Intelligent control method and system for assembling torque of fire extinguisher valve

Abstract

The invention provides a fire extinguisher valve assembly torque intelligent control method and system. The method comprises the following steps: acquiring a fire extinguisher valve servo motor rotor phase difference and converting the phase difference into time-frequency distribution data; analyzing the data to generate a phase delay amount for quantifying dynamic response delay; an elastic torsion shaft coupling is arranged at the output end of the motor, the damping coefficient is adjusted according to the phase delay amount, and the multi-dimensional mapping relation between the torque variation amount and the phase delay amount is established; calculating a correlation vector of the phase difference and the torque variation by applying a dynamic lag compensation algorithm based on the mapping relation, and generating a real-time compensation instruction; motor current output is dynamically adjusted through the sliding mode controller, the valve assembling torque variation is restrained, and it is ensured that the screwing torque is stable. Dynamic stable control over the valve screwing torque is achieved, torque fluctuation is compressed, and the leakage risk is reduced.

Description

Technical Field

[0001] This application relates to the field of intelligent torque control technology, and in particular to an intelligent torque control method and system for fire extinguisher valve assembly. Background Technology

[0002] Fire extinguisher valve assembly is a core process for ensuring the sealing and safety of fire extinguishers, and its torque control accuracy directly determines the reliability of the threaded connection between the valve and the tank. In actual production, multiple dynamic disturbances need to be addressed: first, initial thread engagement deviations can easily lead to thread misalignment or uneven engagement during assembly; second, the time-varying characteristics of the friction coefficient cause nonlinear changes in assembly resistance, making it difficult for traditional fixed torque settings to match actual working conditions; and third, the need to balance the risks of over-torque and under-torque leakage requires dynamic response to the thread engagement state within milliseconds. Manual assembly or mechanical torque wrenches cannot perceive dynamic load disturbances in real time, necessitating an intelligent torque control method that integrates high-precision torque feedback, self-identification of thread engagement state, and online compensation control to achieve synergistic optimization of safety margin and sealing reliability on high-speed assembly lines.

[0003] Current solutions employ servo control technology based on static torque thresholds. This approach uses a high-precision torque sensor to collect the motor output shaft torque signal in real time and compares it with a preset torque threshold. When the real-time torque reaches the set threshold, the motor power is cut off, and the pneumatic gripper simultaneously releases the bottle. The system integrates a laser positioning sensor to automatically identify the valve handle position, and a servo motor drives a mechanical wrench to complete the valve tightening action, avoiding torque fluctuations caused by manual intervention. This solution replaces traditional manual wrench operation with closed-loop torque control, significantly improving assembly consistency and efficiency. However, its core drawback lies in the use of a static threshold control strategy, which cannot respond in real time to dynamic disturbances such as sudden changes in thread friction and workpiece deformation. This leads to an accumulation of torque overshoot or undershoot risks during assembly and lacks real-time diagnostic capabilities for thread engagement, making it difficult to meet the demands of high-precision sealing assembly scenarios. Summary of the Invention

[0004] This application provides a method and system for intelligent control of valve assembly torque in fire extinguishers, which solves the problems of uncontrolled fluctuations in valve tightening torque, inaccurate phase lag compensation, and uncontrollable risk of sealing leakage in the prior art.

[0005] Firstly, this application provides a method for intelligent control of the assembly torque of a fire extinguisher valve, including: The phase difference of the servo motor rotor during the operation of the fire extinguisher valve is collected and converted into time-frequency distribution data. The time-frequency distribution data is analyzed to generate the phase delay amount of the dynamic response delay during the operation of the servo motor rotor; An elastic torque shaft coupling is set at the output end of the servo motor, and the damping coefficient of the elastic torque shaft coupling is adjusted according to the phase delay amount. A multidimensional mapping relationship between the torque change and the phase delay amount of the fire extinguisher valve assembly is established through the damping coefficient. Based on the multidimensional mapping relationship, a dynamic hysteresis compensation algorithm is applied to calculate the correlation vector between the phase difference and the torque change, and a real-time compensation command is generated based on the correlation vector. The device receives the real-time compensation command through the sliding mode controller to dynamically adjust the current output of the servo motor and suppress the torque change during the assembly process of the fire extinguisher valve according to the adjusted current, so as to ensure that the tightening torque of the fire extinguisher valve is stable.

[0006] Optionally, an elastic torque shaft coupling is provided at the output end of the servo motor, and the damping coefficient of the elastic torque shaft coupling is adjusted according to the phase delay. A multi-dimensional mapping relationship between the torque change and the phase delay of the fire extinguisher valve assembly is established through the damping coefficient, including: A flexible torsion shaft coupling is installed at the output end of the servo motor, so that the input end of the flexible torsion shaft coupling is connected to the output end of the servo motor, and the output end of the flexible torsion shaft coupling is connected to the input shaft of the fire extinguisher valve assembly mechanism. A damping coefficient adjustment knob is provided on the hydraulic damping adjustment mechanism of the elastic torsion shaft coupling, and the scale position of the damping coefficient adjustment knob corresponds to different damping coefficients; Based on the phase delay, the damping coefficient adjustment knob is driven to rotate to a scale position matching the phase delay to set the damping coefficient; During the assembly of the fire extinguisher valve, the torque change output by the elastic torque shaft coupling is recorded simultaneously, and the phase delay of the servo motor rotor is also collected. The torque change and phase delay are aligned by timestamp to establish a multidimensional mapping relationship between the torque change and the phase delay.

[0007] Optionally, based on the multidimensional mapping relationship, a dynamic hysteresis compensation algorithm is applied to calculate the correlation vector between the phase difference and the torque change, and a real-time compensation command is generated based on the correlation vector, including: The torque change is extracted from the multidimensional mapping relationship, and the ratio of the phase difference to the torque change at the same time point is calculated as a dynamic response factor. The dynamic response factor is combined with a preset compensation gain coefficient to generate a correlation vector describing the strength of the correlation between the phase difference and the torque change. The instantaneous value of the phase difference is acquired in real time, and the torque compensation amount is calculated based on the instantaneous value of the phase difference and the correlation vector. Based on a preset linear proportional relationship between the servo motor torque constant and the current, the torque compensation amount is converted into a current adjustment amount, and the current adjustment amount is encapsulated as a real-time compensation command.

[0008] Optionally, the real-time compensation command is received through the device's sliding mode controller to dynamically adjust the current output of the servo motor, and to suppress torque variations during the fire extinguisher valve assembly process based on the adjusted current, so as to stabilize the tightening torque of the fire extinguisher valve, including: The device is equipped with a sliding mode controller, and obtains the current adjustment amount in the real-time compensation instruction through the instruction receiving interface of the sliding mode controller, and writes the current adjustment amount into the current compensation calculation unit of the sliding mode controller. The current reference value of the servo motor is measured, and the current adjustment amount is superimposed on the current reference value in the current compensation calculation unit to generate an updated target value of the output current. The target output current value is converted into a pulse width adjustment signal, and the actual output current value is adjusted according to the pulse width adjustment signal. The servo motor rotor is driven by the adjusted actual output current value to suppress the torque variation during the fire extinguisher valve assembly process, while stabilizing the tightening torque of the fire extinguisher valve.

[0009] Optionally, parsing the time-frequency distribution data to generate a phase delay amount for quantizing the dynamic response delay of the servo motor rotor during operation includes: Locate the target frequency band range of the servo motor rotor operating characteristics in the two-dimensional matrix of time-frequency distribution data, and extract the phase angle change values ​​within all time windows within the target frequency band range; The phase angle change values ​​are arranged in chronological order to form a phase angle change sequence, and the difference in phase angle change between adjacent time windows in the phase angle change sequence is calculated as the instantaneous response delay. The average instantaneous response delay across all time windows is used as the phase delay of the dynamic response delay during quantization of the servo motor rotor operation.

[0010] Optionally, the phase difference of the servo motor rotor during the operation of the fire extinguisher valve is collected, and the phase difference is converted into time-frequency distribution data, including: A position sensor is installed on the rotor of the servo motor to provide feedback on the actual position angle value, and the difference between the preset target position angle value and the actual position angle value at each sampling moment is calculated as the phase difference; The phase difference is divided into multiple data segments according to a fixed time window, and the data segments contain a sequence of phase differences at consecutive sampling times; Perform a time-domain to frequency-domain transformation operation on the phase difference sequence of each data segment to generate a spectral distribution segment; The spectral distribution segments are arranged into a two-dimensional matrix according to the time window order, and all two-dimensional matrices are integrated to construct time-frequency distribution data that characterizes the phase difference distribution with time and frequency.

[0011] Optionally, a time-domain to frequency-domain transformation operation is performed on the phase difference sequence of each data segment to generate a spectral distribution segment, including: Record the sampling time point sequence of the data segment, and convert the phase difference sequence within a fixed time window into a continuous waveform. The time axis of the continuous waveform corresponds to the sampling time point sequence, and the amplitude axis of the continuous waveform corresponds to the phase difference value sequence. A projection transformation operation is performed on the continuous waveform, which decomposes the waveform on the time axis into multiple independent vibration frequency components; The difference between the peak and valley values ​​of the waveform amplitude of the independent vibration frequency component is measured as the spectral intensity value of the independent vibration frequency component; Record the vibration frequency values ​​of the independent vibration frequency components, and combine the vibration frequency values ​​with the corresponding spectral intensity values ​​to form frequency-intensity data pairs; The data pairs are arranged to form a spectral distribution segment containing frequency component values ​​and spectral intensity values.

[0012] Secondly, this application provides an intelligent control system for the assembly torque of a fire extinguisher valve, comprising: The conversion module is used to collect the phase difference of the servo motor rotor during the operation of the fire extinguisher valve and convert the phase difference into time-frequency distribution data; The generation module is used to parse the time-frequency distribution data to generate the phase delay amount of the dynamic response delay during the operation of the servo motor rotor; A module is established to set an elastic torque shaft coupling at the output end of the servo motor, adjust the damping coefficient of the elastic torque shaft coupling according to the phase delay, and establish a multidimensional mapping relationship between the torque change and the phase delay of the fire extinguisher valve assembly through the damping coefficient. The calculation module is used to calculate the correlation vector between the phase difference and the torque change based on the multidimensional mapping relationship and the dynamic hysteresis compensation algorithm, and generate real-time compensation instructions based on the correlation vector. The adjustment module is used to receive the real-time compensation command through the device's sliding mode controller to dynamically adjust the current output of the servo motor and suppress the torque variation during the fire extinguisher valve assembly process according to the adjusted current, so as to ensure that the tightening torque of the fire extinguisher valve is stable.

[0013] Thirdly, this application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement the intelligent control method for the assembly torque of a fire extinguisher valve as described in the first aspect above.

[0014] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a computer, implements a method for intelligent control of the assembly torque of a fire extinguisher valve as described in the first aspect.

[0015] This application achieves precise control of the assembly torque of fire extinguisher valves through dynamic phase analysis and intelligent compensation technology. Specifically, phase delay quantization based on time-frequency distribution data significantly improves the analytical accuracy of the servo motor's dynamic response characteristics; the adaptive damping adjustment of the elastic torque shaft coupling effectively constructs a torque-phase lag mapping model; and the real-time current compensation mechanism of the sliding mode controller ensures torque stability during valve tightening. This method overcomes the limitations of traditional static torque control, achieving intelligent compensation for dynamic lag during assembly, significantly improving the consistency and reliability of fire extinguisher valve assembly quality, and providing a high-precision electromechanical collaborative solution for the safe sealing of pressure vessels.

[0016] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of an intelligent control method for the assembly torque of a fire extinguisher valve provided in this application is shown; Figure 2 This application provides a schematic diagram of the structure of an intelligent control system for the assembly torque of a fire extinguisher valve. Figure 3 A schematic diagram of the structure of a computing device provided in this application is shown. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0020] In some of the processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not themselves represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0021] Researchers have discovered a fundamental bottleneck in optimizing the energy efficiency of aluminum single-panel coating curing: while traditional solutions based on static waste heat recovery can improve thermal cycling efficiency, their lack of dynamic coupling modeling and lagging thermal field control lead to dual failures. Specifically, temperature field distortions caused by complex geometric panel shapes are difficult to eliminate through zoned airflow compensation, and instantaneous changes in the coating's heat absorption characteristics and the substrate's heat capacity cause a mismatch in curing parameters, resulting in the risk of localized overheating or under-curing. This contradiction stems from the decoupling blind spot in the multi-dimensional dynamic correlation of the heat conduction process, necessitating the construction of a closed-loop optimization architecture that enables real-time sensing of thermal field gradients and precise energy consumption control.

[0022] To address the aforementioned challenges, this invention proposes an intelligent control method for the assembly torque of fire extinguisher valves. Its innovation lies in overcoming the limitations of static temperature control through thermal radiation gradient interpretation and dynamic modeling of conduction characteristics. Specifically: A ring-shaped infrared array is used to collect real-time thermal radiation data from the aluminum single-panel surface, generating a thermal gradient vector field based on spatial differences; a temperature distribution tensor is constructed by fusing temperature values ​​and gradient directions, and the scanning angle is dynamically adjusted to acquire multi-dimensional data; a dynamic correlation model between the temperature tensor and curing rate is established using heat conduction theory, and anomaly accumulation areas are located using a three-dimensional thermal field cloud map; the heating unit power is adjusted in real-time based on the zoned temperature adjustment vector, achieving coordinated control of thermal field balance and energy consumption optimization. This method overturns the traditional recycling paradigm: the thermal gradient vector field achieves millisecond-level dynamic visualization of temperature distortion on complex curved surfaces for the first time; the three-dimensional thermal field cloud map accurately captures hidden cold zones caused by differences in coating heat absorption through multi-angle data fusion; and a closed-loop optimization mechanism forms an intelligent decision-making chain of "thermal field perception, gradient interpretation, cloud map reconstruction, and temperature adjustment execution," providing a full-link optimization paradigm for coating curing, from the essential laws of heat conduction to precise energy consumption control.

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] Figure 1 This application provides a flowchart of a method for intelligent control of the assembly torque of a fire extinguisher valve, as shown in the embodiments below. Figure 1 As shown, the method includes: 101. Collect the phase difference of the servo motor rotor during the operation of the fire extinguisher valve, and convert the phase difference into time-frequency distribution data.

[0025] Optionally, step 101 may specifically include the following steps: 1011. Install a position sensor on the servo motor rotor to provide feedback on the actual position angle value, and calculate the difference between the preset target position angle value and the actual position angle value at each sampling moment as the phase difference.

[0026] 1012. The phase difference is divided into multiple data segments according to a fixed time window, and the data segments contain a sequence of phase differences at consecutive sampling times.

[0027] 1013. Perform a time-domain to frequency-domain conversion operation on the phase difference sequence of each data segment to generate a spectral distribution segment.

[0028] Step 1013 may specifically include the following processes: recording the sampling time point sequence of the data segment, and converting the phase difference sequence within a fixed time window into a continuous waveform, wherein the time axis of the continuous waveform corresponds to the sampling time point sequence, and the amplitude axis of the continuous waveform corresponds to the phase difference value sequence; performing a projection transformation operation on the continuous waveform, wherein the projection transformation operation decomposes the waveform of the time axis into multiple independent vibration frequency components; measuring the difference between the peak and valley values ​​of the waveform amplitude of the independent vibration frequency components as the spectral intensity value of the independent vibration frequency components; recording the vibration frequency values ​​of the independent vibration frequency components, and combining the vibration frequency values ​​with the corresponding spectral intensity values ​​into frequency and intensity data pairs; arranging the data pairs to form a spectral distribution segment containing frequency component values ​​and spectral intensity values.

[0029] 1014. Arrange the spectral distribution segments into a two-dimensional matrix according to the time window order, and integrate all the two-dimensional matrices to construct time-frequency distribution data that characterizes the phase difference distribution with time and frequency.

[0030] In the above scheme, a fire extinguisher valve refers to a device that controls the opening and closing of a fire extinguisher. A servo motor rotor refers to the rotating part of a servo motor. Phase difference refers to the deviation between the actual position and the target position. Time-frequency distribution data refers to data reflecting time-frequency characteristics. A position sensor refers to a sensor that detects position. The actual position angle value refers to the actual angle of the rotor. The target position angle value refers to the preset target angle. Sampling time refers to the moment when data is acquired. A data segment refers to a collection of segmented data. A phase difference sequence refers to phase differences arranged in time. A spectral distribution segment refers to short-time spectral data. The time domain refers to a signal in the time dimension. The frequency domain refers to a signal in the frequency dimension. A continuous waveform refers to a continuous signal waveform. The time axis refers to the coordinate axis representing time. The amplitude axis refers to the coordinate axis representing amplitude. Projection transformation operation refers to the operation of decomposing a signal into frequency components. Independent vibration frequency components refer to the decomposed frequency components. The waveform amplitude peak value refers to the maximum amplitude of the waveform. The waveform amplitude trough value refers to the minimum amplitude of the waveform. The spectral intensity value refers to the intensity of the spectral components. The vibration frequency value refers to the frequency value of the frequency components. A data pair refers to a combination of frequency and intensity. A two-dimensional matrix is ​​a two-dimensional data structure.

[0031] In this embodiment, the system first installs a position sensor on the servo motor rotor to provide feedback on the actual position angle value. The position sensor (such as an incremental encoder or an absolute encoder) is mechanically fixed to the end of the motor rotor shaft to capture the physical angle of the rotor rotation in real time. The angle feedback module converts the pulse signal or digital signal output by the sensor into the actual position angle value. The difference calculator synchronously receives the preset target position angle value (generated by the motion control algorithm) from the control system and calculates the deviation between it and the actual position angle value point by point, generating the phase difference (i.e., the instantaneous angular offset between the target position and the actual position) at each sampling moment.

[0032] Subsequently, the system divides the phase difference into multiple data segments according to a fixed time window: the time window divider cuts the continuously sampled phase difference sequence into data segments of equal length based on a preset duration. The data integrator ensures that each data segment contains a fixed number of continuous sampling points, forming a set of phase difference sequences arranged in chronological order. This process, through time series segmentation technology, transforms long time-domain signals into independently analyzable segments, providing structured input for subsequent frequency domain conversion.

[0033] Next, the system performs a time-domain to frequency-domain transformation on the phase difference sequence of each data segment: the waveform generator maps the phase difference sequence (containing the phase difference values ​​at consecutive sampling times) obtained in step 1012 into a continuous waveform. The time axis of this waveform strictly corresponds to the original sampling time point sequence, and the amplitude axis is precisely aligned with the phase difference value sequence, forming a continuous time-amplitude function representation. The projection transformer performs a projection transformation operation (such as a fast Fourier transform) on this continuous waveform, decomposing the time-domain waveform into multiple independent vibration frequency components through orthogonal decomposition. Each component represents a sine / cosine vibration component of a different frequency. For each independent vibration frequency component, the intensity calculator measures the vertical distance between the peak and trough values ​​of its waveform amplitude within a complete period and quantizes this difference into a spectral intensity value to objectively reflect the energy contribution intensity of that frequency component. The data pair generator binds the vibration frequency value (i.e., the frequency value itself) of each frequency component with its corresponding spectral intensity value, forming a frequency-intensity data pair. Subsequently, the fragment integrator linearly arranges all data pairs according to the ascending order of vibration frequency values, integrating them into a structured spectral distribution fragment. This fragment fully characterizes the distribution and intensity features of all frequency components within the original data segment.

[0034] Finally, the system integrates the spectral distribution segments into time-frequency distribution data: the matrix builder fills the row vectors of a two-dimensional matrix with the spectral distribution segments corresponding to each window in time window order, where the row index represents the time window number and the column index represents the frequency component. The data fusion engine stacks all two-dimensional matrices along the time axis to form a three-dimensional data structure (time × frequency × intensity), which is then compressed into time-frequency distribution data (i.e., a two-dimensional matrix: rows represent time windows, columns represent frequencies, and matrix element values ​​represent spectral intensity). This process, through time-frequency matrixing technology, achieves a global visualization of the dynamic characteristics of phase difference.

[0035] In practical applications, in the quality control scenario of fire extinguisher valve thread tightening assembly, during the fire extinguisher valve thread tightening assembly process, the system first installs a position sensor (such as an embedded encoder based on a multi-pole magnetic ring) on ​​the rotor of the servo motor driving the tightening tool to provide real-time feedback on the actual position angle value during the valve tightening process; the controller synchronously generates a preset target position angle value of the standard thread insertion trajectory and calculates the difference between the target value and the actual value at each sampling moment as the phase difference (step 1011). Subsequently, the system divides the continuously acquired phase difference into multiple data segments according to a preset fixed time window (such as every 200 milliseconds), and each data segment contains a sequence of phase differences at continuous sampling moments within that window (step 1012). Next, a transformation from the time domain to the frequency domain is performed on the phase difference sequence of each data segment: the phase difference sequence within the data segment is converted into a continuous waveform (the time axis corresponds to the sampling time point sequence, and the amplitude axis corresponds to the phase difference value sequence); the time axis waveform is decomposed into multiple independent vibration frequency components through a projection transformation operation (such as Fourier transform); the difference between the peak and valley values ​​of the waveform amplitude of each frequency component is measured as the spectral intensity value, and its vibration frequency value is recorded, combined into a data pair of frequency and intensity; all data pairs are arranged in order of frequency components to form the spectral distribution segment of the data segment (step 1013). Finally, the system arranges the spectral distribution segments of all data segments in order of time window into a two-dimensional matrix (the row index is the time window number, and the column index is the frequency component), integrates all matrices to construct time-frequency distribution data, which uses frequency as the horizontal axis, time as the vertical axis, and spectral intensity as the depth value, intuitively representing the dynamic evolution of phase difference with vibration frequency and time during the assembly process (step 1014). This data is used to identify abnormal vibration patterns in real time (such as a sudden increase in energy at a specific frequency caused by mis-threading), and to drive the servo motor to dynamically adjust the torque output, ensuring valve sealing and preventing over-tightening that could damage the threads.

[0036] The scheme described in step 101 above achieves accurate extraction and modeling of the time-frequency characteristics of the servo motor rotor phase difference. By comparing real-time feedback from the position sensor with the target position, an innovative dynamic monitoring system for the phase difference is constructed. This technology employs time window segmentation and spectrum conversion algorithms to transform the time-domain phase difference sequence into time-frequency distribution data containing frequency features, overcoming the limitations of traditional single-time-domain analysis. Through projection transformation processing of continuous waveforms, a refined decomposition of the phase difference vibration characteristics is achieved, providing a multi-dimensional feature data foundation for the dynamic response analysis of the servo system.

[0037] 102. Analyze the time-frequency distribution data to generate the phase delay amount of the dynamic response delay during the operation of the servo motor rotor.

[0038] Optionally, step 102 may specifically include the following steps: 1021. Locate the target frequency band range of the servo motor rotor operating characteristics in the two-dimensional matrix of time-frequency distribution data, and extract the phase angle change values ​​within all time windows within the target frequency band range.

[0039] 1022. Arrange the phase angle change values ​​in chronological order to form a phase angle change sequence, and calculate the difference in phase angle change between adjacent time windows in the phase angle change sequence as the instantaneous response delay.

[0040] 1023. Calculate the average value of the instantaneous response delay of all time windows as the phase delay of the dynamic response delay during the operation of the servo motor rotor.

[0041] In the above scheme, dynamic response delay refers to the delay time of the system response. Phase delay refers to the quantized value of the phase delay. Target frequency band range refers to the frequency range of interest. Phase angle change value refers to the change in phase angle. Phase angle change sequence refers to the time-series data of phase angle changes. Instantaneous response delay refers to the instantaneous response delay value. Average value refers to the average of the numerical values.

[0042] In this embodiment, the system first locates the target frequency band range of the servo motor rotor's operating characteristics within a two-dimensional matrix of time-frequency distribution data. The frequency band locator, based on the mechanical resonance characteristics of the servo motor rotor (such as the bearing's natural frequency or electromagnetic excitation frequency), determines the target frequency band range containing the main operating characteristics from the time-frequency distribution data (a two-dimensional matrix where rows represent time windows, columns represent frequencies, and matrix elements represent spectral intensity) generated in step 101. The data extraction module traverses all time windows within this frequency band range, extracts the spectral intensity data of the corresponding frequency column within each time window using matrix slicing technology, and then converts the spectral intensity into a phase angle change value (reflecting the phase offset of the rotor's motion within that time window) using a phase calculation algorithm.

[0043] Subsequently, the system arranges the phase angle change values ​​in chronological order to form a phase angle change sequence: the sequence generator arranges the phase angle change values ​​of all time windows extracted in step 1021 in ascending order according to the time window number, constructing a continuous phase angle change sequence (each element corresponds to the phase state of a time window). The difference calculator uses the sliding window difference technique to calculate the numerical difference of the phase angle change values ​​of adjacent time windows in the sequence, generating a phase angle change difference that reflects the instantaneous response fluctuation, and defines this difference as the instantaneous response delay (quantifying the degree of dynamic response lag within adjacent sampling intervals).

[0044] Finally, the system calculates the average of the instantaneous response delays across all time windows as the phase delay: the delay statistician aggregates the set of all instantaneous response delays generated in step 1022 and calculates its mean using an arithmetic mean algorithm. The quantification module outputs this mean as the phase delay (scalar value), serving as a global quantification index of the dynamic response delay of the servo motor rotor within a complete operating cycle. This result directly serves the delay compensation decisions of the subsequent control system (such as the phase adjustment in step 104).

[0045] In practical applications, in the dynamic torque compensation scenario of fire extinguisher valve thread assembly, during the fire extinguisher valve thread assembly process, the system, based on the time-frequency distribution data generated in step 101 (which represents the dynamic distribution of phase difference with vibration frequency and time in the form of a two-dimensional matrix), first locates the target frequency band range of the servo motor rotor operating characteristics in the two-dimensional matrix of the time-frequency distribution data, and extracts the phase angle change values ​​within all time windows within the target frequency band range (each time window corresponds to a specific stage of thread screwing in) (step 1021); then, the extracted phase angle change values ​​are arranged in chronological order to form a phase angle change sequence, and the difference in phase angle change between adjacent time windows in the phase angle change sequence is calculated as the instantaneous response delay (this difference quantifies the degree of lag in the servo motor response between adjacent assembly stages) (step 1022); finally, the average value of the instantaneous response delay of all time windows is calculated as the phase delay (this average value comprehensively reflects the dynamic response delay level throughout the thread assembly process) (step 1023). The phase delay is input to the servo control system, which dynamically adjusts the PID parameters to compensate for the response lag: when a high phase delay is detected, the servo motor torque output response speed is increased to avoid valve sealing failure due to abnormal thread fit.

[0046] The solution described in step 102 above achieves a quantitative evaluation of the dynamic response delay of the servo system. Based on the feature analysis of time-frequency distribution data, an innovative method for calculating phase delay was designed. This technology accurately captures the dynamic response characteristics of the servo motor rotor through target frequency band positioning and instantaneous response delay analysis. The innovative delay statistical algorithm transforms complex time-frequency characteristics into intuitive quantitative indicators, providing an objective basis for system performance evaluation and parameter optimization. This transformation path from frequency domain characteristics to performance indicators significantly improves the accuracy and efficiency of dynamic characteristic analysis of the servo system.

[0047] 103. Set an elastic torque shaft coupling at the output end of the servo motor, adjust the damping coefficient of the elastic torque shaft coupling according to the phase delay, and establish a multidimensional mapping relationship between the torque change and the phase delay of the fire extinguisher valve assembly through the damping coefficient.

[0048] Optionally, step 103 may specifically include the following steps: 1031. Install a flexible torsion shaft coupling at the output end of the servo motor, so that the input end of the flexible torsion shaft coupling is connected to the output end of the servo motor, and the output end of the flexible torsion shaft coupling is connected to the input shaft of the fire extinguisher valve assembly mechanism.

[0049] 1032. A damping coefficient adjustment knob is provided on the hydraulic damping adjustment mechanism of the elastic torsion shaft coupling, and the scale position of the damping coefficient adjustment knob corresponds to different damping coefficients.

[0050] 1033. Based on the phase delay, drive the damping coefficient adjustment knob to rotate to a scale position matching the phase delay to set the damping coefficient.

[0051] 1034. During the assembly of the fire extinguisher valve, the torque change output by the elastic torque shaft coupling is recorded simultaneously, and the phase delay of the servo motor rotor is also collected.

[0052] 1035. Align the torque change and phase delay by timestamp to establish a multidimensional mapping relationship between the torque change and phase delay.

[0053] In the above scheme, an elastic torque shaft coupling refers to a coupling with elastic and damping characteristics. The damping coefficient is a parameter reflecting damping characteristics. Torque change refers to the numerical change in torque. Multidimensional mapping relationship refers to the correspondence between multidimensional data. A hydraulic damping adjustment mechanism refers to a hydraulic device for adjusting damping. A damping coefficient adjustment knob refers to a knob for adjusting the damping coefficient. Scale position refers to the adjustment position of the knob. A fire extinguisher valve assembly mechanism refers to a mechanism for assembling the valve. An input shaft refers to the shaft that inputs power. Timestamp alignment refers to the process of matching data according to time. Torque change refers to the numerical change in output torque.

[0054] In this embodiment, the system first installs a flexible torsion shaft coupling at the output end of the servo motor. The input end of the flexible torsion shaft coupling (such as a flange or keyway structure) is precisely aligned with the journal of the servo motor's output end via a mechanical assembly module, ensuring minimal coaxiality error. Simultaneously, the output end of the coupling is rigidly connected to the input shaft of the fire extinguisher valve assembly mechanism using bolts or clamping devices, forming a complete power transmission path. During the alignment process, a laser alignment instrument is used to calibrate the shaft centers at both ends to avoid additional vibration or torque loss due to installation deviations, laying the physical foundation for subsequent damping adjustments.

[0055] Subsequently, the system incorporates a damping coefficient adjustment knob on the hydraulic damping adjustment mechanism of the elastic torsion shaft coupling. The knob is integrated into the valve core connecting rod end, and its rotation angle drives the valve core displacement via lever transmission, altering the flow cross-sectional area of ​​the silicone oil channel within the hydraulic chamber (increasing the cross-sectional area decreases the damping coefficient, and decreasing it increases it). The calibration module linearly maps the circumferential rotation position of the knob to a continuously adjustable range of the damping coefficient, and uses laser etching to mark the damping coefficient value on the annular scale on the outer edge of the knob, achieving a visual setting of the damping coefficient.

[0056] Next, the system drives the damping coefficient adjustment knob to rotate to the matching scale position based on the phase delay. The parameter mapping engine calls the phase delay (a scalar value that quantifies the lag of the servo motor rotor dynamic response) generated in step 102 and determines the target damping value according to the preset damping coefficient-phase delay matching table (e.g., a high delay corresponds to a high damping coefficient). After receiving the target value command, the knob drive motor drives the damping coefficient adjustment knob to rotate to the specified scale position through the gear reduction mechanism. At this time, the hydraulic valve core displacement adjusts the cross-sectional area of ​​the silicone oil flow channel to the target state, and the system damping force changes synchronously, thereby suppressing the torque fluctuation caused by the phase delay.

[0057] Then, during the fire extinguisher valve assembly process, the system synchronously records the torque change output by the elastic torque shaft coupling and collects the phase delay: a torque sensor is embedded in the shaft journal at the output end of the coupling to monitor the torque change transmitted to the valve assembly mechanism in real time (such as the peak torque at the moment the valve is tightened); the phase monitoring module synchronously collects the angle difference between the actual position and the target position of the servo motor rotor and calculates the phase delay within the current time window. The data synchronization unit adds millisecond-level timestamps to the torque and phase data to ensure strict time alignment of the two types of data, forming a time-stamped raw dataset.

[0058] Finally, the system aligns torque changes and phase delays by timestamp to establish a multidimensional mapping relationship: the relationship building engine extracts data pairs of torque changes and phase delays with perfectly matched timestamps, and analyzes the correlation between torque fluctuation amplitude and phase delay degree using nonlinear regression algorithms (such as support vector machines or polynomial fitting). The mapping generator encapsulates the correlation relationship into a multidimensional mapping matrix containing time, torque, and phase data. This matrix can be directly used to predict the torque stability of valve assemblies under different damping coefficients and provides a theoretical basis for the adaptive adjustment of the subsequent control system.

[0059] In practical applications, in the scenario of adaptive torque control for precision assembly of fire extinguisher valve threads, on the fire extinguisher valve thread assembly production line, the system, based on the phase delay value generated in step 102 (this value quantifies the servo motor response lag), first installs an elastic torque shaft coupling at the output end of the servo motor, connecting the input end of the elastic torque shaft coupling to the output end of the servo motor via a flange, and simultaneously rigidly connecting the output end of the elastic torque shaft coupling to the input shaft of the fire extinguisher valve assembly mechanism (step 1031); then, a damping coefficient adjustment knob is set on the hydraulic damping adjustment mechanism of the elastic torque shaft coupling (the mechanical scale position of this knob is calibrated to correspond one-to-one with the damping coefficient), and the scale position of the damping coefficient adjustment knob directly maps to the throttling orifice size of the hydraulic chamber inside the coupling (step 1032); then, according to the phase delay value (such as high delay...), the system... (To suppress vibration, the damping coefficient adjustment knob is rotated to the scale position matching the phase delay, and the damping coefficient is set by changing the hydraulic oil flow rate (step 1033). During valve assembly, the system synchronously records the torque change output by the elastic torsion shaft coupling (monitored in real time by the strain gauge built into the coupling) and collects the phase delay of the servo motor rotor (calculated based on position sensor feedback) (step 1034). Finally, the output torque change and phase delay are aligned by timestamp (each timestamp corresponds to a specific angle position of thread insertion). By associating the torque fluctuation amplitude and phase delay fluctuation amplitude at the same timestamp, a multi-dimensional mapping relationship between torque change and phase delay is established (this relationship is represented by a three-dimensional surface to characterize the dynamic coupling law of torque-phase delay-insertion depth) (step 1035). This mapping relationship is input into the adaptive control algorithm to dynamically optimize the servo motor PID parameters: when a torque mutation at a specific insertion depth is detected to be strongly correlated with a high phase delay, the damping coefficient is automatically increased to suppress vibration and avoid thread overload damage.

[0060] The scheme described in step 103 above achieves intelligent damping adjustment and multi-dimensional relationship modeling of the torque transmission system. Through the innovative application of an elastic torsion shaft coupling, a dynamically adjustable torque transmission device is constructed. The damping coefficient matching mechanism designed in this technology achieves a precise correspondence between phase delay and mechanical damping. The innovative multi-dimensional mapping relationship construction method simultaneously records the dynamic correlation between torque changes and phase delay, providing comprehensive data support for subsequent compensation control. This electromechanical parameter collaborative monitoring technology provides a new research perspective for understanding the interaction between the dynamic characteristics of servo systems and mechanical loads.

[0061] 104. Based on the multidimensional mapping relationship, the dynamic hysteresis compensation algorithm is applied to calculate the correlation vector between the phase difference and the torque change, and a real-time compensation command is generated according to the correlation vector.

[0062] Optionally, step 104 may specifically include the following steps: 1041. Extract the torque change from the multidimensional mapping relationship, and calculate the ratio of the phase difference to the torque change at the same time point as the dynamic response factor.

[0063] 1042. The dynamic response factor is combined with a preset compensation gain coefficient to generate a correlation vector describing the correlation strength between the phase difference and the torque change.

[0064] 1043. Real-time acquisition of the instantaneous value of the phase difference, and calculation of the torque compensation amount based on the instantaneous value of the phase difference and the correlation vector.

[0065] 1044. Based on a preset linear proportional relationship between the servo motor torque constant and the current, the torque compensation amount is converted into a current adjustment amount, and the current adjustment amount is encapsulated as a real-time compensation command.

[0066] In the above scheme, the dynamic lag compensation algorithm refers to the algorithm for compensating for dynamic lag. The correlation vector refers to the vector reflecting the correlation relationship. The real-time compensation command refers to the command for real-time adjustment. The dynamic response factor refers to the factor reflecting the dynamic response. The compensation gain coefficient refers to the proportional coefficient of compensation. The correlation strength refers to the degree of correlation. The instantaneous value of the phase difference refers to the instantaneous phase difference value. The torque compensation amount refers to the torque adjustment amount. The servo motor torque constant refers to the proportional coefficient of torque and current. The current adjustment amount refers to the current adjustment amount. The linear proportional relationship refers to a linearly correlated proportional relationship.

[0067] In this embodiment, the system first extracts the torque change from the multidimensional mapping relationship: the data extraction module calls the multidimensional mapping relationship generated in step 103 (including the correlation matrix of phase difference and torque change with timestamp alignment), and locates data pairs at the same time point through timestamp matching technology. The ratio calculator divides the phase difference value at the current time point with the torque change value at the corresponding time point to generate a dynamic response factor reflecting the instantaneous correlation strength between the two (i.e., the torque fluctuation amplitude corresponding to a unit change in phase difference). This process quantifies the dynamic impact of phase lag on torque stability through real-time ratio analysis.

[0068] Subsequently, the system combines the dynamic response factor with preset compensation gain coefficients: the gain regulator calls the compensation gain coefficients pre-stored in the control system (derived from the dynamic response characteristics of the servo motor), and multiplies them point-by-point with the dynamic response factor calculated in step 1041 through scalar multiplication. The vector generator arranges the product results in a time series to construct a correlation vector (one-dimensional array structure) characterizing the global correlation strength between phase difference and torque change. This process strengthens the correlation of key frequency bands and suppresses noise interference through gain weighting technology, providing normalized input for compensation calculation.

[0069] Next, the system acquires the instantaneous value of the phase difference in real time and calculates the torque compensation: The phase monitoring unit obtains the instantaneous value of the phase difference of the servo motor rotor in real time through the position sensor (i.e., the angular deviation between the target position and the actual position at the current sampling moment). The compensation solver inputs this instantaneous value into the correlation vector generated in step 1042, calculates the comprehensive contribution value of the instantaneous phase difference to all correlation strengths through vector dot product operation, and outputs the real-time torque compensation (scalar value). This process, through dynamic weight allocation, enables high-frequency phase fluctuations to trigger greater torque compensation, accurately offsetting the torque fluctuations caused by dynamic response delays.

[0070] Finally, the system converts the torque compensation amount into a current regulation amount and encapsulates a real-time compensation command: the current converter, based on the linear proportional relationship in the electromagnetic characteristics of the servo motor (a strict proportionality between torque and current), divides the torque compensation amount by the servo motor torque constant to obtain the current regulation amount to be injected into the motor windings. The command encapsulation module embeds this regulation amount into the standard current loop control protocol, generating a real-time compensation command containing the target current value, phase marker, and timestamp, and transmits it to the servo driver for execution via the bus. This process, through current closed-loop injection technology, converts the compensation amount into a physical control signal that can directly drive the motor.

[0071] In practical applications, in the scenario of adaptive torque control for precision assembly of fire extinguisher valve threads, the system, based on the multi-dimensional mapping relationship established in step 103 (which integrates the dynamic coupling law of torque change of the elastic torque shaft coupling and phase delay of the servo motor rotor), first extracts the torque change (such as the peak torque fluctuation caused by sudden change in thread screwing resistance) from the multi-dimensional mapping relationship, and calculates the ratio of phase difference to torque change at the same time point (this ratio quantifies the degree of dynamic response lag corresponding to unit torque fluctuation), as the dynamic response factor (step 1041); then, the dynamic response factor is combined with the preset compensation gain coefficient (this coefficient is determined by the dynamic characteristics of the servo system and the assembly process requirements) to generate an association vector describing the correlation strength between phase difference and torque change (this vector represents the lag sensitivity of different assembly stages in matrix form) (step 10). 42); Next, the instantaneous value of the phase difference is acquired in real time (the real-time position deviation fed back by the position sensor), and the torque compensation amount is calculated based on the instantaneous value of the phase difference and the correlation vector (for example, when the instantaneous value of the high phase difference matches the strong correlation region in the correlation vector, positive torque compensation is generated to offset the response delay) (step 1043); Finally, based on the preset linear proportional relationship between the servo motor torque constant and the current (the physical mapping between the electromagnetic torque and the current of the servo motor), the torque compensation amount is converted into the current adjustment amount (for example, the compensation amount is converted into the current increment according to the motor torque constant), and the current adjustment amount is encapsulated into a real-time compensation command (the command format is compatible with the servo driver communication protocol). This command is sent to the servo driver through the control bus to adjust the motor output current in real time, thereby accurately compensating for the dynamic response lag in the assembly process and avoiding excessive tightness or sealing failure caused by abnormal thread fit.

[0072] The scheme described in step 104 above implements an intelligent compensation algorithm that dynamically correlates phase and torque. Based on in-depth analysis of multi-dimensional mapping relationships, an innovative dynamic hysteresis compensation model is constructed. This technology generates a correlation vector that accurately describes the system characteristics through the intelligent combination of dynamic response factors and compensation gains. An innovative real-time compensation command generation mechanism transforms abstract phase differences into executable current regulation quantities, achieving a closed-loop connection from state monitoring to control execution. This data-driven compensation algorithm significantly improves the system's adaptability to dynamic load changes.

[0073] 105. The device receives the real-time compensation command through the sliding mode controller to dynamically adjust the current output of the servo motor, and suppresses the torque change during the assembly process of the fire extinguisher valve according to the adjusted current, so as to ensure that the tightening torque of the fire extinguisher valve is stable.

[0074] Optionally, step 105 may specifically include the following steps: 1051. The device is a sliding mode controller, and the current adjustment amount in the real-time compensation instruction is obtained through the instruction receiving interface of the sliding mode controller, and the current adjustment amount is written into the current compensation calculation unit of the sliding mode controller.

[0075] 1052. Measure the current reference value of the current currently output by the servo motor, and add the current adjustment amount to the current reference value in the current compensation calculation unit to generate an updated output current target value.

[0076] 1053. Convert the target value of the output current into a pulse width adjustment signal, and adjust the actual output current value according to the pulse width adjustment signal.

[0077] 1054. The servo motor rotor is driven by the adjusted actual output current value to suppress the torque variation during the assembly process of the fire extinguisher valve, and at the same time stabilize the tightening torque of the fire extinguisher valve.

[0078] In the above scheme, the sliding mode controller refers to a controller based on the sliding mode variable structure principle. Current output refers to the current output by the servo motor. Torque change refers to the numerical change in torque. The tightening torque of the fire extinguisher valve refers to the torque when the valve is tightened. The command receiving interface refers to the interface for receiving commands. The current compensation calculation unit refers to the module that calculates current compensation. The current reference value refers to the reference value of the current. The output current target value refers to the adjusted target current value. The pulse width modulation signal refers to the PWM signal that controls the current. The actual output current value refers to the actual output current value. The servo motor rotor refers to the rotating part of the servo motor.

[0079] In this embodiment, the system first receives a real-time compensation command through the sliding mode controller of the device. The command receiving interface of the sliding mode controller (such as a CAN bus or SPI communication interface) obtains the current adjustment data packet from the real-time compensation command generated in step 104, and extracts the current correction value through a protocol parsing algorithm. The data writing module transmits this value to the current compensation calculation unit (dedicated digital signal processing core) inside the sliding mode controller, and stores it as a reference parameter for dynamic current correction. This process ensures that the compensation command takes effect within the control cycle through real-time data synchronization technology, providing a dynamic adjustment basis for current superposition.

[0080] Subsequently, the system measures and superimposes the current reference value of the servo motor's current output: the current sampling circuit acquires the current output current reference value of the servo motor's three-phase windings in real time, converts it into a digital signal via an analog-to-digital converter, and inputs it to the current compensation calculation unit. The superposition processor performs an arithmetic addition operation within this unit, instantaneously superimposing the current adjustment amount written in step 1051 with the current reference value to generate an updated output current target value. This process achieves seamless integration of the compensation amount and the reference current through real-time numerical fusion technology, forming an anti-interference enhanced current command.

[0081] Next, the system converts the target output current value into a pulse width modulation (PWM) signal: the signal converter, based on the Space Vector Pulse Width Modulation (SVPWM) algorithm, decomposes the updated target output current value into three-phase voltage vectors. The PWM generator calculates the corresponding PWM signal (i.e., the duty cycle and phase of each power transistor drive signal) based on the voltage vectors, and adjusts the turn-on timing of the insulated-gate bipolar transistors (IGBTs) through the gate drive circuit. This process uses power electronic modulation technology to convert the digital current command into a physical electrical signal that can drive the power module, precisely controlling the amplitude and phase of the actual output current.

[0082] Finally, the system utilizes the adjusted current to drive the servo motor and suppress torque fluctuations: the power amplifier module converts the pulse width modulation signal into a high-power actual output current value, which is injected into the servo motor windings to generate electromagnetic torque. The torque suppression engine offsets load fluctuations caused by phase delays (such as sudden changes in resistance during valve tightening) by adjusting the current value in real time, keeping the rotor output torque stable. The dynamic balancing unit, based on the strong robustness of the sliding mode controller (its insensitivity to parameter perturbations and disturbances), continuously maintains the torque variation during the fire extinguisher valve assembly process close to zero, ensuring the long-term stability of the tightening torque.

[0083] In practical applications, in the scenario of dynamic torque suppression during precision assembly of fire extinguisher valves, on the fire extinguisher valve thread assembly production line, the system, based on the real-time compensation command generated in step 104 (which includes a current adjustment amount), first obtains the current adjustment amount (calculated from the phase delay and correlation vector) from the real-time compensation command through the command receiving interface of the device's sliding mode controller, and writes the current adjustment amount into the current compensation calculation unit of the sliding mode controller (which is integrated into the servo driver control chip) (step 1051); then, it measures the current reference value currently output by the servo motor (by acquiring the three-phase current in real time through a Hall sensor), and superimposes the current adjustment amount onto the current reference value in the current compensation calculation unit. The value (such as compensation current increase or decrease command) is used to generate an updated target value for the output current (this value corresponds to the optimal current required to suppress torque fluctuations) (step 1052); then the target value for the output current is converted into a pulse width adjustment signal, and the actual output current value is adjusted according to the pulse width adjustment signal (step 1053); finally, the adjusted actual output current value is used to drive the servo motor rotor (the electromagnetic torque is linearly matched with the current), and by precisely controlling the instantaneous change of the rotor output torque, the torque change during the assembly process of the fire extinguisher valve (such as the sudden change in resistance during the thread engagement stage) is suppressed, while the tightening torque of the fire extinguisher valve is stabilized (avoiding excessive tightness leading to crushing of the sealing surface or excessive looseness leading to leakage) (step 1054).

[0084] The solution described in step 105 above achieves closed-loop stable control of the assembly torque of the fire extinguisher valve. Through the innovative application of a sliding mode controller, a high-response current compensation system is constructed. This technology employs a dual control strategy of current reference superposition and pulse width modulation to ensure the accurate execution of compensation commands. An innovative torque fluctuation suppression mechanism effectively reduces torque fluctuations during assembly, ensuring the stability of the valve tightening torque. This technical approach, which closely integrates advanced control algorithms with process requirements, significantly improves the quality consistency and process reliability of fire extinguisher valve assembly.

[0085] The following are specific examples for steps 101 to 105: In the scenario of adaptive torque control for precision assembly of fire extinguisher valve threads, on the fire extinguisher valve thread assembly production line, the system first installs a position sensor (such as a high-precision magnetic encoder) on the rotor of the servo motor driving the valve tightening mechanism to provide real-time feedback on the actual position angle value during the valve screwing process. The controller simultaneously generates a preset target position angle value for the standard thread screwing trajectory and calculates the difference between the target value and the actual value at each sampling moment as the phase difference. Subsequently, the system divides the continuously acquired phase differences into multiple data segments according to a fixed time window, with each data segment containing a sequence of phase differences from consecutive sampling moments within that window. Next, a transformation from the time domain to the frequency domain is performed on the phase difference sequence of each data segment: the phase difference sequence within the data segment is converted into a continuous waveform (the time axis corresponds to the sampling time point sequence, and the amplitude axis corresponds to the phase difference value sequence); the time axis waveform is decomposed into multiple independent vibration frequency components through a projection transformation operation (such as Fast Fourier Transform); the difference between the peak and valley values ​​of the waveform amplitude of each frequency component is measured as the spectral intensity value, and its vibration frequency value is recorded, combined into a data pair of frequency and intensity; all data pairs are arranged in order of frequency components to form the spectral distribution segment of the data segment. Finally, the system arranges the spectral distribution segments of all data segments into a two-dimensional matrix in order of time window, and integrates them to construct time-frequency distribution data. This data, with frequency as the horizontal axis, time as the vertical axis, and spectral intensity as the depth value, fully characterizes the dynamic evolution of the phase difference throughout the assembly process.

[0086] Based on this moment, the system locates the target frequency band reflecting the thread friction characteristics within the two-dimensional matrix of time-frequency distribution data, and extracts the phase angle change values ​​of all time windows within this frequency band. The extracted values ​​are arranged in chronological order to form a phase angle change sequence, and the difference in phase angle change between adjacent time windows in the sequence is calculated as the instantaneous response delay. The average instantaneous response delay of all time windows is statistically analyzed as the phase delay, which quantifies the degree of hysteresis in the servo motor's response to sudden changes in thread resistance. To suppress the hysteresis effect, a flexible torsion shaft coupling is installed at the output end of the servo motor. Its input end is connected to the servo motor output shaft via a flange, and its output end is rigidly connected to the input shaft of the valve assembly mechanism. The hydraulic damping adjustment mechanism of this coupling is equipped with a damping coefficient adjustment knob, and the mechanical scale position of the knob is calibrated to correspond one-to-one with the damping coefficient. The system drives the knob to rotate to the matching scale according to the phase delay (e.g., a high delay corresponds to a high damping coefficient), setting the damping coefficient to enhance system rigidity. During valve assembly, the torque change output by the elastic torsion shaft coupling is recorded synchronously (monitored by the strain gauge built into the coupling), and the phase delay of the servo motor rotor is collected. The two are aligned with the same timestamp to construct a multidimensional mapping relationship (three-dimensional surface model) between the torque change and the phase delay, revealing the coupling law between torque fluctuation and phase lag at a specific screw-in depth.

[0087] Furthermore, the system extracts the torque change from the multi-dimensional mapping relationship and calculates the ratio of the phase difference to the torque change at the same time point as a dynamic response factor. This factor is combined with a preset compensation gain coefficient (determined by the dynamic characteristics of the servo system) to generate a correlation vector (in matrix form) describing the strength of the correlation between the two. The instantaneous value of the phase difference is acquired in real time (feedback from the position sensor), and the torque compensation amount is calculated based on the instantaneous value and the correlation vector (e.g., a high phase difference instantaneous value triggers positive compensation). Based on the linear proportional relationship between the servo motor torque constant and the current, the compensation amount is converted into a current regulation amount and encapsulated as a real-time compensation command (compatible with industrial bus protocols). This command is transmitted to the current compensation calculation unit through the instruction receiving interface of the sliding mode controller. The system measures the current output current reference value of the servo motor (acquired in real time by a Hall sensor), and in the calculation unit, the current regulation amount is superimposed on the reference value to generate an updated output current target value. The target value is converted into a pulse width modulation signal through space vector modulation technology, which drives the power module to adjust the energizing sequence of the three-phase windings, thereby changing the actual output current value. Ultimately, the adjusted current drives the servo motor rotor, and through precise control of electromagnetic torque, it suppresses the torque variation during the assembly process of the fire extinguisher valve, ensuring stable valve tightening torque and preventing excessively tight threads from crushing or excessively loose threads from leaking.

[0088] Figure 2 This application provides a schematic diagram of the structure of an intelligent control system for the assembly torque of a fire extinguisher valve, as shown in the embodiment. Figure 2 As shown, the system includes: The conversion module 21 is used to collect the phase difference of the servo motor rotor of the fire extinguisher valve during operation and convert the phase difference into time-frequency distribution data. The generation module 22 is used to parse the time-frequency distribution data to generate the phase delay amount of the dynamic response delay during the operation of the servo motor rotor; Module 23 is established to set an elastic torque shaft coupling at the output end of the servo motor, adjust the damping coefficient of the elastic torque shaft coupling according to the phase delay, and establish a multidimensional mapping relationship between the torque change and the phase delay of the fire extinguisher valve assembly through the damping coefficient. The calculation module 24 is used to calculate the correlation vector between the phase difference and the torque change based on the multidimensional mapping relationship and to generate a real-time compensation command based on the correlation vector. The adjustment module 25 is used to receive the real-time compensation command through the sliding mode controller of the device to dynamically adjust the current output of the servo motor and suppress the torque change during the assembly process of the fire extinguisher valve according to the adjusted current, so as to ensure that the tightening torque of the fire extinguisher valve is stable.

[0089] Figure 2The aforementioned intelligent control system for the assembly torque of fire extinguisher valves can perform... Figure 1 The implementation principle and technical effects of the intelligent control method for fire extinguisher valve assembly torque described in the illustrated embodiment will not be repeated here. The specific operation methods of each module and unit in the intelligent control system for fire extinguisher valve assembly torque in the above embodiments have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0090] In one possible design, Figure 2 The intelligent control system for the assembly torque of a fire extinguisher valve in the illustrated embodiment can be implemented as a computing device, such as... Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32; The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are invoked and executed by the processing component 32.

[0091] The processing component 32 is used for the above Figure 1 The embodiment describes an intelligent control method for the assembly torque of a fire extinguisher valve.

[0092] The processing component 32 may include one or more processors to execute computer instructions to complete all or part of the steps in the above-described method. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0093] Storage component 31 is configured to store various types of data to support operations at the terminal. The storage component 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.

[0094] Of course, computing devices may also include other components, such as input / output interfaces, display components, communication components, etc.

[0095] Input / output interfaces provide interfaces between processing components and peripheral interface modules, which can be output devices, input devices, etc.

[0096] The communication components are configured to facilitate wired or wireless communication between computing devices and other devices.

[0097] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform. In this case, the computing device can refer to a cloud server, and the aforementioned processing components, storage components, etc., can be basic server resources rented or purchased from the cloud computing platform.

[0098] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, can perform the above-described functions. Figure 1 The embodiment shown illustrates an intelligent control method for the assembly torque of a fire extinguisher valve.

[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0100] 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.

[0101] 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, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for intelligent control of assembly torque of a fire extinguisher valve, characterized in that, include: The phase difference of the servo motor rotor during the operation of the fire extinguisher valve is collected and converted into time-frequency distribution data. The time-frequency distribution data is analyzed to generate the phase delay amount of the dynamic response delay during the operation of the servo motor rotor; An elastic torque shaft coupling is set at the output end of the servo motor, and the damping coefficient of the elastic torque shaft coupling is adjusted according to the phase delay amount. A multidimensional mapping relationship between the torque change and the phase delay amount of the fire extinguisher valve assembly is established through the damping coefficient. Based on the multidimensional mapping relationship, a dynamic hysteresis compensation algorithm is applied to calculate the correlation vector between the phase difference and the torque change, and a real-time compensation command is generated based on the correlation vector. The device receives the real-time compensation command through the sliding mode controller to dynamically adjust the current output of the servo motor and suppress the torque change during the assembly process of the fire extinguisher valve according to the adjusted current, so as to ensure that the tightening torque of the fire extinguisher valve is stable.

2. The method according to claim 1, characterized in that, An elastic torque shaft coupling is installed at the output end of the servo motor, and the damping coefficient of the elastic torque shaft coupling is adjusted according to the phase delay. A multidimensional mapping relationship between the torque change and the phase delay of the fire extinguisher valve assembly is established through the damping coefficient, including: A flexible torsion shaft coupling is installed at the output end of the servo motor, so that the input end of the flexible torsion shaft coupling is connected to the output end of the servo motor, and the output end of the flexible torsion shaft coupling is connected to the input shaft of the fire extinguisher valve assembly mechanism. A damping coefficient adjustment knob is provided on the hydraulic damping adjustment mechanism of the elastic torsion shaft coupling, and the scale position of the damping coefficient adjustment knob corresponds to different damping coefficients; Based on the phase delay, the damping coefficient adjustment knob is driven to rotate to a scale position matching the phase delay to set the damping coefficient; During the assembly of the fire extinguisher valve, the torque change output by the elastic torque shaft coupling is recorded simultaneously, and the phase delay of the servo motor rotor is also collected. The torque change and phase delay are aligned by timestamp to establish a multidimensional mapping relationship between the torque change and the phase delay.

3. The method according to claim 1, characterized in that, Based on the aforementioned multidimensional mapping relationship, a dynamic hysteresis compensation algorithm is applied to calculate the correlation vector between the phase difference and the torque change, and a real-time compensation command is generated based on the correlation vector, including: The torque change is extracted from the multidimensional mapping relationship, and the ratio of the phase difference to the torque change at the same time point is calculated as a dynamic response factor. The dynamic response factor is combined with a preset compensation gain coefficient to generate a correlation vector describing the strength of the correlation between the phase difference and the torque change. The instantaneous value of the phase difference is acquired in real time, and the torque compensation amount is calculated based on the instantaneous value of the phase difference and the correlation vector. Based on a preset linear proportional relationship between the servo motor torque constant and the current, the torque compensation amount is converted into a current adjustment amount, and the current adjustment amount is encapsulated as a real-time compensation command.

4. The method according to claim 1, characterized in that, The device receives the real-time compensation command through the sliding mode controller to dynamically adjust the current output of the servo motor, and suppresses the torque variation during the fire extinguisher valve assembly process according to the adjusted current, so as to stabilize the tightening torque of the fire extinguisher valve, including: The device is equipped with a sliding mode controller, and obtains the current adjustment amount in the real-time compensation instruction through the instruction receiving interface of the sliding mode controller, and writes the current adjustment amount into the current compensation calculation unit of the sliding mode controller. The current reference value of the servo motor is measured, and the current adjustment amount is superimposed on the current reference value in the current compensation calculation unit to generate an updated target value of the output current. The target output current value is converted into a pulse width adjustment signal, and the actual output current value is adjusted according to the pulse width adjustment signal. The servo motor rotor is driven by the adjusted actual output current value to suppress the torque variation during the fire extinguisher valve assembly process, while stabilizing the tightening torque of the fire extinguisher valve.

5. The method according to claim 1, characterized in that, The process of parsing the time-frequency distribution data to generate the phase delay amount of the dynamic response delay during servo motor rotor operation includes: Locate the target frequency band range of the servo motor rotor operating characteristics in the two-dimensional matrix of time-frequency distribution data, and extract the phase angle change values ​​within all time windows within the target frequency band range; The phase angle change values ​​are arranged in chronological order to form a phase angle change sequence, and the difference in phase angle change between adjacent time windows in the phase angle change sequence is calculated as the instantaneous response delay. The average instantaneous response delay across all time windows is used as the phase delay of the dynamic response delay during quantization of the servo motor rotor operation.

6. The method according to claim 1, characterized in that, The phase difference of the servo motor rotor during the operation of the fire extinguisher valve is collected, and the phase difference is converted into time-frequency distribution data, including: A position sensor is installed on the rotor of the servo motor to provide feedback on the actual position angle value, and the difference between the preset target position angle value and the actual position angle value at each sampling moment is calculated as the phase difference; The phase difference is divided into multiple data segments according to a fixed time window, and the data segments contain a sequence of phase differences at consecutive sampling times; Perform a time-domain to frequency-domain transformation operation on the phase difference sequence of each data segment to generate a spectral distribution segment; The spectral distribution segments are arranged into a two-dimensional matrix according to the time window order, and all two-dimensional matrices are integrated to construct time-frequency distribution data that characterizes the phase difference distribution with time and frequency.

7. The method according to claim 6, characterized in that, Perform a time-domain to frequency-domain transformation operation on the phase difference sequence of each data segment to generate a spectral distribution segment, including: Record the sampling time point sequence of the data segment, and convert the phase difference sequence within a fixed time window into a continuous waveform. The time axis of the continuous waveform corresponds to the sampling time point sequence, and the amplitude axis of the continuous waveform corresponds to the phase difference value sequence. A projection transformation operation is performed on the continuous waveform, which decomposes the waveform on the time axis into multiple independent vibration frequency components; The difference between the peak and valley values ​​of the waveform amplitude of the independent vibration frequency component is measured as the spectral intensity value of the independent vibration frequency component; Record the vibration frequency values ​​of the independent vibration frequency components, and combine the vibration frequency values ​​with the corresponding spectral intensity values ​​to form frequency-intensity data pairs; The data pairs are arranged to form a spectral distribution segment containing frequency component values ​​and spectral intensity values.

8. A fire extinguisher valve assembly torque intelligent control system, characterized in that, include: The conversion module is used to collect the phase difference of the servo motor rotor during the operation of the fire extinguisher valve and convert the phase difference into time-frequency distribution data; The generation module is used to parse the time-frequency distribution data to generate the phase delay amount of the dynamic response delay during the operation of the servo motor rotor; A module is established to set an elastic torque shaft coupling at the output end of the servo motor, adjust the damping coefficient of the elastic torque shaft coupling according to the phase delay, and establish a multidimensional mapping relationship between the torque change and the phase delay of the fire extinguisher valve assembly through the damping coefficient. The calculation module is used to calculate the correlation vector between the phase difference and the torque change based on the multidimensional mapping relationship and the dynamic hysteresis compensation algorithm, and generate real-time compensation instructions based on the correlation vector. The adjustment module is used to receive the real-time compensation command through the device's sliding mode controller to dynamically adjust the current output of the servo motor and suppress the torque variation during the fire extinguisher valve assembly process according to the adjusted current, so as to ensure that the tightening torque of the fire extinguisher valve is stable.

9. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement the intelligent control method for the assembly torque of a fire extinguisher valve as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The device contains a computer program that, when executed by a computer, implements a method for intelligent control of the assembly torque of a fire extinguisher valve as described in any one of claims 1 to 7.

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