A method for coordinated control of a shot peening apparatus for double-sided compensation machining

Abstract

The present application belongs to the technical field of industrial automation control, and particularly relates to a kind of shot blasting equipment coordination control method for double-sided compensation processing, which comprises the following steps: time series alignment of robot end pose data and pressure data, calculation of original relative attitude performance coefficient according to real-time jet distance and real-time incidence angle, and smoothing performance coefficient obtained by moving average filtering;Theoretical compensation pressure is calculated according to the smooth performance coefficient, and the control command is obtained by physical boundary constraint;The deviation of control command and actual pipeline pressure is calculated, the control command is hysteresis compensated combined with the response time constant of gas circuit, and the final execution instruction is obtained and sent to the electric proportional valve.The present application solves the problems of uneven energy density caused by geometric attitude fluctuation in double-sided shot blasting processing and misalignment compensation caused by gas circuit response hysteresis, eliminates the distortion of weak rigid parts, and improves the surface strengthening quality.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control technology. More specifically, this invention relates to a coordinated control method for shot peening equipment used in double-sided compensation machining. Background Technology

[0002] In the field of high-end aerospace manufacturing, key components such as aero-engine blades and wing panels generally exhibit significant characteristics of weak rigidity and thin walls, making them highly susceptible to deformation during processing due to uneven stress. Dual-robot mirror shot peening technology, as an advanced surface strengthening method, utilizes the synchronous movement of two robots and the impact force of opposing shot streams to counteract the macroscopic bending moment introduced by processing on one side, thus being widely used in the fatigue-resistant manufacturing of such parts. However, most current mainstream dual-robot cooperative control strategies are limited to the geometric synchronization of spatial trajectories and the static constancy of process parameters, i.e., setting both spray guns to output the same preset air pressure throughout the entire path. This control mode, lacking feedback, ignores the time-varying geometric factors in the dynamic processing environment, making it difficult to meet the high-precision strengthening requirements of complex curved surface parts.

[0003] In actual machining of wide-chord blades with large torsion or complex hyperbolic panels, the limitations of the joint degrees of freedom of the industrial robotic arm, the need to avoid kinematic singularities, and the discrete nature of trajectory planning mean that the actual physical pose of the nozzle tip relative to the workpiece surface is often difficult to maintain at the ideal process setting value at all times. This inevitably leads to fluctuations in the actual spray distance and deviations in the incident angle. According to the principles of jet dynamics and energy transfer, the energy density distribution of a high-pressure gas-driven projectile beam is significantly sensitive to its geometric orientation during spatial propagation. Specifically, an increase in spray distance causes the projectile beam to diverge under air resistance and diffusion, resulting in a nonlinear decay of the impact kinetic energy density per unit area. Conversely, an inclination of the incident angle significantly reduces the component of the impact momentum in the normal direction of the workpiece surface, thereby weakening the effective strengthening effect. This imbalance in kinetic flux caused by fluctuations in the robot's motion geometry leads to a severe asymmetry in the distribution of residual stress fields introduced on both sides of the workpiece, thus breaking the mechanical equilibrium. Consequently, even after double-sided mirror precision machining, weakly rigid thin-walled parts still exhibit dimensional deviations such as twisting and bending. Summary of the Invention

[0004] To address the technical problem of existing control strategies neglecting geometric attitude fluctuations, leading to an imbalance in kinetic flux on both sides and causing twisting deformation in weakly rigid parts after machining, this invention provides a coordinated control method for shot peening equipment used in double-sided compensation machining, comprising:

[0005] For the left and right robots, corresponding final execution commands are generated based on their respective data channels. These commands include: determining the original relative attitude efficiency coefficient based on the robot's real-time spraying distance and real-time incident angle; performing a moving average filter on the original relative attitude efficiency coefficient to obtain a smooth efficiency coefficient; calculating the theoretical compensation pressure based on the smooth efficiency coefficient; applying physical boundary constraints to the theoretical compensation pressure; generating control commands to be sent to the electro-proportional valve; collecting the actual pipeline pressure using a pressure sensor installed at the end of the spray gun; calculating the deviation between the control command and the actual pipeline pressure; and introducing a hysteresis compensation term based on the air path response time constant to correct the control command, thus obtaining the final execution command; and sending the final execution command to the electro-proportional valve to control the shot peening pressure.

[0006] This invention measures the impact of injection distance and incident angle on energy density by calculating the original relative attitude efficiency coefficient and performing moving average filtering. It filters out high-frequency noise caused by curvature abrupt changes and avoids frequent operation of the electric proportional valve and mechanical oscillation. This invention achieves adaptive energy compensation based on geometric attitude by calculating theoretical compensation pressure and limiting it, ensuring the uniformity of effective impact kinetic energy density acting on the workpiece surface while protecting equipment safety. This invention introduces a hysteresis compensation term and uses an integral algorithm to correct historical errors, enabling the final execution command to predict and offset the physical hysteresis of the pneumatic system, achieving precise pressure tracking of the robot trajectory and eliminating residual stress field distortion that causes part deformation.

[0007] Preferably, it further includes: establishing a unified time reference axis, caching and timing-aligning the end-effector pose data uploaded by the robot controller and the pressure data uploaded by the sensor, wherein the end-effector pose data includes the robot's real-time spray distance and real-time incident angle, and the pressure data is the actual pipeline pressure collected by the pressure sensor installed at the end of the spray gun.

[0008] Preferably, the original relative attitude performance coefficients satisfy the expression: In the formula, express The original relative attitude efficiency coefficient at time; This indicates the standard optimal spray distance set by the process; express Real-time spray distance of the robot; express The real-time angle of incidence at any given moment.

[0009] This invention utilizes the jet diffusion principle and momentum decomposition principle to obtain the original relative attitude efficiency coefficient, where the distance term reflects the energy dilution caused by jet diffusion and the angle term reflects the normal momentum decay caused by oblique incidence. It can accurately measure the energy transfer efficiency under the current geometric attitude and provide a precise physical basis for subsequent pressure compensation.

[0010] Preferably, the smoothing efficiency coefficient satisfies the expression: In the formula, express The smoothing efficiency coefficient at any given time; This indicates the window size for the moving average filter; Indicates the sampling interval; express The original relative attitude efficiency coefficient at time.

[0011] Preferably, the theoretical compensation pressure satisfies the expression: In the formula, express Theoretical compensation pressure at any moment; This indicates the reference shot peening pressure specified in the process procedure; Indicates the compensation gain factor; express The smoothing efficiency coefficient at any given time.

[0012] This invention constructs a feedforward compensation model based on the inverse of efficiency. When the geometric attitude deteriorates, causing the smoothing efficiency coefficient to decrease, the system can automatically calculate the required pressurization amount. By increasing the shot peening air pressure, the initial velocity and mass flow rate of the shot are increased, thereby compensating for the energy flux loss caused by the increased distance or tilted angle, and ensuring the uniform depth of the strengthening layer on the workpiece surface.

[0013] Preferably, the step of physically constraining the theoretical compensation pressure and generating a control command to be sent to the electro-proportional valve includes: setting the control command to the lower limit of the safe operating pressure in response to the theoretical compensation pressure being less than the lower limit of the safe operating pressure; setting the control command to the theoretical compensation pressure in response to the theoretical compensation pressure being greater than or equal to the lower limit of the safe operating pressure and less than or equal to the upper limit of the safe operating pressure; and setting the control command to the upper limit of the safe operating pressure in response to the theoretical compensation pressure being greater than the upper limit of the safe operating pressure.

[0014] This invention, by setting physical boundary constraints, prevents equipment damage or alarms caused by the calculated theoretical compensation pressure exceeding the physical tolerance limit of the electric proportional valve or pipeline, ensuring that control commands are always within the safe operating range of the system, and guaranteeing the continuity and safety of shot peening operations.

[0015] Preferably, the final execution instruction satisfies the expression: In the formula, express The final execution command is sent to the electro-proportional valve at all times; express Timing control commands; Indicates the hysteresis compensation coefficient; This represents the gas path response time constant of the system; Indicates the interval of integration Timing control commands; Indicates the interval of integration The actual pipeline pressure is constantly fed back by sensors.

[0016] This invention introduces an integral-based hysteresis compensation mechanism. By calculating the average deviation between the control command and the actual pressure over a past period and adding it to the current command, the advanced predictive control effectively offsets the delay caused by physical processes such as compressed air transmission and valve core movement, eliminates the misalignment compensation error caused by pressure response lag, and improves the dynamic performance of pressure control.

[0017] Preferably, the method for obtaining the air path response time constant is as follows: under the no-load state of the system, a step command signal from zero pressure to the reference working pressure is sent to the electro-proportional valve; the pressure change curve at the end of the spray gun is recorded in real time using a high-frequency pressure sensor; the time span required for the pressure to rise from the moment the step command is issued to 63.2% of the final steady-state pressure is taken as the air path response time constant of the system.

[0018] This invention obtains the gas path response time constant through standardized step response testing, which can accurately reflect the total physical hysteresis characteristics of the system, including the response of the electric proportional valve, the gas filling delay of the pipeline, and the action delay of the high flow valve, providing a basis for hysteresis compensation.

[0019] Preferably, the real-time incident angle is the angle between the spray gun axis vector and the normal vector of the current point on the workpiece surface.

[0020] Preferably, sending the final execution command to the electro-proportional valve to control the shot peening pressure includes: converting the final execution command of the left and right robots into voltage or current signals and sending them to the corresponding electro-proportional valves.

[0021] The beneficial effects of this invention are as follows: By establishing a unified time reference axis and aligning the end-effector pose data uploaded by the robot controller and the pressure data uploaded by the sensor, this invention eliminates the data transmission time difference between the industrial fieldbus and the data acquisition card, ensuring the synchronization of position and pressure data. Furthermore, by establishing independent data channels for the left and right robots and generating final execution instructions independently, this invention can adapt to the processing requirements of asymmetric workpieces such as blades, achieving precise bilateral coordination. This invention also measures the impact of real-time injection distance and real-time incident angle on energy density by calculating the original relative attitude efficiency coefficient and performing moving average filtering, filtering out the effects caused by abrupt changes in workpiece surface curvature. This invention eliminates high-frequency noise and avoids frequent operation and mechanical oscillation of the electric proportional valve. Based on the smoothing efficiency coefficient, the invention calculates theoretical pressure compensation and applies physical boundary constraints, achieving adaptive energy compensation based on geometric posture. This ensures the uniformity of the effective impact kinetic energy density acting on the workpiece surface and prevents equipment damage caused by pressure overload. Furthermore, by introducing a hysteresis compensation term and using an integral algorithm to correct historical errors, the invention enables the final execution command to predict and offset the physical hysteresis of the pneumatic system, achieving pressure tracking of the robot's trajectory. This eliminates residual stress field distortion that causes distortion of weakly rigid parts from a physical source, improving the surface strengthening quality of weakly rigid thin-walled parts. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating a coordinated control method for shot peening equipment used in double-sided compensation processing according to the present invention.

[0023] Figure 2 A schematic diagram of real-time geometric feature monitoring data for the robot's end effector;

[0024] Figure 3 A schematic diagram of the smoothed performance coefficient curve and control command curve;

[0025] Figure 4 This is a schematic diagram illustrating the effect of pressure response hysteresis compensation.

[0026] Figure 5 A thermogram showing the effective impact kinetic energy density distribution under existing technology;

[0027] Figure 6 This is a thermogram showing the effective impact kinetic energy density distribution of the present invention. Detailed Implementation

[0028] 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, not all, of the embodiments of the present invention. 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.

[0029] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0030] This invention discloses a coordinated control method for shot peening equipment used in double-sided compensation processing, referring to... Figure 1 This includes steps S1 to S3:

[0031] S1. Determine the original relative attitude efficiency coefficient based on the robot's real-time injection distance and real-time incident angle. Perform a moving average filter on the original relative attitude efficiency coefficient to obtain a smooth efficiency coefficient.

[0032] It should be noted that when dual robots perform mirror shot peening on weakly rigid parts such as aero-engine blades, although the motion commands sent by the control system to the robots and the pressure commands sent to the shot peening equipment are logically synchronized, there are often millisecond-level timing deviations due to differences in transmission paths and processing mechanisms between the robot pose data acquired by the industrial fieldbus and the pressure sensor data acquired by the analog signal acquisition card. Simultaneously, when the robot end effector follows complex curved surfaces, such as passing the inlet and outlet edges of blades, the workpiece surface experiences abrupt curvature changes. These curvature changes cause high-frequency, drastic jumps in the calculated geometric features. Directly using these abrupt geometric features for pressure control would cause frequent actuation of the electro-proportional valve and oscillations in the pneumatic system, affecting processing quality. Furthermore, since blades typically exhibit asymmetrical geometry with one side being the blade base and the other the blade back, the physical postures of the end effectors relative to the workpiece surface are not identical and change in real time when the left and right robots follow the curved surface.

[0033] Therefore, this invention establishes a unified time reference axis, uses a circular buffer to cache the end pose data uploaded by the robot controller and the pressure data uploaded by the sensor with timestamps, and establishes independent data channels for the left and right robots respectively. All subsequent steps are executed independently and in parallel for each side of the robot to achieve precise coordination under asymmetric working conditions.

[0034] Specifically, the system reads the time-aligned robot end-effector coordinates and workpiece 3D model data in real time, calculates the current real-time spraying distance and real-time incident angle, whereby the real-time incident angle is the angle between the spray gun axis vector and the normal vector of the current point on the workpiece surface, and the angle range is... .

[0035] Figure 2 The real-time geometric feature monitoring data of the robot end effector during the processing shows that the robot's geometric posture fluctuates continuously as the processing path extends. In particular, in a specific segment of the time axis, such as the 6-second to 8-second interval, the incident angle undergoes a significant abrupt change, indicating that the robot passes through a region with high curvature at the edge of the blade.

[0036] Furthermore, based on the real-time injection distance and the real-time incident angle, the original relative attitude effectiveness coefficient is determined:

[0037]

[0038] In the formula, express The original relative attitude efficiency coefficient at time; This represents the standard optimal spray distance set by the process, serving as a normalized baseline value. express Real-time spray distance of the robot; express The real-time angle of incidence at any given moment.

[0039] In the formula, Based on the principle of jet diffusion, this reflects the energy density dilution effect caused by the inverse square-proportional diffusion of the projectile jet cross-sectional area with respect to distance. This effect occurs when the real-time jet distance... Greater than the standard optimal spray distance hour, A value less than 1 indicates a decrease in energy density; Based on the principle of momentum decomposition, this term reflects the vector attenuation of the normal effective impact momentum caused by oblique incidence, when the real-time incident angle... As the distance increases, the normal component decreases, and the energy transfer efficiency decreases; when the real-time injection distance... Larger and real-time incident angle When the value is larger, the original relative attitude effectiveness coefficient The smaller the value, the lower the energy transfer efficiency under the current geometric posture.

[0040] Furthermore, to prevent drastic changes in calculation results due to abrupt changes in workpiece surface curvature, a moving average filter is applied to the original relative attitude efficiency coefficients to obtain the final smooth efficiency coefficients used for control:

[0041]

[0042] In the formula, express The smoothing efficiency coefficient at any given time; This indicates the window size for the moving average filter, which determines the degree of smoothing. The empirical value range is [5, 10]. In this embodiment, In other embodiments, the window size can be set to 5, depending on the severity of the curvature change on the workpiece surface. The more severe the curvature change, the larger the window size should be. Indicates the sampling interval; express The original relative attitude performance coefficients at time 1. Using a moving average filter, the original relative attitude performance coefficients can be filtered out. The high-frequency noise in the output signal is reduced, resulting in a smooth transition and preventing mechanical oscillation or fatigue damage to the electro-proportional valve due to over-response.

[0043] S2. Calculate the theoretical compensation pressure based on the smoothing efficiency coefficient, apply physical boundary constraints to the theoretical compensation pressure, and generate control commands to be sent to the electric proportional valve.

[0044] It should be noted that existing shot peening control systems mostly employ a constant pressure mode, neglecting the sensitivity of the shot beam energy density to geometric orientation. This leads to insufficient energy input under non-standard orientations, such as increased distance or tilted angles, causing uneven depth of the surface hardening layer and ultimately resulting in part deformation. Therefore, a feedforward compensation strategy based on an efficiency model is adopted. Within a certain range, increasing the shot peening air pressure can increase the initial velocity and mass flow rate of the shot, thereby compensating for the energy flux loss caused by poor geometric orientation. Specifically, when the smoothing efficiency coefficient decreases, the system actively increases the shot peening air pressure, and vice versa, to ensure a constant energy density ultimately acting on the workpiece surface.

[0045] Specifically, the theoretical compensation pressure is calculated based on the smoothing efficiency coefficient:

[0046]

[0047] In the formula, express Theoretical compensation pressure at any moment; This indicates the reference shot peening pressure specified in the process procedure; Indicates the compensation gain factor; express The smoothing efficiency coefficient at any given time.

[0048] In the formula, This constitutes a nonlinear gain based on the inverse of efficiency, when the smoothed efficiency coefficient... When the value is less than 1, energy loss occurs. Positive, driving theoretical compensation pressure Increase; compensation gain factor Used to adjust sensitivity to geometric errors, The empirical range is For materials with high work hardening sensitivity, a smaller value can be used to prevent overspraying. For example, when machining single-crystal alloys, a smaller value can be used. In other embodiments, the compensation gain factor can be set to 0.3, depending on the mechanical properties of the material being sprayed.

[0049] It should be noted that, in order to prevent the calculated theoretical compensation pressure from exceeding the physical capacity of the electric proportional valve or pipeline, which could lead to equipment damage or alarms, this invention sets physical boundary constraints on the theoretical compensation pressure.

[0050] Specifically, physical boundary constraints are applied to the theoretical compensation pressure to generate the final control command sent to the electro-proportional valve:

[0051]

[0052] in, express Timing control commands; express Theoretical compensation pressure at any moment; This indicates the preset lower limit of safe working pressure; This indicates the preset upper limit of safe operating pressure. Through limiting processing, when the theoretical compensation pressure... When the pressure exceeds the safe range, the boundary value is forcibly output to prevent system oscillation or actuator overload caused by the theoretical compensation pressure exceeding the physical boundary, thereby protecting the electric proportional valve and flexible piping system.

[0053] Figure 3 The diagram shows the smoothing efficiency coefficient curve and the control command curve. It can be seen that the control command and the smoothing efficiency coefficient have an inverse relationship. When the smoothing efficiency coefficient decreases, that is, when the geometric attitude deteriorates, the control command actively increases to perform energy compensation.

[0054] S3. The actual pipeline pressure is collected by the pressure sensor installed at the end of the spray gun. The deviation between the control command and the actual pipeline pressure is calculated. A hysteresis compensation term based on the air path response time constant is introduced to correct the control command and obtain the final execution command. The final execution command is sent to the electro-proportional valve to control the shot peening pressure.

[0055] It should be noted that in actual physical systems, the transmission of compressed air in pipelines, the movement of the valve core of high-flow valves, and the magnetization of the coil of electro-proportional valves all involve physical delays, typically tens of milliseconds. If control commands are executed directly, pressure changes will always lag behind changes in the robot's pose, causing misalignment compensation—that is, the robot's posture has changed, but the pressure is still adapting to the previous posture. Therefore, this invention introduces a hysteresis compensation mechanism based on sensor feedback. It uses an integral algorithm to calculate the accumulated historical errors and dynamically corrects the current command, ensuring that the pressure compensation action is accurately applied to the corresponding trajectory points.

[0056] Specifically, the actual pipeline pressure is collected using a pressure sensor installed at the end of the spray gun, the deviation between the control command and the actual pipeline pressure is calculated, and a hysteresis compensation term is introduced to obtain the final execution command:

[0057]

[0058] In the formula, express The final execution command is sent to the electro-proportional valve at all times; express Timing control commands; The hysteresis compensation coefficient is used to adjust the strength of the correction for historical errors. Its empirical range is [0.1, 0.5]. In this embodiment, the hysteresis compensation coefficient is set to 0.4. In other embodiments, the implementer can set the hysteresis compensation coefficient according to the actual implementation situation. For example, when the gas path response is slow, the compensation coefficient can be increased appropriately; when the gas path response is fast, the compensation coefficient can be decreased appropriately. This represents the gas path response time constant of the system, obtained through step response testing during system initialization. It represents the inherent physical delay of the gas path system from the issuance of a command to the establishment of pressure. Indicates the interval of integration Timing control commands; Indicates the interval of integration The actual pipeline pressure is constantly fed back by sensors.

[0059] In the formula, the integral term Calculated the past The average deviation between the control command and the actual pressure over a given time period reflects the degree of lag in the gas path response. This average deviation is then multiplied by a hysteresis compensation coefficient. This is then superimposed on the current control command, achieving predictive compensation for gas path lag, thereby improving the dynamic following performance of pressure control.

[0060] Preferably, the specific process of the step response test is as follows: Under the no-load state of the system, a step command signal from zero pressure to the reference working pressure is sent to the electro-proportional valve, and the pressure change curve at the end of the spray gun is recorded in real time using a high-frequency pressure sensor; the time span required for the pressure to rise to 63.2% of the final steady-state pressure from the moment the step command is issued is defined as the air circuit response time constant. Of these, 63.2% are based on first-order inertial systems. Theoretical response eigenvalues ​​at time t Confirmed; this test reflects the overall physical hysteresis characteristics of the system, including the response of the electro-proportional valve, the pipeline inflation delay, and the action delay of the high-flow valve.

[0061] Figure 4 The diagram illustrates the pressure response hysteresis compensation effect. It can be clearly observed that, in order to offset the physical hysteresis of the gas path, the final execution command is significantly ahead of the control command in phase. This advanced predictive control successfully drags the actual pipeline pressure to closely follow the control command, eliminating the hysteresis error.

[0062] Furthermore, the final execution commands from both robots are converted into voltage or current signals and sent synchronously to the electric proportional valve to achieve real-time coordinated control of shot peening pressure.

[0063] Figure 5 This is a thermogram showing the effective impact kinetic energy density distribution under existing technology. Figure 6 The effective impact kinetic energy density distribution heat map of the present invention refers to the total effective impact kinetic energy acting on a unit area of ​​the workpiece surface per unit time, which can reflect the impact intensity of the shot and the surface strengthening effect during shot peening. The method of obtaining it is as follows: the actual pipeline pressure collected in real time is used as the initial energy intensity of the shot stream, the calculated smoothing efficiency coefficient is used as the geometric transfer efficiency, and the product of the initial energy intensity and the geometric transfer efficiency is calculated as the effective impact kinetic energy density actually acting on the workpiece surface. Figure 5 The results show that under the constant pressure control of existing technology, a significant area of ​​severe energy attenuation appears on the workpiece surface in the region of geometric abrupt change. This zebra-striped uneven energy distribution is the direct cause of part deformation. Figure 6 The results show that, after adopting the adaptive compensation control of the present invention, although the geometric posture on the processing path fluctuates drastically, the effective impact kinetic energy density on the workpiece surface is always maintained in a uniform high-energy state through automatic pressure compensation, thus eliminating the residual stress field distortion that causes the twisting of weak rigid parts from the physical source.

Claims

1. A coordinated control method for shot peening equipment used in double-sided compensation processing, characterized in that, include: For the left and right robots, corresponding final execution instructions are generated based on their respective data channels, including: determining the original relative attitude efficiency coefficient based on the robot's real-time injection distance and real-time incident angle; performing a moving average filter on the original relative attitude efficiency coefficient to obtain a smoothed efficiency coefficient; calculating the theoretical compensation pressure based on the smoothed efficiency coefficient; applying physical boundary constraints to the theoretical compensation pressure; and generating control instructions to be sent to the electro-proportional valve, including: setting the control instruction to the safe working pressure lower limit in response to the theoretical compensation pressure being less than the lower limit of the safe working pressure; setting the control instruction to the theoretical compensation pressure in response to the theoretical compensation pressure being greater than or equal to the lower limit of the safe working pressure and less than or equal to the upper limit of the safe working pressure; and setting the control instruction to the upper limit of the safe working pressure in response to the theoretical compensation pressure being greater than the upper limit of the safe working pressure. The actual pipeline pressure is collected using a pressure sensor installed at the end of the spray gun. The deviation between the control command and the actual pipeline pressure is calculated, and a hysteresis compensation term based on the air path response time constant is introduced to correct the control command, resulting in the final execution command. The original relative attitude performance coefficient satisfies: ； express The original relative attitude efficiency coefficient at time; This indicates the standard optimal spray distance set by the process; express Real-time spray distance of the robot; express The real-time angle of incidence at any given moment; The smoothing efficiency coefficient satisfies: ； express The smoothing efficiency coefficient at any given time; This indicates the window size for the moving average filter; Indicates the sampling interval; express The original relative attitude efficiency coefficient at time; Theoretical compensation pressure is satisfied: ； express Theoretical compensation pressure at any moment; This indicates the reference shot peening pressure specified in the process procedure; This represents the compensation gain factor; the final executed instruction satisfies the expression: ； express The final execution command is sent to the electro-proportional valve at all times; express Timing control commands; Indicates the hysteresis compensation coefficient; This represents the gas path response time constant of the system; Indicates the interval of integration Timing control commands; Indicates the interval of integration The actual pipeline pressure is constantly fed back by sensors; The final execution command is sent to the electro-proportional valve to control the shot peening pressure.

2. The coordinated control method for shot peening equipment used in double-sided compensation processing according to claim 1, characterized in that, Also includes: A unified time reference axis is established to cache and time-align the end-effector pose data uploaded by the robot controller and the pressure data uploaded by the sensor. The end-effector pose data includes the robot's real-time spray distance and real-time incident angle, and the pressure data is the actual pipeline pressure collected by the pressure sensor installed at the end of the spray gun.

3. The coordinated control method for shot peening equipment used in double-sided compensation processing according to claim 1, characterized in that, The method for obtaining the gas path response time constant is as follows: Under no-load conditions, a step command signal from zero pressure to the reference working pressure is sent to the electro-proportional valve; the pressure change curve at the end of the spray gun is recorded in real time using a high-frequency pressure sensor; the time span required for the pressure to rise from the moment the step command is issued to 63.2% of the final steady-state pressure is taken as the system's air path response time constant.

4. A coordinated control method for shot peening equipment used in double-sided compensation processing according to any one of claims 1-2, characterized in that, The real-time incident angle is the angle between the spray gun axis vector and the normal vector of the current point on the workpiece surface.

5. The coordinated control method for shot peening equipment used in double-sided compensation processing according to claim 1, characterized in that, The step of sending the final execution command to the electro-proportional valve to control the shot peening pressure includes: The final execution commands of the robots on the left and right sides are converted into voltage or current signals and sent to the corresponding electro-proportional valves.

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