and the upper edge of the substrate. A flow calculation model is constructed based on the contour curves of the lower edge of the loading component and the upper edge of the substrate. The real-time slurry flow rate is calculated based on the aforementioned flow calculation model; Obtain the target slurry flow rate and calculate the slurry flow rate error; The flow calculation model is based on the difference between the contour curves of the lower edge of the loading component and the upper edge of the substrate to obtain the transfer space height curve, and the slurry flow rate is calculated based on the transfer space height curve, the applied load, and the propulsion speed. The transfer space height curve is used to describe the distribution of the transfer space height of the slurry along the y-axis; the slurry flow rate is the amount of slurry transferred per unit time. The target slurry flow rate is a preset reference value for the slurry flow rate; the slurry flow rate error is the difference between the target slurry flow rate and the real-time slurry flow rate. Collect the support load of the loaded component; calculate the processing stability index based on the support load; Based on the aforementioned processing stability index and slurry flow error, a feedback adjustment strategy is formulated, and the slurry flow is adjusted in real time based on the feedback adjustment strategy.

2. The flow dynamic control method based on multi-body contact deformation calculation as described in claim 1, characterized in that, The processing parameters include external load and feed rate; wherein, the external load is a load uniformly applied to the loading member by the pressure-applying member and directed vertically downward; the feed rate is the speed at which the pressure-applying member moves along the processing path on the surface of the loading member; The structural parameters of the loading member include the loading member thickness, loading member width, and the elastic modulus and Poisson's ratio of the loading member material. The structural parameters of the printing substrate include the thickness of the printing substrate, the elastic modulus and Poisson's ratio of the printing substrate material, and the width of the pressure zone of the printing substrate.

3. The method for dynamic flow control based on multi-body contact deformation calculation as described in claim 2, characterized in that, The Z-axis deformation of the loaded member is analyzed and modeled to obtain the contour curve of the lower edge of the loaded member, specifically including: A spatial rectangular coordinate system is established with the plane parallel to the surface of the printing substrate as the xOy plane and the vertically downward direction as the positive direction of the z-axis; In the spatial rectangular coordinate system, the loaded component is modeled as a simply supported beam model; the simply supported beam model is subjected to a uniformly distributed external load on its upper part and is kept in balance by the support loads from the substrate at both ends; Based on the simply supported beam model, a set of equilibrium differential equations is constructed; the set of equilibrium differential equations is used to describe the functional relationship between the stress distribution of the loaded member along the y-axis and the thickness, width, elastic modulus and Poisson's ratio of the loaded member material, and the applied load; Solving the equilibrium differential equations yields the stress distribution function along the y-axis at the lower edge of the loaded member. Using the linear elastic constitutive relation, the strain distribution function of the lower edge of the loaded member is calculated based on the stress distribution function of the lower edge of the loaded member, and the profile curve of the lower edge of the loaded member is calculated based on the strain distribution function of the lower edge of the loaded member.

4. The method for dynamic flow control based on multi-body contact deformation calculation as described in claim 3, characterized in that, The Z-axis deformation of the printing substrate is analyzed and modeled to obtain the contour curve of the upper edge of the printing substrate, specifically including: In the spatial rectangular coordinate system, the printing substrate is modeled as a fixed column model; the two ends of the fixed column model are subjected to pressure loads from the two ends of the loading member; Based on the fixed column model, a polynomial stress function equation is constructed; the stress function equation is used to describe the functional relationship between the stress distribution of the substrate along the y-axis and the thickness of the substrate, the elastic modulus and Poisson's ratio of the substrate material, the width of the pressure zone of the substrate, and the pressure load. Solving the stress function equation yields the stress distribution function along the y-axis at the upper edge of the substrate. Using linear elastic constitutive relations, the strain distribution function of the upper edge of the printing substrate is calculated based on the stress distribution function of the upper edge of the printing substrate, and the profile curve of the upper edge of the printing substrate is calculated based on the strain distribution function of the upper edge of the printing substrate.

5. The flow dynamic control method based on multi-body contact deformation calculation as described in claim 4, characterized in that, The processing stability indicators include path balance indicators and path fluctuation indicators; The machining stability index is calculated based on the aforementioned support load, including: The support loads at both ends of the loading component are collected synchronously; the support loads at both ends of the loading component at different times are organized into a support load sequence at both ends of the loading component; based on the support load sequence, the support loads at both ends of the loading component at the most recent m times are extracted; m is a positive integer. Calculate the absolute value of the difference between the support loads at both ends of the loaded component at each of the m time points and take the average value as the path balance index; The variances of the support loads at both ends of the loaded component at the most recent m moments are calculated and their mean values ​​are obtained, which are used as the path fluctuation index.

6. The method for dynamic flow control based on multi-body contact deformation calculation as described in claim 5, characterized in that, The feedback adjustment strategy includes setting a PID controller to adjust processing parameters to suppress slurry flow error; the PID controller includes a first PID controller and a second PID controller; the feedback adjustment strategy specifically includes a first adjustment strategy and a second adjustment strategy; wherein, the first adjustment strategy includes: if the absolute value of the slurry flow error is greater than or equal to a preset flow error threshold, then inputting the slurry flow error into the first PID controller; the first PID controller calculates and outputs an adjustment amount of the propulsion speed; and adjusts the propulsion speed based on the adjustment amount of the propulsion speed until the slurry flow error is less than the flow error threshold.

7. The method for dynamic flow control based on multi-body contact deformation calculation as described in claim 6, characterized in that, The second adjustment strategy includes: if the absolute value of the slurry flow error is greater than or equal to a preset flow error threshold, then inputting the slurry flow error into a second PID controller; the second PID controller calculates and outputs the adjustment amount of the applied load; and adjusts the applied load based on the adjustment amount of the applied load until the slurry flow error is less than the flow error threshold.

8. The method for dynamic flow control based on multi-body contact deformation calculation as described in claim 7, characterized in that, Based on the aforementioned processing stability indicators and slurry flow error, a feedback adjustment strategy is formulated, including: Set a balance index threshold; if the path balance index is less than the balance index threshold, then select the second adjustment strategy; If the path balance index is greater than or equal to the balance index threshold, the adjustment amount of the applied load is calculated in real time by the second PID controller; if the adjustment amount of the applied load is less than 0, the second adjustment strategy is selected; otherwise, the first adjustment strategy is selected.

9. The method for dynamic flow control based on multi-body contact deformation calculation as described in claim 8, characterized in that, The feedback adjustment strategy based on the aforementioned processing stability index and slurry flow error also includes: Set a fluctuation index threshold; if the path fluctuation index is greater than the fluctuation index threshold, then compensate and adjust the PID controller corresponding to the selected feedback adjustment strategy, specifically including: The adjustment compensation factor of the PID controller is set based on the path fluctuation index; specifically, it includes: setting the value range of the adjustment compensation factor; setting a specific value for the adjustment compensation factor within the value range based on the path fluctuation index, and the path fluctuation index and the value of the adjustment compensation factor are negatively correlated. When calculating the adjustment amount of the corresponding processing parameters through the PID controller, the proportional term is multiplied by the adjustment compensation factor.

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