Flying shear system cutter control method, device, equipment, medium and flying shear system

Abstract

The present application relates to flying shear technical field, specifically disclose flying shear system's cutting knife control method, device, equipment, medium and flying shear system, through the first system state quantity and the second system state quantity of the conversion relationship of the measurable in the cutting knife system of flying shear system is constructed state space model, the second system state quantity includes at least one of the transmission error parameter of speed reducer, the unmeasurable state parameter of cutting knife device, according to state space model construction Loubuoge observer, the measured value of first system state quantity is input into Loubuoge observer, the estimated value of second system state quantity is obtained, the estimation of unmeasurable transmission error parameter or unmeasurable cutting knife device state quantity is realized, the estimated value is added to the control of cutting knife motor, the error caused by the flexible characteristic of speed reducer is eliminated, the control precision of cutting knife in flying shear system is effectively improved, thereby the cutting precision of flying shear system is improved.

Description

Technical Field

[0001] This invention relates to the field of flying shear technology, and in particular to a method, device, equipment, medium, and flying shear system for controlling the cutter in a flying shear system. Background Technology

[0002] A flying shear system is an automated control system that enables dynamic, synchronous shearing during continuous material feeding without stopping the feed. It is widely used in industrial fields requiring fixed-length slitting of coils or long materials. In a flying shear system, a host computer issues commands to control the feeding rollers to move the material horizontally and to control the cutter motor to drive the cutter to cut the material at a set position. However, in the cutting system of a flying shear, control errors between the cutter motor and the cutter itself result in inaccurate cutter control, making it difficult to meet high-precision cutting requirements.

[0003] Improving the cutting accuracy of flying shear systems is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a cutting control method, device, equipment, medium, and flying shear system for improving the cutting accuracy of the flying shear system.

[0005] To solve the above technical problems, the present invention provides a cutting blade control method for a flying shear system, comprising: Determine the transformation relationship between the first system state variables and the second system state variables of the flying shear system's cutting system, and construct a state-space model based on the transformation relationship; Construct a Luneburg observer based on the state-space model; The measured values ​​of the first system state variables are input into the Lumberjack observer to obtain the estimated values ​​of the second system state variables; The speed of the cutter motor is controlled based on the estimated value of the second system state variable; The cutting system includes a cutting motor, a cutting device, and a reducer disposed between the cutting motor and the cutting device; The first system state variable is a measurable state parameter in the cutting system; The second system state quantity includes at least one of the transmission error parameters of the reducer and the unmeasurable state parameters of the cutter device.

[0006] In some implementations, the state-space model is an equation relating the derivatives of the state variables to the state variables, the inputs to the state-space model, and the disturbances of the state-space model. The state variables include the first system state variables and the second system state variables; the input to the state space model is the control parameters of the cutter motor; and the disturbance to the state space model is the load parameters of the cutter device.

[0007] In some implementations, the first system state quantity is the rotational speed of the cutter motor, and the second system state quantity includes the transmission error parameter of the reducer and the state quantity of the cutter device. The transmission error parameter of the reducer is the torsion angle of the flexible shaft of the reducer, and the state quantity of the cutter device is the cutter rotational speed. The conversion relationship includes the shaft torque balance equation of the cutter motor, the shaft torque balance equation of the cutter device, and the torsion angle equation of the reducer; The shaft torque balance equation of the cutter motor is an equation relating the inertial torque of the cutter motor to the rotational speed of the cutter motor, the electromagnetic torque of the cutter motor, the damping coefficient of the cutter motor, and the torsional torque of the reducer. The shaft torque balance equation of the cutting device is an equation relating the inertial torque of the cutting device to the reduction ratio of the reducer, the torsional torque of the reducer, and the load torque of the cutting device; the inertial torque of the cutting device is determined based on the moment of inertia of the cutting device and the reducer, as well as the cutting speed. The torsion angle equation of the reducer is the equation relating the torsion angle of the flexible shaft of the reducer to the rotation angle of the cutter motor, the reduction ratio of the reducer, and the rotation angle of the cutter device.

[0008] In some implementations, the step of inputting the measured value of the first system state variable into the Luneburg observer to obtain the estimated value of the second system state variable includes: The measured values ​​of the first system state variables are input into the Luneburger observer, and the observer gain matrix of the Luneburger observer is configured so that the state estimation error of the Luneburger observer converges to zero, thereby obtaining the estimated values ​​of the second system state variables.

[0009] In some implementations, the second system state quantity includes the state quantity of the cutting device, wherein the state quantity of the cutting device is the cutting speed; The step of controlling the speed of the cutter motor based on the estimated value of the second system state variable includes: The speed adjustment amount is determined based on the estimated cutting speed of the cutting device and the set speed of the cutting motor. Based on the speed adjustment amount, a proportional-integral calculation is performed to generate a torque current setpoint for the cutter motor; The rotational speed of the cutter motor is controlled using the torque current setpoint.

[0010] In some implementations, the second system state quantity includes the transmission error parameter of the reducer and the state quantity of the cutter device, wherein the transmission error parameter of the reducer is the torsion angle of the flexible shaft of the reducer, and the state quantity of the cutter device is the cutter rotation speed; Controlling the speed of the cutter motor based on the estimated value of the second system state variable includes: The elastic torque of the transmission shaft of the reducer is determined based on the torsional stiffness coefficient of the flexible shaft and the estimated torsional angle of the reducer. The speed deviation is obtained by subtracting the product of the reduction ratio of the reducer and the estimated speed of the cutter from the rotational speed of the cutter motor. The damping torque of the transmission shaft is determined based on the speed deviation and the damping coefficient of the flexible shaft of the reducer. The torsional torque of the reducer is determined based on the elastic torque and the damping torque. The rotational speed of the cutter motor is controlled based on the torsional torque and the given torque of the cutter motor.

[0011] To solve the above-mentioned technical problems, the present invention provides a flying shear system, including: a cutting motor, a cutting device, a reducer disposed between the cutting motor and the cutting device, and a first controller connected to the cutting motor; The first controller is used to determine the transition relationship between the first system state variables and the second system state variables of the flying shear system's cutting system, and to construct a state-space model based on the transition relationship; to construct a Luneburger observer based on the state-space model; to input the measured values ​​of the first system state variables into the Luneburger observer to obtain the estimated values ​​of the second system state variables; and to control the rotational speed of the cutting motor based on the estimated values ​​of the second system state variables. Wherein, the first system state quantity is a measurable state parameter in the cutting system; The second system state quantity includes at least one of the transmission error parameters of the reducer and the unmeasurable state parameters of the cutter device.

[0012] To solve the above-mentioned technical problems, the present invention provides a cutting blade control device for a flying shear system, comprising: A state construction unit is used to determine the transformation relationship between the first system state variables and the second system state variables of the flying shear system's cutting system, and to construct a state space model based on the transformation relationship. An observer construction unit is used to construct a Luneburger observer based on the state-space model. The calculation unit is used to input the measured value of the first system state variable into the Luneburg observer to obtain the estimated value of the second system state variable; The control unit is used to control the speed of the cutter motor based on the estimated value of the second system state variable; The cutting system includes a cutting motor, a cutting device, and a reducer disposed between the cutting motor and the cutting device; The first system state variable is a measurable state parameter in the cutting system; The second system state quantity includes at least one of the transmission error parameters of the reducer and the unmeasurable state parameters of the cutter device.

[0013] To solve the above-mentioned technical problems, the present invention provides a cutting blade control device for a flying shear system, comprising: Memory, used to store computer programs; A processor for executing the computer program, which, when executed by the processor, implements the steps of the cutter control method of the flying shear system as described in any of the above.

[0014] To solve the above-mentioned technical problems, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the cutting blade control method of the flying shear system as described in any of the above-mentioned claims.

[0015] The cutting blade control method for a flying shear system provided by this invention has the following advantages: It determines the transformation relationship between the first system state variables and the second system state variables in a flying shear system comprising a cutting blade motor, a cutting blade device, and a reducer located between the cutting blade motor and the cutting blade device. A state-space model is constructed based on this transformation relationship, and a Luneburger observer is built based on the state-space model. The measured values ​​of the first system state variables are input into the Luneburger observer to obtain estimated values ​​of the second system state variables. This establishes the relationship between the measurable first system state variables and the unmeasurable second system state variables in the cutting blade system, enabling the estimation of unmeasurable transmission error parameters or cutting blade device state variables. The estimated values ​​of the second system state variables are then incorporated into the control of the cutting blade motor, eliminating errors caused by the flexible characteristics of the reducer. This effectively improves the control accuracy of the cutting blade in the flying shear system, thereby improving the cutting accuracy of the flying shear system.

[0016] The present invention also provides a flying shear system and a cutting control device, equipment and medium for the flying shear system, which have the above-mentioned beneficial effects, and will not be described in detail here. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0018] Figure 1 An architecture diagram of a flying shear system provided in an embodiment of the present invention; Figure 2 A flowchart of a cutting blade control method for a flying shear system provided in an embodiment of the present invention; Figure 3 This is a block diagram of the cutter control of a flying shear system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a cutting blade control device for a flying shear system provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a cutting blade control device for a flying shear system provided in an embodiment of the present invention; Among them, 101 is the host computer, 102 is the feeding frequency converter, 103 is the feeding motor, 104 is the feeding roller, 105 is the feeding measuring wheel, 106 is the cutter frequency converter, 107 is the cutter motor, 108 is the reducer, 109 is the cutter device, 110 is the color mark sensor, and 111 is the origin sensor. Detailed Implementation

[0019] The core of this invention is to provide a cutting control method, device, equipment, medium, and flying shear system for improving the cutting accuracy of the flying shear system.

[0020] The technical solutions of 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.

[0021] Figure 1 This is an architecture diagram of a flying shear system provided in an embodiment of the present invention.

[0022] To facilitate understanding, the system architecture to which this invention applies will be introduced first.

[0023] like Figure 1 As shown, the flying shear system can be divided into a feeding and traction system, a cutting system, a material detection and measurement system, and a host computer 101.

[0024] The host computer 101 is the brain of the entire flying shear system, used for overall logic control, parameter setting, and algorithm calculation. It can communicate with other devices in the flying shear system via a Modbus network. In the flying shear system, the host computer 101 can receive real-time material information from the material detection and measurement system, perform calculations based on the preset cutting length, and then issue speed and action commands to the feeding traction system and the cutting system.

[0025] The feeding traction system is used to smoothly and uniformly transport cardboard and provide the system with the most direct material displacement feedback. The feeding traction system can consist of a feeding frequency converter 102, a feeding motor 103, a feeding roller 104, and a feeding measuring wheel 105. The feeding frequency converter 102 receives speed commands from the host computer 101 and drives the feeding motor 103. The feeding motor 103, controlled by the feeding frequency converter 102, is the source of power for feeding. The feeding roller 104 is directly driven by the feeding motor 103, propelling the cardboard forward through friction. The feeding measuring wheel 105 rotates synchronously with the feeding roller 104 and is equipped with an encoder to accurately measure the actual linear speed and distance traveled of the material belt, feeding this information back to the host computer 101.

[0026] The cutting system is used to drive the cutter to perform dynamic shearing that is precisely synchronized with the movement of the cardboard. The cutting system can consist of a cutter frequency converter 106, a cutter motor 107, a reducer 108, a cutter roller, and a cutter. The cutter frequency converter 106 receives speed commands from the host computer 101 to drive the cutter motor 107. The cutter motor 107, controlled by the cutter frequency converter 106 in a closed-loop manner, is the power source for the shearing action. The reducer 108 is connected between the cutter motor 107 and the cutter roller to reduce the rotational speed and increase the output torque. The cutter roller, driven by the reducer 108, has the cutter mounted on it, and shearing is completed through rotation. The cutter and the cutter roller are typically rigidly connected, and the cutter speed can be considered to be equal to or with a very small error compared to the cutter roller speed. For ease of description, in the embodiments of this invention, the cutter roller and the cutter are collectively referred to as the cutting device.

[0027] The material detection and measurement system is used to detect specific marks on the material and provide speed and position reference signals to assist in achieving high-precision positioning and shearing. The material detection and measurement system may include a color mark sensor 110 and an origin sensor 111. The color mark sensor 110 is installed above the cardboard path and is used to detect printed color marks on the cardboard. The material speed is calculated by the movement of the color marks, and when a specific origin color mark is detected, a signal is emitted as the reference point for each shearing cycle. The origin sensor 111 is installed near the cutter device 109 and typically employs a proximity switch (metal-sensing), photoelectric switch, or Hall effect sensor. It is used to rotate the cutter roller of the cutter device 109 to a unique and fixed mechanical starting position each time the flying shear system is powered on or reset. The feeding measuring wheel 105 can also be considered part of the material detection and measurement system.

[0028] In related technologies, Figure 1 When the flying shear system shown performs its task, its workflow may include: the host computer 101 sends a linear speed command to the feeding traction frequency converter via Modbus. The feeding frequency converter 102 drives the feeding motor 103 using a closed-loop control method, and the feeding motor 103 drives the feeding wheel to move the material belt horizontally; when the feeding motor 103 is running, it will drive the feeding measuring wheel 105 to rotate, and the encoder installed on the feeding measuring wheel 105 directly transmits the position and speed information to the cutter frequency converter 106. The cutter motor 107 is also driven by the cutter frequency converter 106 and adopts a closed-loop control method. The cutter motor 107 is connected to the reducer 108 to drive the cutter roller to rotate. The calculation module of the cutter frequency converter 106 calculates and plans the rotation speed curve of the cutter motor 107 based on mechanical parameters such as cutting length, cutter circumference, feed wheel circumference, feed line speed, and reduction ratio. This curve serves as the internal speed setpoint of the cutter frequency converter 106. The difference between the speed setpoint and the feedback speed of the cutter motor 107 is calculated, and the torque current is output through the proportional-integral controller (PI controller) to drive the cutter motor 107 to run. The reducer 108 drives the cutter roller to rotate, thereby achieving the fixed-length cutting of the material strip.

[0029] As can be seen, the cutting blade control scheme of the flying shear system in the relevant technology does not take into account the control error caused by the flexible characteristics of the reducer 108, resulting in low control accuracy of the cutter. This problem is further manifested as follows: the speed of the cutter motor 107 and the cutting blade speed lag due to the flexible characteristics of the reducer 108, which cannot be fully compensated by mechanical parameter planning, resulting in errors when cutting materials of a fixed length; when the load on the cutter changes abruptly (such as the cutter encountering resistance while cutting the material strip), the flexible characteristics of the reducer 108 amplify the speed fluctuation, and the control scheme of the relevant technology cannot correct it quickly, resulting in a large number of unqualified materials being cut in a short period of time; and relying only on the closed loop of motor speed without establishing feedback for the cutting roller speed, it is impossible to eliminate the flexible error of the "motor-reducer 108-cutting roller" transmission chain, making it difficult to meet the requirements of high-precision material processing.

[0030] To improve the cutting accuracy of the flying shear system, the flying shear system provided in this embodiment of the invention includes a cutter motor 107, a cutter device 109, a reducer 108 disposed between the cutter motor 107 and the cutter device 109, and a first controller connected to the cutter motor 107. The first controller is used to determine the transformation relationship between the first system state variables and the second system state variables of the flying shear system's cutter system, and to construct a state space model based on the transformation relationship. A Luenberger observer is constructed based on the state space model. The measured values ​​of the first system state variables are input into the Luenberger observer to obtain the estimated values ​​of the second system state variables. The rotational speed of the cutter motor 107 is controlled based on the estimated values ​​of the second system state variables. The first system state variables are measurable state parameters of the cutter system. The second system state variables include at least one of the transmission error parameters of the reducer 108 and the unmeasurable state parameters of the cutter device 109.

[0031] The cutting blade control scheme of the flying shear system provided in this invention determines the transformation relationship between the first system state variables and the second system state variables of the flying shear system, which includes a cutting blade motor, a cutting blade device, and a reducer located between the cutting blade motor and the cutting blade device. A state space model is constructed based on this transformation relationship, and a Luneburger observer is built based on the state space model. The measured value of the first system state variable is input into the Luneburger observer to obtain the estimated value of the second system state variable. This establishes the relationship between the measurable first system state variable and the unmeasurable second system state variable in the cutting blade system, enabling the estimation of unmeasurable transmission error parameters or cutting blade device state variables. The estimated value of the second system state variable is added to the control of the cutting blade motor, eliminating errors caused by the flexibility of the reducer, effectively improving the control accuracy of the cutting blade in the flying shear system, and thus improving the cutting accuracy of the flying shear system.

[0032] Based on the above architecture, the cutting blade control method of the flying shear system provided by the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0033] Figure 2 A flowchart illustrating a cutting blade control method for a flying shear system provided in an embodiment of the present invention.

[0034] like Figure 2 As shown, the cutting blade control method of a flying shear system provided in this embodiment of the invention may include S201~S204.

[0035] The blade control method of the flying shear system provided in this embodiment of the invention can be applied to a first controller, which can refer to the host computer of the flying shear system or another controller controlled by the host computer.

[0036] S201: Determine the transformation relationship between the first system state variables and the second system state variables of the flying shear system's cutting system, and construct a state-space model based on the transformation relationship.

[0037] The cutting system includes a cutting motor, a cutting device, and a reducer located between the cutting motor and the cutting device.

[0038] In this embodiment of the invention, the first system state quantity is a measurable state parameter in the cutting system, such as the state quantity of the cutting motor, specifically the speed of the cutting motor, the stator current of the cutting motor, etc.

[0039] The second system state variable consists of unmeasurable system state parameters of the cutting system, such as unmeasurable state parameters of the reducer and the cutting device. Considering the significant impact of the reducer's flexibility error on the cutting accuracy, the second system state variable may include at least one of the reducer's transmission error parameters and the unmeasurable state parameters of the cutting device. The reducer's transmission error parameters may include, but are not limited to, the reducer's flexible shaft torsion angle. The unmeasurable state parameters of the cutting device may include, but are not limited to, the cutting roller speed, the cutting speed, and the load torque of the cutting device.

[0040] It should be noted that, in this embodiment of the invention, "measurable state parameters" refer to actual physical quantities configured to be directly detected and used for feedback by physical sensors in the cutting system of this embodiment, such as motor phase current detected by a current sensor or motor speed detected by an encoder. "Unmeasurable state parameters," on the other hand, refer to key dynamic quantities that are not configured with corresponding direct detection sensors in the cutting system of this embodiment, or whose measured values ​​are not used due to cost, accuracy, or reliability reasons, but which need to be estimated by algorithms, such as the load torque of the cutting device. This distinction is based on the design and implementation of a specific cutting system, and is not an absolute concept.

[0041] To estimate the state variables of the second system by an observer, an embodiment of the present invention constructs a state space model according to the conversion relationship between the state variables of the first system and the second system. In an embodiment of the present invention, the state space model is a mathematical model for internal prediction that is isomorphic to the dynamic model of the cutter system. The observer can run this model and compare and correct its output with the measured values of the real system, so as to estimate the internal state that cannot be directly measured. Therefore, in an embodiment of the present invention, the conversion relationship can be described by the dynamic model of the cutter system, and this dynamic model is constructed according to the selected state variables of the first system and the second system and their relationship.

[0042] In some optional embodiments of the embodiment of the present invention, the state space model can be an equation between the derivative of the state variable, the state variable, the input quantity of the state space model, and the disturbance quantity of the state space model. Among them, the state variables include the state variables of the first system and the second system; the input quantity of the state space model is the control parameter of the cutter motor; the disturbance quantity of the state space model is the load parameter of the cutter device.

[0043] The state space model is jointly described by a state equation and an output equation. In the state space model, the state variable is the minimum set of variables describing the internal dynamics of the cutter system and is an n-dimensional column vector (n≥1). In an embodiment of the present invention, the state variables include the state variables of the first system and the second system. In the state space model, the output quantity is an m-dimensional column vector (m≥1 and m < n), representing the output quantity that can be directly measured in the cutter system. The input quantity is a p-dimensional column vector, usually representing the control input of the system. In an embodiment of the present invention, the input quantity can adopt the control parameter of the cutter motor, such as the electromagnetic torque of the cutter motor. The output quantity is obtained by linear mapping of the state variable through the output matrix , that is, . In an embodiment of the present invention, the composition of the output quantity corresponds directly to the state variables of the first system. The output quantity will be used as the actual feedback input of the Luenberger observer.

[0044] In an embodiment of the present invention, to solve the control error caused by the load mutation of the cutter device during the cutting of materials, the load parameter of the cutter device is used as the disturbance quantity of the state space model .

[0045] Then in an embodiment of the present invention, the state equation of the state space model can be a relational expression between the derivative of the state variable, the state variable, the input quantity, and the disturbance quantity, and can adopt The output equation of a state-space model can be expressed as a relationship between the output and input quantities, and can be represented using... It indicates. Among them, For the system matrix, For the control matrix, The perturbation input matrix, This is the output matrix.

[0046] S202: Construct the Luneburger observer based on the state-space model.

[0047] Based on the state-space model established in the previous step, this embodiment of the invention constructs a Luneburger observer to estimate the state variables of the unmeasurable second system. The basic principle of the Luneburger observer is to construct a dynamic simulator (i.e., the observer) that runs in parallel with the original system model, and to continuously correct the internal state of the simulator by using the error between the measurable output of the actual system and the predicted output of the simulator, so that it converges to the internal state of the real system.

[0048] A Romberg observer can include state estimation equations and output prediction equations. The state estimation equations relate the derivatives of the state variables to the estimated values ​​of the state variables, the inputs, and the observation errors. The output prediction equations relate the estimated values ​​of the outputs to the estimated values ​​of the state variables.

[0049] S203: Input the measured values ​​of the first system state variables into the Luneburg observer to obtain the estimated values ​​of the second system state variables.

[0050] Based on the Luneburger observer established in the previous step, the observer is driven by the actual measured values ​​of the first system state variables that can be measured, thereby calculating the estimated values ​​of the second system state variables that cannot be measured.

[0051] In this embodiment of the invention, in step S203, inputting the measured value of the first system state variable into the Luneburger observer to obtain the estimated value of the second system state variable may include: inputting the measured value of the first system state variable into the Luneburger observer and configuring the observer gain matrix of the Luneburger observer so that the state estimation error of the Luneburger observer converges to zero, thereby obtaining the estimated value of the second system state variable.

[0052] In practical implementation, the cutting system can be controlled to enter its operating cycle by inputting relevant parameters and state variables of the cutting system into a Luneburg observer. In each control cycle... ( For the number of steps, (Sampling period) The physical signals of the first system state variables are collected periodically by sensors to obtain the measured values ​​of the first system state variables. The system output vector is constructed using the measured values ​​of the first system state variables. Simultaneously, the control quantity calculated and output by the current cycle controller is obtained as the input vector. In this embodiment of the invention, the control parameters of the cutter motor can be used; and Given the constructed Romberg observer, the observer performs the computation in this step. After completing the above computation, the observer updates the internal state vector. Updated This includes the latest estimates of all system state variables at the current moment. (Vector) The part corresponding to the first system state variables is the observer's estimate of the measured values, which can be used to verify or replace the original measurements with significant noise. (Vector) The part corresponding to the second system state quantity is the estimated value of the second system state quantity to be obtained in the embodiment of the present invention.

[0053] Define the estimation error of the Luneburg observer as The dynamic equation for the estimation error is: ,in, Here is the observation error coefficient matrix, where This is the observer gain matrix mentioned above, which can be obtained by appropriately selecting... It can make a matrix The eigenvalues ​​(extremes) are located in the desired positions, thus minimizing the estimation error. It converges quickly to zero.

[0054] In this embodiment of the invention, configuring the observer gain matrix of the Luneburg observer may include: determining the pole locations of the observation error coefficient matrix of the Luneburg observer; and determining the observer gain matrix of the Luneburg observer based on the pole locations and the transformation formula of the observer gain matrix. Specifically, a set of desired poles can be specified in the left half of the complex plane according to the required observer dynamic response of the system; these poles determine the estimation error. The decay rate and mode of the system. Typically, the real part of the desired pole is set to be more negative than the open-loop poles of the system to ensure that the observer responds faster than the system itself, typically 2 to 5 times the real part of the system poles; using pole placement algorithms (such as the Ackermann formula), the system matrix based on the state-space model is... and output matrix And the desired poles, and the observer gain matrix is ​​calculated. In digital controllers, this calculation can be performed using the `place` or `acker` functions. This calculation process is typically completed offline during the system design phase. The calculated observer gain matrix... These parameters are stored in the flying shear system's memory as fixed parameters.

[0055] During the operation of the flying shear system, the configured observer gain matrix will be... After loading the Luneburger observer, the system enters closed-loop operation. In each control cycle, corrections are made based on the estimation error, gradually stabilizing the error. That is, after the estimation error converges, the internal state of the Luneburger observer is determined. This will infinitely approach the true state of the system, at which point it can be seen from... The component corresponding to the second system state quantity is directly read to obtain the estimated value of the second system state quantity.

[0056] S204: Control the speed of the cutter motor based on the estimated value of the second system state variables.

[0057] The calculations in the previous step have enabled the estimation of the unmeasurable state variables of the second system. This means that accurate estimations have been achieved for state variables that are difficult to measure, such as the transmission error parameters of the reducer and the state variables of the cutting device. These state variables can represent the true state of the flying shear system at the end of the cutting system when performing the cutting task. Based on this, the cutting motor can be controlled, thereby enabling precise control of the cutting device.

[0058] The cutting blade control method for a flying shear system provided in this invention determines the transformation relationship between a first system state variable and a second system state variable in the flying shear system, which includes a cutting blade motor, a cutting blade device, and a reducer located between the cutting blade motor and the cutting blade device. A state-space model is constructed based on this transformation relationship, and a Luneburger observer is built based on the state-space model. The measured values ​​of the first system state variables are input into the Luneburger observer to obtain estimated values ​​of the second system state variables. This establishes a relationship between the measurable first system state variable and the unmeasurable second system state variable in the cutting blade system, enabling the estimation of unmeasurable transmission error parameters or cutting blade device state variables. The estimated values ​​of the second system state variables are then incorporated into the control of the cutting blade motor, eliminating errors caused by the flexible characteristics of the reducer. This effectively improves the control accuracy of the cutting blade in the flying shear system, thereby improving the cutting accuracy of the flying shear system.

[0059] Based on the above embodiments, this invention provides a specific process for modeling a state-space model and for constructing and solving a Romberg observer.

[0060] In this embodiment of the invention, taking the first system state quantity as the rotational speed of the cutter motor and the second system state quantity including the transmission error parameter of the reducer and the state quantity of the cutter device as an example, the transmission error parameter of the reducer can be the torsion angle of the flexible shaft of the reducer, and the state quantity of the cutter device can be the cutter rotational speed.

[0061] The transformation relationship in S201 is represented by the dynamic equation of the cutting system. This dynamic model may include the shaft torque balance equation of the cutting motor, the shaft torque balance equation of the cutting device, and the torsional angle equation of the reducer.

[0062] Specifically, a shaft torque balance analysis is performed on the cutter motor. Based on torque balance and torsional characteristics, a linear differential equation is established. The electromagnetic torque of the cutter motor overcomes damping, and the torsional torque drives the motor to rotate. Therefore, the shaft torque balance equation of the cutter motor can be expressed as an equation relating the inertial torque of the cutter motor to its speed, electromagnetic torque, damping coefficient, and torsional torque of the reducer. The shaft torque balance equation of the cutter motor can be further expressed as: ; in, ; in, This represents the moment of inertia of the cutter motor. This indicates the rotational speed of the cutter motor. The derivative representing the rotational speed of the cutter motor. This represents the torque of inertia of the cutter motor. This represents the electromagnetic torque of the cutter motor. This indicates the damping coefficient of the cutter motor. This indicates the torsional torque of the speed reducer. This represents the torsional stiffness coefficient of the flexible shaft of the speed reducer. Indicates the torsion angle of the flexible shaft of the reducer. The derivative representing the torsional angle of the flexible shaft of the speed reducer. This indicates the damping coefficient of the flexible shaft of the speed reducer.

[0063] A shaft torque balance analysis of the cutting device is performed. The torsional torque is amplified by a reduction ratio of i to overcome the load and drive the cutting device. Therefore, the shaft torque balance equation of the cutting device can be expressed as the equation between the inertial torque of the cutting device, the reduction ratio of the reducer, the torsional torque of the reducer, and the load torque of the cutting device. The inertial torque of the cutting device is determined based on the moments of inertia of the cutting device and the reducer, as well as the cutting speed. The shaft torque balance equation of the cutting device can be expressed as: ; in, This represents the moment of inertia of the cutting device and the reducer. Indicates the cutting speed. The derivative representing the cutting speed. This represents the torque of inertia of the cutting device. This indicates the reduction ratio of the speed reducer. This indicates the torsional torque of the speed reducer. This indicates the load torque of the cutting device.

[0064] The relationship between the torsion angle of the reducer and the variable speed reducer is analyzed. The torsion angle is the difference in angular displacement between the input and output shafts, and its derivative is the difference in angular velocity. Therefore, the equation for the torsion angle of the reducer can be expressed as the equation between the torsion angle of the reducer's flexible shaft, the rotation angle of the cutter motor, the reduction ratio of the reducer, and the rotation angle of the cutter device. The torsional torque of the reducer is determined based on the torsional stiffness coefficient of the flexible shaft and the rotation angle of the flexible shaft. The equation for the torsion angle of the reducer can be expressed as: ; in, ; in, Indicates the torsion angle of the flexible shaft of the reducer. This indicates the rotation angle of the cutter motor. express, Indicates the rotation angle of the cutting device. The derivative representing the torsion angle of the flexible shaft. This indicates the rotational speed of the cutter motor. This indicates the cutting speed.

[0065] Based on the above dynamic equations, state-space modeling is performed. State variables are selected. Input quantity Disturbance Output Linearize the dynamic equations to transform them into state equations. and ,in, For the system matrix, For the control matrix, The perturbation input matrix, To output the matrix, the matrix is ​​defined as follows: ; ; ; .

[0066] The Luneburger observer achieves unmeasurable state estimation through "state estimation + output error correction", which can be expressed as: ,in, For state estimators, The derivative is represented by . is the observer gain matrix.

[0067] Define estimation error The dynamic equation for the error is: By appropriately selecting the observer gain matrix This results in the observation error coefficient matrix The eigenvalues ​​(extremes) are located in the desired positions, thus minimizing the estimation error. It converges quickly to zero.

[0068] The blade control method of the flying shear system provided in this invention obtains a state-space model through the dynamic equations of the blade motor, reducer, and blade device. Based on this, a Luneburger observer is constructed to estimate state variables that cannot be directly measured, such as the blade rotation speed of the blade device and the torsional angle of the flexible shaft of the reducer.

[0069] Figure 3 This is a block diagram of the cutter control of a flying shear system provided in an embodiment of the present invention.

[0070] In this embodiment of the invention, when the second system state quantity includes the state quantity of the cutting device, and the state quantity of the cutting device is the cutting speed, controlling the speed of the cutting motor according to the estimated value of the second system state quantity in S204 may include: determining the speed adjustment amount based on the estimated value of the cutting speed of the cutting device and the speed setpoint of the cutting motor; performing proportional-integral calculation based on the speed adjustment amount to generate a torque current setpoint for the cutting motor; and controlling the speed of the cutting motor using the torque current setpoint.

[0071] like Figure 3 As shown, the rotational speed of the cutter motor in the cutter system is collected. and the electromagnetic torque of the cutter motor Input the Luneburg observer to obtain the estimated cutter speed. The speed setpoint calculation module in the cutter inverter outputs the cutter motor's speed setpoint value, and then calculates the estimated cutter speed value. Multiply by the reduction ratio of the reducer The value after As the speed feedback value and the speed setpoint of the cutter motor The difference is used to obtain the adjustment amount, which is then input into the proportional-integral speed regulator to calculate the torque current setpoint for the cutter motor. The motor drive module is then controlled to drive the cutter motor according to the torque current setpoint.

[0072] In this embodiment of the invention, the torque current setpoint for the cutter motor is calculated based on the estimated cutter speed of the cutter device, and can be expressed by the following formula: ; in, This indicates the torque current setpoint. This indicates the setpoint speed of the cutter motor. This represents an estimated value of the cutter's rotational speed. Indicates the velocity loop gain. Indicates the velocity loop integral gain. This represents a differential operator.

[0073] In this embodiment of the invention, when the second system state variables include the transmission error parameter of the reducer and the state variable of the cutting device, where the transmission error parameter of the reducer is the torsional angle of the flexible shaft of the reducer and the state variable of the cutting device is the cutting speed, controlling the speed of the cutting motor according to the estimated value of the second system state variables in S204 may include: determining the elastic torque of the transmission shaft of the reducer based on the torsional stiffness coefficient of the flexible shaft of the reducer and the estimated value of the torsional angle of the reducer; calculating the speed deviation by subtracting the product of the reduction ratio of the reducer and the estimated value of the cutting speed of the cutting device from the speed of the cutting motor; determining the damping torque of the transmission shaft based on the speed deviation and the damping coefficient of the flexible shaft of the reducer; determining the torsional torque of the reducer based on the elastic torque and the damping torque; and controlling the speed of the cutting motor based on the torsional torque and the given torque of the cutting motor.

[0074] like Figure 3 As shown, the rotational speed of the cutter motor in the cutter system is collected. and the electromagnetic torque of the cutter motor Input the Luneburg observer to obtain the estimated cutter speed. and estimated twist angle Based on the estimated cutter speed and estimated twist angle The torsional torque was calculated. As a feedforward torque command, it directly compensates for the output of the speed loop of the proportional-integral speed regulator of the cutter motor, thereby suppressing flexible deformation and further improving the response speed. The feedforward torsional torque can be calculated by the following formula: ; in, Indicates torsional torque. This represents the torsional stiffness coefficient of the flexible shaft of the speed reducer. This represents the estimated torsional angle of the speed reducer. This indicates the damping coefficient of the flexible shaft of the speed reducer. This indicates the rotational speed of the cutter motor. This indicates the reduction ratio of the speed reducer. This represents the estimated cutting speed.

[0075] It should be noted that, in implementing the control of the cutter motor speed based on the estimated value of the second system state quantity in S204 of the embodiments of the present invention, the cutter motor torque current calculation method and the feedforward torsional torque control scheme described in the above two embodiments can be used, or one of them can be used simultaneously.

[0076] It should be noted that in the embodiments of the cutting control method of the flying shear system of the present invention, some steps or features may be ignored or not executed. The division of hardware or software functional modules for ease of explanation is not the only implementation of the cutting control method of the flying shear system provided in the embodiments of the present invention.

[0077] The foregoing detailed various embodiments of the cutter control method for the flying shear system. Based on this, the present invention also discloses a cutter control device, equipment, computer-readable storage medium, and computer program product for the flying shear system corresponding to the above method.

[0078] Figure 4 This is a schematic diagram of the structure of a cutting control device for a flying shear system provided in an embodiment of the present invention.

[0079] like Figure 4 As shown, the blade control device of the flying shear system provided in this embodiment of the invention includes: a state construction unit 401, used to determine the transformation relationship between the first system state quantity and the second system state quantity of the flying shear system's blade system, and to construct a state space model based on the transformation relationship; an observer construction unit 402, used to construct a Luneburger observer based on the state space model; a calculation unit 403, used to input the measured value of the first system state quantity into the Luneburger observer to obtain the estimated value of the second system state quantity; and a control unit 404, used to control the rotational speed of the blade motor based on the estimated value of the second system state quantity.

[0080] The cutting system includes a cutting motor, a cutting device, and a reducer located between the cutting motor and the cutting device; the second system state variables include at least one of the transmission error parameters of the reducer and the state variables of the cutting device.

[0081] It should be noted that in the various embodiments of the flying shear system's cutter control device provided in this invention, the division of units is only a logical functional division, and other division methods can be used. The connection between different units can be electrical, mechanical, or other connection methods. Separate units can be located in the same physical location or distributed across multiple network nodes. Each unit can be implemented in hardware or as a software functional unit. That is, according to actual needs, some or all of the units provided in this invention's embodiments can be selected, and corresponding connection or integration methods can be used to achieve the purpose of the solution in this invention's embodiments.

[0082] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0083] Figure 5 This is a schematic diagram of the structure of a cutting control device for a flying shear system provided in an embodiment of the present invention.

[0084] like Figure 5 As shown, the cutting control device of the flying shear system provided in this embodiment of the invention includes: a memory 510 for storing a computer program 511; and a processor 520 for executing the computer program 511. When the computer program 511 is executed by the processor 520, it implements the steps of the cutting control method of the flying shear system provided in any of the above embodiments.

[0085] The processor 520 may include one or more processing cores, such as a 3-core processor or an 8-core processor. The processor 520 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array. The processor 520 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 520 may integrate a Graphics Processing Unit (GPU) responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 520 may also include an Artificial Intelligence (AI) processor for handling computational operations related to machine learning.

[0086] The memory 510 may include one or more computer-readable storage media, which may be non-transitory. The memory 510 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 510 is used to store at least the following computer program 511, which, after being loaded and executed by the processor 520, is capable of implementing the relevant steps in the cutting blade control method of the flying shear system disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 510 may also include an operating system 512 and data 513, and the storage method may be temporary storage or permanent storage. The operating system 512 may be Windows or other types of operating systems. The data 513 may include, but is not limited to, the data involved in the above methods.

[0087] In some embodiments, the cutting control device of the flying shear system may further include a display screen 530, a power supply 540, a communication interface 550, an input / output interface 560, a sensor 570, and a communication bus 580.

[0088] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the cutter control device of the flying shear system and may include more or fewer components than shown.

[0089] The blade control device of the flying shear system provided in this embodiment of the invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the steps of the blade control method of the flying shear system provided in the above embodiment, and the effect is the same as above.

[0090] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the steps of the cutting control method of the flying shear system provided in any of the above embodiments.

[0091] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0092] For a description of the computer-readable storage medium provided in the embodiments of the present invention, please refer to the above method embodiments. Its effect is the same as the cutting blade control method of the flying shear system provided in the embodiments of the present invention, and the present invention will not repeat it here.

[0093] This invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the cutting control method for the flying shear system provided in any of the above embodiments.

[0094] For a description of the computer program product provided in the embodiments of the present invention, please refer to the above method embodiments. The effects it achieves are the same as the cutting blade control method of the flying shear system provided in the embodiments of the present invention, and the present invention will not elaborate further here.

[0095] The foregoing has provided a detailed description of the cutting control method, apparatus, device, medium, and flying shear system of the present invention. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the flying shear system, cutting control apparatus, device, computer-readable storage medium, and computer program product disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from the principles of the invention, and these improvements and modifications also fall within the protection scope of the present invention.

[0096] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

Claims

1. A method for controlling the cutter in a flying shear system, characterized in that, include: Determine the transformation relationship between the first system state variables and the second system state variables of the flying shear system's cutting system, and construct a state-space model based on the transformation relationship; Construct a Luneburg observer based on the state-space model; The measured values ​​of the first system state variables are input into the Lumberjack observer to obtain the estimated values ​​of the second system state variables; The speed of the cutter motor is controlled based on the estimated value of the second system state variable; The cutting system includes a cutting motor, a cutting device, and a reducer disposed between the cutting motor and the cutting device; The first system state variable is a measurable state parameter in the cutting system; The second system state quantity includes the transmission error parameter of the reducer and the state quantity of the cutting device. The transmission error parameter of the reducer is the torsion angle of the flexible shaft of the reducer, and the state quantity of the cutting device is the cutting speed. Controlling the speed of the cutter motor based on the estimated value of the second system state variable includes: The elastic torque of the transmission shaft of the reducer is determined based on the torsional stiffness coefficient of the flexible shaft and the estimated torsional angle of the reducer. The speed deviation is obtained by subtracting the product of the reduction ratio of the reducer and the estimated speed of the cutter from the rotational speed of the cutter motor. The damping torque of the transmission shaft is determined based on the speed deviation and the damping coefficient of the flexible shaft of the reducer. The torsional torque of the reducer is determined based on the elastic torque and the damping torque. The rotational speed of the cutter motor is controlled based on the torsional torque and the given torque of the cutter motor.

2. The cutting blade control method of the flying shear system according to claim 1, characterized in that, The state-space model is an equation relating the derivatives of the state variables to the state variables, the inputs to the state-space model, and the disturbances of the state-space model. The state variables include the first system state variables and the second system state variables; the input to the state space model is the control parameters of the cutter motor; and the disturbance to the state space model is the load parameters of the cutter device.

3. The cutting blade control method of the flying shear system according to claim 2, characterized in that, The first system state variable is the rotational speed of the cutter motor; The conversion relationship includes the shaft torque balance equation of the cutter motor, the shaft torque balance equation of the cutter device, and the torsion angle equation of the reducer; The shaft torque balance equation of the cutter motor is an equation relating the inertial torque of the cutter motor to the rotational speed of the cutter motor, the electromagnetic torque of the cutter motor, the damping coefficient of the cutter motor, and the torsional torque of the reducer. The shaft torque balance equation of the cutting device is an equation relating the inertial torque of the cutting device to the reduction ratio of the reducer, the torsional torque of the reducer, and the load torque of the cutting device; the inertial torque of the cutting device is determined based on the moment of inertia of the cutting device and the reducer, as well as the cutting speed. The torsion angle equation of the reducer is the equation relating the torsion angle of the flexible shaft of the reducer to the rotation angle of the cutter motor, the reduction ratio of the reducer, and the rotation angle of the cutter device.

4. The cutting blade control method of the flying shear system according to claim 1, characterized in that, The step of inputting the measured value of the first system state variable into the Luneburg observer to obtain the estimated value of the second system state variable includes: The measured values ​​of the first system state variables are input into the Luneburger observer, and the observer gain matrix of the Luneburger observer is configured so that the state estimation error of the Luneburger observer converges to zero, thereby obtaining the estimated values ​​of the second system state variables.

5. The cutting blade control method of the flying shear system according to claim 1, characterized in that, The step of controlling the speed of the cutter motor based on the estimated value of the second system state variable includes: The speed adjustment amount is determined based on the estimated cutting speed of the cutting device and the set speed of the cutting motor. Based on the speed adjustment amount, a proportional-integral calculation is performed to generate a torque current setpoint for the cutter motor; The rotational speed of the cutter motor is controlled using the torque current setpoint.

6. A flying shear system, characterized in that, include: A cutter motor, a cutter assembly, a reducer disposed between the cutter motor and the cutter assembly, and a first controller connected to the cutter motor; The first controller is used to determine the transition relationship between the first system state variables and the second system state variables of the flying shear system's cutting system, and to construct a state-space model based on the transition relationship; to construct a Luneburger observer based on the state-space model; to input the measured values ​​of the first system state variables into the Luneburger observer to obtain the estimated values ​​of the second system state variables; and to control the rotational speed of the cutting motor based on the estimated values ​​of the second system state variables. Wherein, the first system state quantity is a measurable state parameter in the cutting system; The second system state quantity includes the transmission error parameter of the reducer and the state quantity of the cutting device. The transmission error parameter of the reducer is the torsion angle of the flexible shaft of the reducer, and the state quantity of the cutting device is the cutting speed. Controlling the speed of the cutter motor based on the estimated value of the second system state variable includes: The elastic torque of the transmission shaft of the reducer is determined based on the torsional stiffness coefficient of the flexible shaft and the estimated torsional angle of the reducer. The speed deviation is obtained by subtracting the product of the reduction ratio of the reducer and the estimated speed of the cutter from the rotational speed of the cutter motor. The damping torque of the transmission shaft is determined based on the speed deviation and the damping coefficient of the flexible shaft of the reducer. The torsional torque of the reducer is determined based on the elastic torque and the damping torque. The rotational speed of the cutter motor is controlled based on the torsional torque and the given torque of the cutter motor.

7. A cutting blade control device for a flying shear system, characterized in that, include: A state construction unit is used to determine the transformation relationship between the first system state variables and the second system state variables of the flying shear system's cutting system, and to construct a state space model based on the transformation relationship. An observer construction unit is used to construct a Luneburger observer based on the state-space model. The calculation unit is used to input the measured value of the first system state variable into the Luneburg observer to obtain the estimated value of the second system state variable; The control unit is used to control the speed of the cutter motor based on the estimated value of the second system state variable; The cutting system includes a cutting motor, a cutting device, and a reducer disposed between the cutting motor and the cutting device; The first system state variable is a measurable state parameter in the cutting system; The second system state quantity includes the transmission error parameter of the reducer and the state quantity of the cutting device. The transmission error parameter of the reducer is the torsion angle of the flexible shaft of the reducer, and the state quantity of the cutting device is the cutting speed. Controlling the speed of the cutter motor based on the estimated value of the second system state variable includes: The elastic torque of the transmission shaft of the reducer is determined based on the torsional stiffness coefficient of the flexible shaft and the estimated torsional angle of the reducer. The speed deviation is obtained by subtracting the product of the reduction ratio of the reducer and the estimated speed of the cutter from the rotational speed of the cutter motor. The damping torque of the transmission shaft is determined based on the speed deviation and the damping coefficient of the flexible shaft of the reducer. The torsional torque of the reducer is determined based on the elastic torque and the damping torque. The rotational speed of the cutter motor is controlled based on the torsional torque and the given torque of the cutter motor.

8. A cutting blade control device for a flying shear system, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program, which, when executed by the processor, implements the steps of the cutter control method of the flying shear system as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the cutting control method of the flying shear system as described in any one of claims 1 to 5.

Images