Manufacturing equipment, balance control method and system for vertical shaft of manufacturing equipment, and electronic equipment

Abstract

The invention discloses manufacturing equipment, a balance control method and system for a vertical shaft of the manufacturing equipment and electronic equipment. The method comprises: acquiring a current value of a linear motor; determining a current error based on the deviation between the current value and a calibrated current value; and when the current error does not meet the preset condition, inputting the current error into a preset control algorithm so as to obtain a control quantity output by the control algorithm and aiming at the gravity balance system of the manufacturing equipment. After the quality of the workpiece is changed, the change of the quality of the workpiece can be quickly sensed based on the current error; the control quantity output by the control algorithm can directly control the output value of the gravity balance system, and the output value can quickly balance the gravity of the vertical shaft, thereby changing the current error, enabling the current error to reach a preset condition, enabling the system to quickly reach balance, and improving the balance efficiency and adjustment precision of the system.

Description

Technical Field

[0001] This invention relates to the field of ultra-precision equipment technology, specifically to a manufacturing equipment and its vertical axis balance control method, system, and electronic equipment. Background Technology

[0002] In high-end manufacturing equipment such as ultra-precision diamond lathes, the motion accuracy of the vertical axis (commonly known as the Z-axis) directly affects the final workpiece machining quality. To eliminate the influence of the gravity of the vertical axis moving parts on the performance of the servo system, a gravity balancing system is typically used. An ultra-precision frictionless cylinder is an ideal gravity-balancing actuator; it generates an upward thrust through internal compressed air to precisely balance the gravity of the vertical axis moving parts.

[0003] Ideally, the cylinder provides balancing force It should be equal to the total weight of the moving parts along the vertical axis. The balancing force is determined by the air pressure inside the cylinder. With the effective area of ​​the cylinder The product determines that, i.e. However, in actual machining processes, the mass of the workpiece clamped on the vertical axis... Changes will occur, resulting in a change in total gravity. Consequently, changes (among others) The fixed mass is the moving part along the vertical axis. (This refers to gravitational acceleration).

[0004] To cope with this change in gravity and ensure the machining quality of the workpiece, the air pressure inside the cylinder needs to be adjusted accordingly. This is to re-establish force balance. Currently, the mainstream technical solution relies on operators manually adjusting precision pressure reducing valves (pressure regulating valves) to change the air pressure. This manual adjustment method suffers from problems such as delayed perception of changes, low adjustment efficiency, and poor adjustment accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide a manufacturing equipment and its vertical axis balance control method, system, and electronic device. By introducing a control algorithm, the difference between the current of the linear motor and the rated current is used as the input of the control algorithm, and the output is the control quantity for the gravity balance system, thus realizing automatic balance control. This solves the problem of low efficiency and low accuracy of the existing manual adjustment of the pressure regulating valve to control balance in order to cope with changes in the gravity of the workpiece.

[0006] This invention is achieved through the following technical solution:

[0007] The first aspect of this application provides a method for balancing the vertical axis of manufacturing equipment, including:

[0008] Obtain the current value of the linear motor; the linear motor is used as a drive motor for the vertical axis of the manufacturing equipment, and a workpiece is mounted on the vertical axis;

[0009] The current error is determined based on the deviation between the current value and the calibrated current value;

[0010] When the current error does not meet the preset conditions, the current error is input into a preset control algorithm to obtain the control quantity of the gravity balance system of the manufacturing equipment output by the control algorithm; the control quantity is used to control the output value of the gravity balance system so that the current error reaches the preset conditions; the gravity balance system is used to balance the gravity of the vertical axis.

[0011] In one feasible implementation, the control quantity is used to control the output value of the gravity balance system, such that the current error reaches a preset condition, including:

[0012] The control quantity is used to control the output value of the gravity balance system in order to change the balance force output by the gravity balance system;

[0013] The altered balancing force changes the driving force of the linear motor. Based on the mapping relationship between the driving force and the current value of the linear motor, the change in driving force causes a change in the current value of the linear motor, so that the current error reaches a preset value.

[0014] In one feasible implementation, the gravity balancing system includes a cylinder for providing a balancing force and an air circuit controller for controlling the air pressure inside the cylinder; the air circuit controller receives the control quantity and outputs a gas flow rate corresponding to the control quantity to the cylinder to change the air pressure inside the cylinder and change the balancing force output by the cylinder.

[0015] In one feasible implementation, the step of inputting the current error into a preset control algorithm to obtain the control quantity output by the control algorithm for the gravity balance system of the manufacturing equipment includes:

[0016] The current error is input into a proportional-integral-derivative (PID) control algorithm to obtain the control quantity of the gravity balance system of the manufacturing equipment output by the PID control algorithm.

[0017] The proportional-integral-derivative (PID) control algorithm performs proportional, integral, and derivative operations on the current error, and weights the results of each operation based on the adjusted proportional, integral, and derivative coefficients to determine the control quantity output by the gravity balance system of the manufacturing equipment.

[0018] In one feasible implementation, the method further includes adjusting the proportional coefficient, integral coefficient, and differential coefficient based on an adaptive law, specifically including:

[0019] The control objective is to minimize the difference between the linear motor's current value and the output control quantity.

[0020] Based on the difference, a cost function is determined to evaluate the performance of each coefficient;

[0021] Based on the cost function and the preset gradient algorithm, the adjustment direction and learning rate of the parameters are determined;

[0022] Based on the adjustment direction and learning rate, the coefficients are adjusted according to a predetermined coefficient update rule;

[0023] Each time a coefficient adjustment is performed, the corresponding difference is calculated. When the difference is minimized, the adjusted coefficients are determined.

[0024] A second aspect of this application provides a balance control system for the vertical axis of manufacturing equipment, the system comprising:

[0025] A current acquisition unit is used to acquire the current value of a linear motor; the linear motor is used as a drive motor for the vertical axis of the manufacturing equipment.

[0026] The current processing unit determines the current error based on the deviation between the current value and the calibrated current value;

[0027] A control output unit is used to input the current error into a preset control algorithm when the current error does not meet the preset conditions, so as to obtain the control quantity of the gravity balance system of the manufacturing equipment output by the control algorithm; the control quantity is used to control the output value of the gravity balance system so that the current error reaches the preset conditions; the gravity balance system is used to balance the gravity of the vertical axis and the workpiece.

[0028] A third aspect of this application provides a manufacturing equipment, including a linear motor and a vertical axis, wherein the linear motor is used as a drive motor for the vertical axis, and a workpiece is disposed on the vertical axis. The manufacturing equipment also includes a gravity balance system and an electrical control system.

[0029] The electrical control system is used to: acquire the current value of the linear motor; determine the current error based on the deviation between the current value and the calibrated current value; and when the current error does not meet the preset conditions, input the current error into the preset control algorithm to obtain the control quantity of the control algorithm for the gravity balance system.

[0030] The gravity balance system is used to: determine the output value based on the control quantity to balance the gravity of the vertical axis, so that the current error reaches the preset condition.

[0031] In one feasible implementation, the gravity balancing system includes a cylinder and an air circuit control system;

[0032] The air circuit control system includes a pressure proportional valve, which determines the gas flow rate output to the cylinder based on the control quantity.

[0033] The cylinder changes the internal gas pressure based on the gas flow rate, and also changes the balancing force output by the cylinder to balance the vertical axis.

[0034] A fourth aspect of this application provides an electronic device, including: a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the above-described method.

[0035] A fifth aspect of this application provides a storage medium comprising: storing a program or instructions on the storage medium, wherein the program or instructions, when executed by a processor, implement the steps of the above-described method.

[0036] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0037] This application's embodiments introduce a control algorithm, using the difference between the linear motor's current value and its calibrated current value as the input to the algorithm, and outputting a control quantity for the gravity balance system, thus achieving automatic balance control. Since the DC motor needs to rapidly change its current value after a change in the workpiece's mass, the driving force applied to the vertical axis adapts to the change in workpiece mass. Therefore, changes in workpiece mass can be quickly detected based on the current error. Furthermore, the control algorithm, based on the current error, outputs a control quantity that directly controls the output value of the gravity balance system. This output value can quickly balance the gravity on the vertical axis (which includes the workpiece's gravity), thereby changing the current error until it reaches a preset condition, allowing the system to quickly achieve balance, improving the system's efficiency and adjustment accuracy in returning to balance. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0039] Figure 1 A schematic diagram illustrating the logical connection relationship between components of a manufacturing equipment provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of one implementation of a manufacturing equipment provided in an embodiment of this application;

[0041] Figure 3 A schematic diagram of the pneumatic control system for manufacturing equipment provided in this application embodiment;

[0042] Figure 4 A schematic flowchart illustrating a method for balancing the vertical axis of manufacturing equipment, provided in an embodiment of this application.

[0043] Figure 5 A schematic diagram illustrating a step change in workpiece mass in a specific example provided for an embodiment of this application;

[0044] Figure 6 For based on Figure 5 The example shown is a schematic diagram of the dynamic response curve of the linear motor current when using the balance control method of this application;

[0045] Figure 7 For based on Figure 5 The example shown is a schematic diagram of the dynamic response curve of the cylinder pressure when using the balance control method of this application;

[0046] Figure 8 For based on Figure 5 The example shown is a schematic diagram of the dynamic response curve of the balancing force output by the cylinder when using the balancing control method of this application.

[0047] Figure 9 A schematic diagram of the structure of the balance control system for the vertical axis of the manufacturing equipment provided in this application embodiment;

[0048] Figure 10 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are for explanation only and are not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative effort are within the scope of protection of this application.

[0050] As will be known to those skilled in the art, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0051] The terms “comprising” and “having”, and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, product, or apparatus.

[0052] Example 1

[0053] This application provides a manufacturing equipment, or more precisely, an improvement to the gravity balancing system of the vertical axis of the manufacturing equipment, to solve the problem of low efficiency and low precision of existing manual adjustment pressure regulating valves for balancing in response to changes in workpiece gravity.

[0054] The manufacturing equipment in this embodiment can be ultra-precision equipment, such as ultra-precision diamond lathes and other high-end manufacturing equipment. Ultra-precision typically refers to the machining / measurement accuracy of the workpiece reaching the micrometer to nanometer level, such as an accuracy better than 0.1 micrometers (i.e., 100 nanometers); and the surface roughness of the workpiece being as low as the nanometer level, such as a surface roughness less than 10 nanometers.

[0055] The manufacturing equipment in this embodiment can also be other manufacturing equipment that requires gravity balancing of the vertical axis.

[0056] like Figure 1 As shown, the manufacturing equipment in this embodiment includes a linear motor and a vertical axis. The linear motor serves as the drive motor for the vertical axis, on which a workpiece is mounted. The manufacturing equipment also includes a gravity balance system and an electrical control system.

[0057] The electrical control system is used to: acquire the current value of the linear motor; determine the current error based on the deviation between the current value and the calibrated current value; and when the current error does not meet the preset conditions, input the current error into a preset control algorithm to obtain the control quantity for the gravity balance system output by the control algorithm.

[0058] The gravity balance system is used to: determine the output value based on the control quantity to balance the gravity of the vertical axis, so that the current error reaches the preset condition.

[0059] like Figure 2 As shown, the manufacturing equipment specifically includes a cylinder 1, a linear motor 2, a grating ruler 3, a rotary spindle 4, an external load (workpiece) 5, a pneumatic control system 6, and an electrical control system 7.

[0060] The cylinder 1 and the air path control system 6 together form a gravity balance system. Specifically, the air path control system includes a pressure proportional valve, which determines the gas flow rate (i.e., output quantity) to be output to the cylinder based on the control quantity; the cylinder changes the internal air pressure based on the gas flow rate, and also changes the balancing force output by the cylinder to balance the vertical axis.

[0061] Among them, cylinder 1 can be an ultra-precision frictionless cylinder. An ultra-precision frictionless cylinder is a high-end pneumatic actuator that integrates the principles of air bearings or air flotation. Through a non-contact structural design, it eliminates the sliding friction between the piston and the cylinder, thereby achieving ultra-high precision force control and motion control. It is widely applicable to scenarios with stringent precision requirements, such as ultra-precision manufacturing.

[0062] Cylinder 1 is used to balance the gravity of the vertical axis, including the gravity of the rotating axis 4 and the workpiece 5; linear motor 2 is used to drive the motion of the vertical axis; grating ruler 3 is responsible for the feedback of the vertical axis motion position; air circuit control system 6 is responsible for controlling the air pressure changes in the ultra-precision frictionless cylinder; electrical control system 7 is responsible for controlling the vertical axis motion control of linear motor 2, grating ruler 3, etc., as well as air pressure acquisition and pressure proportional valve control in air circuit control.

[0063] The electrical control system 7 includes a controller and a driver. The controller outputs motion control quantities for linear motor 2 and grating ruler 3 based on the operating parameters of the manufacturing equipment, and drives the linear motor and grating ruler to move through the driver. It also controls the pneumatic circuit controller to collect pneumatic pressure data. In particular, it outputs control quantities to the pressure proportional valve based on the current error.

[0064] like Figure 3 As shown, the gas circuit control system 6 includes a pressure proportional valve 61, a gas pressure reducing valve 62, a gas storage tank 63, and an electronic pressure gauge 64. The electronic pressure gauge 64 is responsible for monitoring the gas pressure values ​​input to each link in the gas circuit. The gas storage tank 63 is responsible for stabilizing the input gas pressure and reducing the impact of unstable input gas. The gas pressure reducing valve 62 is responsible for controlling the external gas pressure to the stable pressure value required by the system. The pressure proportional valve 61 is responsible for accurately controlling the gas pressure value input to the gravity balance cylinder based on the control quantity (control voltage) on the basis of the pressure stabilization by the gas pressure reducing valve 62.

[0065] The following is a system dynamics analysis of the manufacturing equipment to clarify the control principle of this embodiment.

[0066] The rotating spindle 4 and the external load 5 are the main objects requiring gravitational balance. Force analysis of these objects reveals their dynamic equations, which can be expressed as follows:

[0067] ;

[0068] in: It is the total mass of the vertical axis moving parts. , For the mass of the rotating shaft, The mass of the external load (workpiece); It is the acceleration along the vertical axis; The driving force is provided by linear motor 2; The balancing force is provided by the ultra-precision frictionless cylinder 1; It is total gravity. ; The unmodeled dynamics and external disturbances (such as cutting forces) experienced by the system can be ignored in the quasi-static process of gravity balance adjustment.

[0069] The driving force provided by linear motor 2 Its driving current There exists an approximately linear relationship between them, which is determined by the physical characteristics of the motor. This relationship can be expressed as:

[0070] ;

[0071] in It is the force constant of the linear motor (unit: N / A), which can be found in the motor specification sheet or obtained through experimental calibration.

[0072] The balancing force provided by cylinder 1 Its internal air pressure The relationship is:

[0073] ;

[0074] in It is the effective cross-sectional area of ​​the cylinder.

[0075] When the system is adjusting for gravity balance, the vertical axis is at rest or moving at extremely low speed, therefore the acceleration... This can be considered as zero. At this point, the dynamic equations simplify to force equilibrium equations:

[0076] ;

[0077] Substituting the above relation into the equation, we get:

[0078] ;

[0079] As can be seen from the above formula, the current of the linear motor... Directly reflects gravity Balance force with cylinder The imbalance between them. When When the balance force is insufficient, the motor needs to provide additional upward force; when When the pressure is too high, it indicates that the balancing force is too great, and the motor needs to provide a downward force to suppress it. Therefore, the control objective of this invention is to regulate the air pressure. This causes the motor current to... Approaching the target value .

[0080] The control principle of this embodiment can be summarized as follows: the electrical control system 7 collects the current value inside the linear motor 2 in real time. Based on an ideal calibrated current value (target current value). (Usually set to zero, representing a perfect balance state) The current error is calculated by comparing the results. According to current error The output control quantity is the control voltage supplied to the pressure proportional valve 61. This control voltage precisely controls the gas flow rate (gas pressure value) input to the cylinder from the air circuit control system 6 in real time, thereby causing a change in the gas pressure inside cylinder 1. (Gas pressure inside cylinder 1) The change will cause its equilibrium force Changes in this force balance along the vertical axis will immediately affect the drive current of the linear motor. This forms a dynamic closed-loop feedback control, until the current error... It converges to near zero, which means it has met the preset conditions.

[0081] This embodiment of the application utilizes an electrical control system that uses the difference between the linear motor's current value and its calibrated current value as the input to a control algorithm. The algorithm outputs a control quantity for the gravity balance system, achieving automatic balance control. Since the DC motor needs to rapidly change its current value after a change in the workpiece's mass, the driving force applied to the vertical axis adapts to the change in workpiece mass. Therefore, changes in workpiece mass can be quickly detected based on the current error. The control algorithm, based on the current error, outputs a control quantity that directly controls the output value of the gravity balance system. This output value quickly balances the gravity on the vertical axis (which includes the workpiece's weight), thereby changing the current error until it reaches a preset condition, allowing the system to quickly achieve balance and improving the system's efficiency and adjustment accuracy in returning to balance.

[0082] Example 2

[0083] Embodiment 2 of this application provides a method for balancing the vertical axis of manufacturing equipment, which solves the problem of low efficiency and low precision of existing manual adjustment of pressure regulating valves to control balance in response to changes in workpiece gravity.

[0084] The subject executing this method can be any computing device capable of implementing the method, such as a server, mobile phone, personal computer, smart wearable device, smart robot, and the electrical control system of the previous embodiment, etc.

[0085] Furthermore, the embodiments of this application do not limit the execution order of different steps. When using the method provided in the embodiments of this application, the execution order of different steps can be adjusted according to actual needs.

[0086] For ease of description, the following uses a balance control device for the vertical axis of a manufacturing equipment as the execution subject of this method to provide a detailed description of the method provided in this application embodiment.

[0087] like Figure 4 The diagram shown is a flowchart illustrating the specific implementation of a vertical axis balance control method for manufacturing equipment according to an embodiment of this application, including the following steps 41-43:

[0088] Step 41: Obtain the current value of the linear motor.

[0089] The current value of the linear motor can be acquired in real time by a current sensor inside the linear motor. By interacting with this current sensor in real time, the current value of the linear motor driving the vertical axis motion can be obtained quickly. .

[0090] It should be noted that the workpiece is usually located on the vertical axis;

[0091] Step 42: Determine the current error based on the deviation between the current value and the calibrated current value.

[0092] The calibrated current value is an ideal target current value, usually set to zero, representing a perfect balance state.

[0093] The obtained current value of the DC motor With an ideal target current value Compare and calculate the current error. .

[0094] Step 43: When the current error does not meet the preset conditions, the current error is input into the preset control algorithm to obtain the control quantity of the gravity balance system of the manufacturing equipment output by the control algorithm.

[0095] Normally, when the workpiece mass changes, the linear motor changes the current value to change the driving force on the vertical axis in order to drive the rotation of the vertical axis. Therefore, if the current error does not meet the preset conditions, that is, the circuit error does not approach zero, it indicates that the workpiece mass has changed, the system balance has been broken, and the balance needs to be re-established.

[0096] Current error The input is fed into an adaptive controller, which calculates the control quantity in real time based on the model's adaptive PID control algorithm (a preset control algorithm).

[0097] The control quantity is used to control the output value of the gravity balance system, so that the current error reaches a preset condition. The gravity balance system is used to balance the gravity along the vertical axis.

[0098] The control quantity can be the control voltage used to drive the pressure proportional valve. The output value of the gravity balance system is controlled by controlling the voltage, thereby changing the balancing force output by the gravity balance system;

[0099] The altered balancing force changes the driving force of the linear motor. Based on the mapping relationship between the driving force and the current value of the linear motor, the change in driving force causes a change in the current value of the linear motor, so that the current error reaches a preset value.

[0100] In one feasible implementation, the gravity balancing system includes a cylinder for providing a balancing force and an air circuit controller for controlling the air pressure inside the cylinder; the air circuit controller receives the control quantity and outputs a gas flow rate corresponding to the control quantity to the cylinder to change the air pressure inside the cylinder and change the balancing force output by the cylinder.

[0101] Specifically: control voltage The pressure is applied to the proportional valve connected to the cylinder's air circuit. Based on the input voltage, the proportional valve precisely regulates the flow rate of gas entering or exiting the cylinder, thereby changing the air pressure within the cylinder. Cylinder pressure The change will cause its equilibrium force Changes in this force balance along the vertical axis will immediately affect the drive current of the linear motor. This forms a dynamic closed-loop feedback control, until the current error... It converges to near zero.

[0102] In this implementation, the output value of the gravity balance system is the gas flow rate input to the cylinder.

[0103] In one feasible implementation, this embodiment uses a model reference adaptive PID (Proportional Integral Derivative) control algorithm. This algorithm can adjust the parameters of the PID controller online according to changes in the dynamic characteristics of the system, thereby achieving excellent control performance under different workpiece qualities and exhibiting strong robustness and adaptability.

[0104] Specifically: the step of inputting the current error into a preset control algorithm to obtain the control quantity for the gravity balance system of the manufacturing equipment output by the control algorithm includes: inputting the current error into a proportional-integral-derivative (PID) control algorithm to obtain the control quantity for the gravity balance system of the manufacturing equipment output by the PID control algorithm; the PID control algorithm performs proportional, integral, and derivative operations on the current error respectively, and weights the results of each operation based on the adjusted proportional coefficient, integral coefficient, and derivative coefficient to determine the control quantity output by the gravity balance system of the manufacturing equipment.

[0105] In the modeling of the reference model, the transfer function is:

[0106] ;

[0107] in It is a natural frequency. It is the damping ratio. Together, they determine the speed of response and overshoot of the electrical control system. The model output is... Input is for reference instructions. (In this example, the target current) ).

[0108] The proportional-integral-derivative (PID) control algorithm performs proportional, integral, and derivative operations on the current error, respectively. Based on the adjusted proportional, integral, and derivative coefficients, the results of each operation are weighted to determine the control quantity output by the gravity balance system of the manufacturing equipment. Specifically, it can be expressed as follows:

[0109] ;

[0110] in, The control quantity is the voltage applied to the pressure proportional valve; error. PID parameters , , These are the proportional coefficient, integral coefficient, and differential coefficient, respectively, which change over time and are adjusted by an adaptive law.

[0111] The proportional coefficient, integral coefficient, and differential coefficient are adjusted based on the adaptive law, specifically including the following steps 1-4:

[0112] Step 1: Minimize the difference between the linear motor's current value and the output control quantity as the control objective.

[0113] The goal of adaptive law is to adjust the PID parameters (i.e., proportional coefficient, integral coefficient, and derivative coefficient) to make the output of the actual system... (i.e., motor current) ) and model output The error between (i.e., control variables) minimize.

[0114] Step 2: Based on the difference, determine the cost function to evaluate the performance of each coefficient.

[0115] The cost function is expressed as: .

[0116] Step 3: Based on the cost function and the preset gradient algorithm, determine the direction of parameter adjustment and the learning rate.

[0117] This embodiment uses the MIT gradient method (the Massachusetts Institute of Technology gradient method, a classic adaptive optimization algorithm proposed by MIT in the 1950s).

[0118] Based on the MIT gradient method, the direction of parameter adjustment should be consistent with the direction of the negative gradient of the cost function with respect to that parameter, expressed as:

[0119] ;

[0120] in, It is the parameter vector to be adjusted. It is the adaptive gain (learning rate), which is a positive definite diagonal matrix. ( ).

[0121] Step 4: Based on the adjustment direction and learning rate, adjust each coefficient according to the predetermined coefficient update rules.

[0122] The coefficient update rule can be expressed as:

[0123] ;

[0124] ;

[0125] ;

[0126] In the control system, the above differential equation is discretized as:

[0127] ;

[0128] ;

[0129] (k) ( - );

[0130] in It is the cumulative sum of errors.

[0131] Each time a coefficient adjustment is performed, the corresponding difference is calculated. When the difference is minimized, the adjusted coefficients are determined.

[0132] In a specific implementation, the process of adjusting each coefficient based on the adaptive law can be as follows:

[0133] 1. Initialization: Set adaptive gain and reference model parameters Initialize PID parameters .

[0134] 2. Enter the control loop:

[0135] a. Read the motor current value .

[0136] b. Calculate control error .

[0137] c. Calculate the ideal output based on the reference model. (In this example, since the reference input is 0, the ideal output is also 0).

[0138] d. Calculate model error .

[0139] e. Update the PID parameters according to the adaptive law described above. .

[0140] f. Calculate the control voltage using the updated PID parameters. .

[0141] g. Voltage The output pressure is supplied to the proportional valve 61.

[0142] 3. Repeat the loop: Continue executing step 2 until the system is stable.

[0143] To verify the effectiveness of the control method in this embodiment, a simulation model of the closed-loop control system is built using simulation software. The simulation parameters are set as follows:

[0144] Vertical axis fixed mass 0 kg.

[0145] Initial workpiece mass kg.

[0146] Linear motor force constant N / A.

[0147] Cylinder effective area m².

[0148] Reference model parameters: rad / s, .

[0149] like Figure 5 As shown, the simulation process simulates the situation in... At 1 second, the workpiece mass suddenly changed from kg increased to In this scenario, the weight increases to 120 kg, which is equivalent to a step disturbance. The simulation results are as follows: Figures 6-8 As shown.

[0150] like Figure 6 As shown, in Seconds ago, the system was in a stable equilibrium state, with the motor current fluctuating slightly near zero, indicating high balance accuracy. At a certain point, due to the sudden increase in gravity, the balance is disrupted, and the motor needs to immediately output a positive current to compensate for the insufficient balancing force, resulting in a current peak. Subsequently, under the action of the electrical control system, the motor current is quickly and smoothly adjusted back to near zero, reaching a new steady state within approximately one second. This demonstrates that the proposed method has a fast response speed and can effectively eliminate steady-state errors.

[0151] like Figure 7 As shown, in Seconds earlier, the cylinder pressure stabilized at approximately 0.11 bar. As gravity increased, the voltage output by the electrical control system increased, the opening of the electro-proportional valve increased, and the cylinder pressure rose smoothly, eventually stabilizing at a new, higher pressure value of approximately 0.12 bar, thus precisely balancing the new total gravity.

[0152] like Figure 8 As shown, before t=1 second, the balancing force output by the cylinder stabilizes at approximately 1100N. As the cylinder pressure increases, the balancing force output by the cylinder also increases, eventually stabilizing at approximately 1200N, an increase of 100N compared to the previous stable state, which is exactly used to balance the gravity corresponding to the increased mass of the workpiece.

[0153] The simulation results above strongly demonstrate that the control method of this embodiment can make rapid and accurate adaptive adjustments to changes in workpiece quality, and realize high-performance automatic control of the air pressure of ultra-precision frictionless cylinder, thus fully achieving the purpose of the invention.

[0154] In summary, this embodiment of the application introduces a control algorithm, using the difference between the linear motor's current value and its calibrated current value as the input to the control algorithm, and outputs a control quantity for the gravity balance system, thus achieving automatic balance control. Since the DC motor needs to rapidly change its current value after a change in the workpiece's mass, the driving force applied to the vertical axis by the DC motor adapts to the change in workpiece mass. Therefore, changes in workpiece mass can be quickly detected based on the current error. Furthermore, the control quantity output by the control algorithm based on the current error can directly control the output value of the gravity balance system. This output value can quickly balance the gravity on the vertical axis (which includes the workpiece's gravity), thereby changing the current error until it reaches a preset condition, allowing the system to quickly achieve balance, improving the system's efficiency and adjustment accuracy in returning to balance.

[0155] Example 3

[0156] To address the problem of low efficiency in controlling balance using manually adjusted pressure regulating valves to cope with changes in workpiece gravity in the prior art, and based on the same inventive concept as Embodiment 1, this application also provides a balance control system for the vertical axis of manufacturing equipment.

[0157] A schematic diagram of the specific structure of the device is shown below. Figure 9 As shown, it includes the following functional units 91-93:

[0158] The current acquisition unit 91 is used to acquire the current value of the linear motor; the linear motor is used as a drive motor for the vertical axis of the manufacturing equipment.

[0159] The current processing unit 92 determines the current error based on the deviation between the current value and the calibrated current value.

[0160] The control output unit 93 is used to input the current error into a preset control algorithm when the current error does not meet the preset conditions, so as to obtain the control quantity of the gravity balance system of the manufacturing equipment output by the control algorithm; the control quantity is used to control the output value of the gravity balance system so that the current error reaches the preset conditions; the gravity balance system is used to balance the gravity of the vertical axis and the workpiece.

[0161] The control quantity is used to control the output value of the gravity balance system so that the current error reaches a preset condition, specifically including:

[0162] The control quantity is used to control the output value of the gravity balance system to change the balancing force output by the gravity balance system; the changed balancing force causes the driving force of the linear motor to change, and based on the mapping relationship between the driving force and the current value of the linear motor, the change in the driving force causes the current value of the linear motor to change, so that the current error reaches a preset value.

[0163] The gravity balancing system includes a cylinder for providing balancing force and an air circuit controller for controlling the air pressure inside the cylinder; the air circuit controller receives the control quantity and outputs a gas flow rate corresponding to the control quantity to the cylinder to change the air pressure inside the cylinder and change the balancing force output by the cylinder.

[0164] The control output unit is specifically used for: inputting the current error into a preset control algorithm to obtain the control quantity output by the control algorithm for the gravity balance system of the manufacturing equipment, including:

[0165] The current error is input into a proportional-integral-derivative (PID) control algorithm to obtain the control quantity output by the PID control algorithm for the gravity balance system of the manufacturing equipment. The PID control algorithm performs proportional, integral, and derivative operations on the current error, and weights the results of each operation based on the adjusted proportional, integral, and derivative coefficients to determine the control quantity output by the gravity balance system of the manufacturing equipment.

[0166] The control system in this embodiment also includes a coefficient adjustment unit, which adjusts the proportional coefficient, integral coefficient, and derivative coefficient based on an adaptive law, specifically including:

[0167] The control objective is to minimize the difference between the linear motor's current value and the output control quantity. Based on this difference, a cost function is determined to evaluate the performance of each coefficient. Based on the cost function and a preset gradient algorithm, the adjustment direction and learning rate of the parameters are determined. Based on the adjustment direction and learning rate, each coefficient is adjusted according to a predetermined coefficient update rule. Each time a coefficient is adjusted, the corresponding difference is calculated, and when the difference is minimized, the adjusted coefficients are determined.

[0168] This application embodiment introduces a control algorithm, using the difference between the linear motor's current value and its calibrated current value as the input to the algorithm, and outputs a control quantity for the gravity balance system, thus achieving automatic balance control. Since the DC motor needs to rapidly change its current value after a change in the workpiece's mass, the driving force applied to the vertical axis adapts to the change in workpiece mass. Therefore, changes in workpiece mass can be quickly detected based on the current error. The control algorithm, based on the current error, outputs a control quantity that directly controls the output value of the gravity balance system. This output value can quickly balance the gravity on the vertical axis (which includes the workpiece's gravity), thereby changing the current error until it reaches a preset condition, allowing the system to quickly achieve balance, improving the system's efficiency and adjustment accuracy in returning to balance.

[0169] Based on the same inventive concept as the foregoing embodiments of this application, this application also provides a computing device.

[0170] like Figure 10 As shown, the computing device includes a memory 101 and a processor 102. The memory 101 can be configured to store various other data to support operation on the electronic device. Examples of such data include instructions for any application or method used to operate on the electronic device. The memory 101 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0171] The processor 102, coupled to the memory 101, is used to execute a computer program stored in the memory 101 for performing a method for aggregating feasible domains of a virtual power plant as described in the foregoing embodiments.

[0172] When the processor 802 executes the computer program to perform a balancing control method for the vertical axis of manufacturing equipment, it introduces a control algorithm. The difference between the linear motor's current value and its calibrated current value is used as the input to the control algorithm, and the output is a control quantity for the gravity balancing system, thus achieving automatic balancing control. Since the DC motor needs to quickly change its current value after a change in the workpiece's mass, the driving force applied to the vertical axis adapts to the change in workpiece mass. Therefore, changes in workpiece mass can be quickly detected based on the current error. The control algorithm, based on the current error, can directly control the output value of the gravity balancing system. This output value can quickly balance the gravity of the vertical axis (which includes the workpiece's gravity), thereby changing the current error until it reaches a preset condition, allowing the system to quickly achieve balance and improving the system's efficiency and adjustment accuracy in returning to balance.

[0173] When the processor 102 executes the computer program in the memory 101, in addition to the functions described above, it can also perform other functions, as detailed in the descriptions of the preceding embodiments.

[0174] Furthermore, such as Figure 10 As shown, the computing device also includes other components such as a display 104, a communication component 103, a power supply component 105, and an audio component 106. Figure 10 The diagram only shows some components and does not mean that the computing device includes only these components. Figure 10 The components shown.

[0175] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a computer, can implement the methods provided in the above embodiments.

[0176] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0177] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments.

[0178] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of manufacturing an apparatus equipped with a vertical shaft, characterized by, The method comprises: obtaining a current value of a linear motor; the linear motor is used as a driving motor of a vertical shaft of manufacturing equipment, and a workpiece is arranged on the vertical shaft; determining a current error based on a deviation of the current value from a calibration current value; when the current error does not meet a preset condition, inputting the current error into a preset control algorithm to obtain a control amount output by the control algorithm for a gravity balance system of the manufacturing equipment; the control amount is used to control an output value of the gravity balance system, so that the current error meets the preset condition; and the gravity balance system is used to balance a gravity of the vertical shaft.

2. The method of claim 1, wherein, The control amount is used to control the output value of the gravity balance system, so that the current error meets the preset condition, which comprises: The control amount is used to control the output value of the gravity balance system to change a balance force output by the gravity balance system; The changed balance force changes a driving force of the linear motor, and based on a mapping relationship between the driving force of the linear motor and the current value, the change of the driving force causes a change of the current value of the linear motor, so that the current error meets a preset value.

3. The method of claim 2, wherein, The gravity balance system comprises a gas cylinder for providing the balance force and a gas path controller for controlling a gas pressure in the gas cylinder; the gas path controller receives the control amount, outputs a gas flow corresponding to the control amount to the gas cylinder, changes the gas pressure in the gas cylinder, and changes the balance force output by the gas cylinder.

4. The method of claim 1, wherein, The method further comprises: inputting the current error into a proportional-integral-derivative control algorithm to obtain a control amount output by the proportional-integral-derivative control algorithm for the gravity balance system of the manufacturing equipment; The proportional-integral-derivative control algorithm respectively performs proportional operation, integral operation and differential operation on the current error, and based on adjusted proportional coefficient, integral coefficient and differential coefficient, weights each operation result to determine the control amount output by the gravity balance system of the manufacturing equipment.

5. The method of claim 4, wherein, The method further comprises adjusting the proportional coefficient, integral coefficient and differential coefficient based on an adaptive law, specifically comprising: minimizing a difference between the current value of the linear motor and the output control amount as a control target; determining a cost function based on the difference to evaluate the performance of each coefficient; determining an adjustment direction and a learning rate of the parameters based on the cost function and a preset gradient algorithm; adjusting each coefficient based on the adjustment direction and the learning rate through a pre-determined coefficient updating rule; each time the coefficient is adjusted, the corresponding difference is calculated, and when the difference is minimized, the adjusted coefficients are determined.

6. A balancing control system for manufacturing equipment having a vertical axis, characterized by The system comprises: a current acquisition unit configured to obtain a current value of a linear motor; the linear motor is used as a driving motor of a vertical shaft of manufacturing equipment; a current processing unit configured to determine a current error based on a deviation of the current value from a calibration current value; The control amount output unit is configured to input the current error into a preset control algorithm when the current error does not meet a preset condition, to obtain a control amount for a gravity balance system of the manufacturing equipment output by the control algorithm; the control amount is used to control an output value of the gravity balance system, so that the current error meets the preset condition; and the gravity balance system is used to balance the gravity of the vertical shaft and the workpiece.

7. A manufacturing apparatus comprising a linear motor and a vertical shaft, the linear motor serving as a driving motor for the vertical shaft, a workpiece being provided on the vertical shaft, characterized by, The manufacturing equipment further comprises a gravity balance system and an electrical control system. The electrical control system is configured to obtain a current value of the linear motor; determine a current error based on a deviation between the current value and a calibration current value; and input the current error into a preset control algorithm when the current error does not meet a preset condition, to obtain a control amount for the gravity balance system output by the control algorithm. The gravity balance system is configured to determine an output value based on the control amount, to balance the gravity of the vertical shaft, so that the current error meets the preset condition.

8. The manufacturing equipment of claim 7, wherein, The gravity balance system comprises a cylinder and a gas path control system. The gas path control system comprises a pressure proportional valve configured to determine a gas flow output to the cylinder based on the control amount. The cylinder is configured to change the gas pressure in the cylinder based on the gas flow, and change a balance force output by the cylinder to balance the vertical shaft.

9. An electronic device, comprising: The computer program product comprises a computer readable storage medium storing program code instructions executable by a processor to perform the steps of the method of any one of claims 1-7. The computer program product comprises a computer readable storage medium storing program code instructions executable by a processor to perform the steps of the method of any one of claims 1-7.

10. A storage medium, characterized by The computer program product comprises a computer readable storage medium storing program code instructions executable by a processor to perform the steps of the method of any one of claims 1-7. ​

Images