A full-servo electric drive spinning machine control method and system

Abstract

The present application relates to the technical field of spinning machine, especially to a full servo electric drive spinning machine control method and system, the method comprises the following steps: after the installation of the workpiece to be processed, the spinning is started, the temperature of the spinning machine each axis screw fixed seat, the surface of the screw nut, the environmental temperature, the position information and the running speed information of each axis screw nut are collected in real time; the thermal deformation compensation model and the screw wear compensation model are established; the thermal deformation compensation model and the screw wear compensation model are fused, the total error compensation model is constructed, and the iterative optimization is carried out, the thermal characteristic parameters of the thermal deformation compensation model and the wear parameters of the screw wear compensation model are determined, and the optimal weight is allocated for the thermal error and the wear error; the compensation displacement of each axis of the spinning machine is calculated in real time, and the compensation displacement is compensated to the corresponding axis. The method and system provided by the present application greatly improve the spinning forming precision and the stability of the spinning process, and improve the maintenance performance of the equipment precision.

Description

Technical Field

[0001] This invention relates to the field of spinning machine technology, and in particular to a fully servo-driven electric spinning machine control method and system. Background Technology

[0002] Spinning is an advanced localized, progressive plastic forming process widely used in the manufacture of high-precision, thin-walled rotating parts in aerospace, automotive, and other industries. Existing spinning machines mostly employ a fully servo-driven electric drive system, using a servo motor to drive a ball screw pair to control the feed of the spinning wheel. However, the following technical bottlenecks exist in actual production:

[0003] 1. Leadscrew Wear and Precision Failure: During spinning, especially in the early stages of forming or when encountering uneven material, the spinning wheel is subjected to enormous radial reaction force. Traditional control methods are mostly pure position control modes, where the spinning wheel moves strictly according to a preset trajectory. When the actual force does not match the expected force, the position control system will forcibly correct the position, causing the servo motor to apply a large instantaneous torque through the leadscrew. This forced hard correction will accelerate the wear of the leadscrew and even cause structural deformation. Long-term use will lead to permanent loss of positioning accuracy and shorten the equipment life.

[0004] 2. Insufficient forming accuracy and stability: The servo-driven spinning process is a typical dynamic system with strong coupling of multiple physical fields, including force, heat, and solid (structure). Traditional control strategies and error compensation methods often only consider the static effects of a single physical field (such as pure mechanics or pure heat), failing to fundamentally solve the time-varying and nonlinear errors generated under the coupling of multiple fields. As a result, the forming accuracy and processing stability of the workpiece cannot meet the accuracy requirements of aerospace, precision molds, optical components and other fields. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a control method and system for a fully servo-driven electric spinning machine, which greatly improves the spinning forming accuracy and the stability of the spinning process, while also improving the equipment's accuracy retention performance.

[0006] This invention is achieved through the following scheme:

[0007] A control method for a fully servo-driven electric spinning machine includes the following steps:

[0008] S1: The workpiece to be processed is installed on the spindle chuck and tightened by the tail jack unit. During the spinning process, the temperature of the screw fixing seat and screw nut surface of each axis of the spinning machine and the ambient temperature are collected in real time, and the corresponding temperature information is transmitted to the CNC unit. The position information and running speed information of each axis of the spinning machine are collected in real time, and the corresponding position information and running speed information of the screw nut are transmitted to the CNC unit.

[0009] S2: The CNC unit establishes the distribution field of position and temperature of each axis of the spinning machine based on the real-time collected temperature of the lead screw fixing seat and lead screw nut surface of each axis of the spinning machine, ambient temperature, and position information of the lead screw nut of each axis of the spinning machine, and establishes a thermal deformation compensation model based on the distribution field of position and temperature of each axis of the spinning machine.

[0010] S3: The CNC unit calculates the cumulative stroke of the lead screw and nut of each axis of the spinning machine at regular intervals based on the position information and running speed information of the lead screw and nut of each axis of the spinning machine collected in real time, and establishes a lead screw wear compensation model based on the cumulative stroke of the lead screw and nut of each axis of the spinning machine.

[0011] S4: Integrate the thermal deformation compensation model with the lead screw wear compensation model to construct a total error compensation model, and iteratively optimize the total error compensation model to determine the thermal characteristic parameters of the thermal deformation compensation model and the wear parameters of the lead screw wear compensation model, and assign optimal weights to the thermal error and wear error.

[0012] S5: Based on the determined total error compensation model, calculate the compensation displacement of each axis of the spinning machine in real time, and send the compensation command to the servo drive to compensate the displacement to the corresponding axis.

[0013] Furthermore, the thermal deformation compensation model established in step S2 is Equation (1):

[0014] (1);

[0015] in: This indicates the thermal conductivity of the lead screw material. This represents the cross-sectional area of ​​the leadscrew. Indicates the position of the leadscrew nut. Indicates time, This represents the distribution field of the lead screw nut position and temperature. This represents the heat flux density of a single unit in the lead screw calculation section. This represents the surface area of ​​the lead screw calculation section. This indicates the density of the lead screw material. This indicates the specific heat capacity of the lead screw. This represents the thermal error generated when the lead screw and nut move to any position. Indicates ambient temperature. This represents the coefficient of thermal expansion of the lead screw. This represents the thermal error of a unit when the lead screw and nut are in any position.

[0016] Optimized heat flux density of a single unit in the lead screw calculation segment. Calculate according to formula (2):

[0017] (2);

[0018] in: This represents the heat flux density of the lead screw nut. This indicates the heat flux density of the bearing. Indicates the rotational speed as When the lead screw nut runs to The thermal conductivity coefficient between the lead screw temperature and the ambient temperature. This indicates the distance between the bearing seats at both ends of the lead screw.

[0019] Furthermore, in step S3, the cumulative stroke of the lead screw nut of each shaft of the spinning machine is calculated according to formula (3):

[0020] (3);

[0021] in: express The cumulative stroke of the lead screw nut at all times. express The position of the lead screw nut at all times. express The position of the lead screw nut at all times. This indicates the total number of calculations.

[0022] Furthermore, the lead screw wear compensation model established in step S3 is Equation (4):

[0023] (4);

[0024] in: express The wear error of the lead screw at all times. This indicates the wear coefficient of the leadscrew. This indicates the initial deviation.

[0025] Furthermore, the total error compensation model constructed in step S4 is Equation (5):

[0026] (5);

[0027] in: This indicates the compensated displacement of each axis of the spinning machine. This represents the weighting coefficient for the thermal error of the leadscrew. This represents the distribution field of the lead screw nut position and temperature. Indicates ambient temperature. This represents the coefficient of thermal expansion of the lead screw. This represents the thermal error of a unit when the lead screw and nut are in any position. This represents the weighting coefficient for lead screw wear error. This indicates the wear coefficient of the leadscrew. express The cumulative stroke of the lead screw nut at all times. This indicates the initial deviation.

[0028] In the optimized step S4, an improved particle swarm optimization algorithm is used to iteratively optimize the total error compensation model.

[0029] A fully servo-driven electric spinning machine control system includes a spindle unit, a tailstock unit, a spinning machine body, and a CNC unit. The spindle unit includes a spindle, a spindle motor, and a spindle chuck. The spindle motor drives the spindle to rotate, and the spindle chuck is mounted at the end of the spindle. The tailstock unit includes a tailstock main mechanism, a bed platform, and a tailstock motor. The tailstock main mechanism is mounted on the bed platform and driven by the tailstock motor to slide along the bed platform. The spinning machine body includes multiple spinning mechanisms. Each spinning mechanism includes a spinning bracket, a spinning wheel, an axial spinning assembly, and a radial spinning assembly. The axial spinning assembly includes an axial guide rail, an axial lead screw, and an axial lead screw nut. The axial lead screw is rotatably mounted on the axial guide rail via a bearing at an axial lead screw mounting seat. The axial lead screw is driven to rotate by an axial lead screw motor. The axial lead screw nut is fitted onto the axial lead screw and rotates along the axial direction. The guide rail is slidably connected. The spinning bracket is fixedly installed on the axial lead screw nut. The radial spinning assembly includes a radial lead screw and a radial lead screw nut. The radial lead screw is rotatably installed on the spinning bracket through a bearing at the radial lead screw fixing seat. The radial lead screw is driven to rotate by a radial lead screw motor. The radial lead screw nut is fitted on the radial lead screw and slidably connected to the spinning bracket. The spinning wheel is fixedly installed on the radial lead screw nut. Temperature sensors are respectively installed on the axial lead screw fixing seat, the radial lead screw fixing seat, the surface of the axial lead screw nut, the surface of the radial lead screw nut, around the radial lead screw, and around the axial lead screw. A position sensor is installed between the axial lead screw nut and the axial guide rail. A position sensor is installed between the radial lead screw nut and the radial guide rail. The axial lead screw motor, the radial lead screw motor, and the multiple temperature sensors and position sensors are respectively connected to the CNC unit.

[0030] In the optimized configuration, the axial lead screw motor is connected to the axial lead screw via an axial flexible coupling, and the radial lead screw motor is connected to the radial lead screw via a radial flexible coupling.

[0031] Furthermore, a rack is fixedly installed on the bed platform, and the tailstock main body mechanism includes a tailstock frame and a tailstock cylinder. A gear that meshes with the rack is installed on the tailstock frame, and the tailstock motor drives the gear to rotate. The tailstock cylinder is installed on the tailstock frame.

[0032] Beneficial effects of the invention:

[0033] The present invention provides a fully servo-driven electric spinning machine control method and system, which has the following advantages:

[0034] 1. By jointly compensating for the thermal error and wear error of the ball screw, the positional deviation caused by the heating effect and long-term wear is dynamically offset, the forming accuracy is greatly improved, and the service life of core transmission components such as ball screws is significantly extended.

[0035] 2. Based on the fusion of data from multiple sensors such as temperature, cumulative stroke, and running speed, multi-physics field collaborative compensation for the spinning process is achieved, which greatly improves stability and enhances the equipment's accuracy retention performance. Attached Figure Description

[0036] Figure 1 This is a top view of the structure of the present invention.

[0037] In the diagram: 1. Spindle unit; 101. Spindle motor; 102. Spindle; 103. Spindle chuck; 2. Tailstock unit; 201. Bed platform; 202. Rack; 203. Tailstock support; 204. Gear; 205. Tailstock cylinder; 3. Spinning machine body; 301. Axial lead screw motor; 302. Axial flexible coupling; 303. Axial lead screw mounting seat; 304. Axial lead screw; 305. Axial guide rail; 306. Spinning support; 307. Radial lead screw motor; 308. Radial flexible coupling; 309. Radial lead screw mounting seat; 310. Radial lead screw; 311. Spinning wheel; 4. CNC unit. Detailed Implementation

[0038] A control method for a fully servo-driven electric spinning machine specifically includes the following steps:

[0039] S1: The workpiece to be processed is installed on the spindle chuck and tightened by the tail jack unit. During the spinning process, the temperature of the screw fixing seat and screw nut surface of each axis of the spinning machine and the ambient temperature are collected in real time, and the corresponding temperature information is transmitted to the CNC unit. The position information and running speed information of each axis of the spinning machine are collected in real time, and the corresponding position information and running speed information of the screw nut are transmitted to the CNC unit.

[0040] Specifically, temperature sensors can be installed at appropriate locations to collect the real-time temperature of the lead screw mounting bases and the surface of the lead screw nuts on each axis of the spinning machine. When measuring the ambient temperature, the temperature sensors can be placed around the lead screws. Displacement sensors can collect the real-time position information of the lead screw nuts on each axis of the spinning machine, and the operating speed information can be calculated from the relationship between the position information and time.

[0041] S2: The CNC unit establishes the distribution field of position and temperature of each axis of the spinning machine based on the real-time collected temperature of the lead screw fixing seat and lead screw nut surface of each axis of the spinning machine, ambient temperature, and position information of the lead screw nut of each axis of the spinning machine, and establishes a thermal deformation compensation model based on the distribution field of position and temperature of each axis of the spinning machine.

[0042] The positional deviation caused by frictional heat during the movement of the lead screw nut can be calculated by establishing a thermal deformation compensation model.

[0043] The lead screw heating of a fully servo-driven electric spinning machine is mainly divided into four parts: 1. Heat generated by friction between the lead screw fixing seat and the lead screw at both ends; 2. Heat generated by friction between the lead screw nut and the reciprocating motion of the lead screw; 3. Heat convection conduction between the lead screw and the ambient temperature; 4. Heat conduction between the lead screw motor output shaft and the lead screw.

[0044] According to the law of conservation of energy, the total heat generated by the leadscrew is... ,in: The total heat generated by the lead screw. This refers to the thermal conductivity between the lead screw and the bearing at the lead screw mounting base. This refers to the thermal conductivity between the lead screw and the lead screw nut. This refers to the amount of heat conduction between the lead screw and the surrounding environment. The amount of heat transfer between the lead screw and the lead screw motor.

[0045] To reduce heat conduction between the lead screw motor and the lead screw, a flexible coupling can be used to connect them. Therefore, the heat conduction between the lead screw and the lead screw motor can be ignored, and the heat generation of the lead screw can be described as follows: .

[0046] After the lead screw is in operation, it expands due to heat, which manifests as continuous elongation from one end to the other caused by thermal error. The heat balance equation for a lead screw with one cross-section is as follows: ,in: The heat flux density entering the lead screw cross-section, Let the cross-sectional area of ​​the lead screw be... The heat flux density flowing out of the lead screw cross section, The surface area of ​​the lead screw calculation section is given. The heat flux density of one unit in the lead screw calculation section. This represents the heat flux density of the lead screw cross section.

[0047] Differentiating the heat balance equation for a lead screw with a given cross-section yields the differential equation for heat conduction at any position of the lead screw and nut. After establishing the distribution field of the position and temperature of each shaft of the spinning machine, the thermal deformation of the lead screw can be calculated by integration. The thermal error accumulates from one end (deformation is 0), and the thermal error of any cross-section is: Combining these two equations, we can establish the thermal deformation compensation model as equation (1):

[0048] (1);

[0049] in: This indicates the thermal conductivity of the lead screw material. This represents the cross-sectional area of ​​the leadscrew. Indicates the position of the leadscrew nut. Indicates time, This represents the distribution field of the lead screw nut position and temperature. This represents the heat flux density of a single unit in the lead screw calculation section. This represents the surface area of ​​the lead screw calculation section. This indicates the density of the lead screw material. This indicates the specific heat capacity of the lead screw. This represents the thermal error generated when the lead screw and nut move to any position. Indicates ambient temperature. This represents the coefficient of thermal expansion of the lead screw. This represents the thermal error of a unit when the lead screw and nut are in any position.

[0050] Specifically, the heat flux density of a unit in the lead screw calculation section. It can be calculated according to equation (2):

[0051] (2);

[0052] in: This represents the heat flux density of the lead screw nut. This indicates the heat flux density of the bearing. Indicates the rotational speed as When the lead screw nut runs to The thermal conductivity coefficient between the lead screw temperature and the ambient temperature. This indicates the distance between the bearing seats at both ends of the lead screw.

[0053] When the lead screw nut is in the middle position of the lead screw, the lead screw nut is the core active heat source under this working condition. Since the lead screw nut is in the middle position and far away from the bearings at both ends, it is not affected by the additional heat interference from the bearing ends. It is only necessary to characterize the heat flux density generated by the friction of the lead screw nut itself.

[0054] When the lead screw nut moves to the vicinity of the front or rear fixed seat, the bearing at the fixed seat bears an additional load due to load transfer and thermal deformation, resulting in greater heat. The heat flux density needs to be characterized separately.

[0055] When the leadscrew nut is in any other position on the leadscrew, the leadscrew does not heat up due to an active heat source; it only exchanges heat with the environment through heat convection. pass To calculate.

[0056] Through the above optimizations, the heat flux density Determining the appropriate parameters based on different operating conditions allows for a more accurate calculation of the thermal error generated when the lead screw and nut move to any position.

[0057] S3: The CNC unit calculates the cumulative stroke of the lead screw and nut of each axis of the spinning machine at regular intervals based on the position information and running speed information of the lead screw and nut of each axis of the spinning machine collected in real time, and establishes a lead screw wear compensation model based on the cumulative stroke of the lead screw and nut of each axis of the spinning machine.

[0058] The position information of the lead screws and nuts of each axis of the spinning machine can be read directly by the CNC unit, while the cumulative stroke of the lead screws and nuts of each axis of the spinning machine needs to be calculated.

[0059] Specifically, the cumulative stroke of the lead screw nut of each shaft of the spinning machine can be calculated according to formula (3):

[0060] (3);

[0061] in: express The cumulative stroke of the lead screw nut at all times. express The position of the lead screw nut at all times. express The position of the lead screw nut at all times. This indicates the total number of calculations.

[0062] After calculating the cumulative stroke of the lead screw nuts on each shaft of the spinning machine, the wear error of the lead screw usually has an approximately linear relationship with the cumulative stroke. Therefore, according to The cumulative stroke of the lead screw nut at any given time can be used to establish a lead screw wear compensation model as shown in equation (4):

[0063] (4);

[0064] in: express The wear error of the lead screw at all times. This indicates the wear coefficient of the leadscrew. This indicates the initial deviation.

[0065] S4: Integrate the thermal deformation compensation model with the lead screw wear compensation model to construct a total error compensation model, and iteratively optimize the total error compensation model to determine the thermal characteristic parameters of the thermal deformation compensation model and the wear parameters of the lead screw wear compensation model, and assign optimal weights to the thermal error and wear error.

[0066] When the lead screw is used for joint compensation, the compensation displacement of each shaft of the spinning machine can be regarded as a weighted combination of thermal error compensation and wear error compensation. Therefore, the total error compensation model can be constructed as Equation (5):

[0067] (5);

[0068] in: This indicates the compensated displacement of each axis of the spinning machine. This represents the weighting coefficient for the thermal error of the leadscrew. This represents the distribution field of the lead screw nut position and temperature. Indicates ambient temperature. This represents the coefficient of thermal expansion of the lead screw. This represents the thermal error of a unit when the lead screw and nut are in any position. This represents the weighting coefficient for lead screw wear error. This indicates the wear coefficient of the leadscrew. This indicates the cumulative travel of the leadscrew nut at any given time. This indicates the initial deviation.

[0069] In the total error compensation model, In the thermal deformation compensation model Related to heat flux density Related, and And also related to thermal conductivity Therefore, the parameters to be identified for thermal deformation compensation include heat flux density and thermal conductivity, while the parameters to be identified for lead screw wear compensation include the wear coefficient of the lead screw. Secondly, the weighting coefficients between the two models need to be optimized.

[0070] Specifically, an improved particle swarm optimization algorithm can be used to iteratively optimize the overall error compensation model. By improving the particle swarm optimization algorithm during parameter iterative identification, not only can the parameters to be identified for thermal deformation compensation and leadscrew wear compensation be obtained quickly and iteratively, but the optimal weighting coefficients for leadscrew thermal error and leadscrew wear error can also be assigned to the model, resulting in the best overall compensation effect.

[0071] S5: Based on the determined total error compensation model, calculate the compensation displacement of each axis of the spinning machine in real time, and send the compensation command to the servo drive to compensate the displacement to the corresponding axis.

[0072] Specifically, the calculated compensation displacement can be compared with a set threshold. When the calculated compensation displacement is greater than the set threshold, the servo driver drives the lead screw motor of the corresponding axis to rotate the lead screw, thereby adjusting the relative position of the lead screw nut on the lead screw to achieve displacement compensation.

[0073] This invention provides a control method for a fully servo-driven electric spinning machine. By jointly compensating for the thermal error and wear error of the lead screw, it dynamically offsets the positional deviation caused by heating effects and long-term wear, significantly improving forming accuracy and extending the service life of core transmission components such as the lead screw. Furthermore, based on the fusion of data from multiple sensors including temperature, position, and operating speed, it achieves multi-physics field collaborative compensation for the spinning process, greatly improving stability and enhancing the equipment's accuracy retention performance.

[0074] A top view schematic diagram of a fully servo-driven electric spinning machine control system is shown below. Figure 1 As shown, the machine includes a spindle unit 1, a tailstock unit 2, a spinning machine body 3, and a CNC unit 4. The spindle unit includes a spindle 102, a spindle motor 101, and a spindle chuck 103. The spindle motor drives the spindle to rotate, and the spindle chuck is installed at the end of the spindle. The tailstock unit includes a tailstock main mechanism, a bed platform 201, and a tailstock motor (not shown). The tailstock main mechanism is installed on the bed platform and is driven by the tailstock motor to slide along the bed platform. The spinning machine body includes multiple spinning mechanisms. Each spinning mechanism includes a spinning bracket 306, a spinning wheel 311, an axial spinning assembly, and a radial spinning assembly. The axial spinning assembly includes an axial guide rail 305, an axial screw 304, and an axial screw nut (not shown). The axial screw is rotatably mounted on the axial guide rail via a bearing at the axial screw fixing seat 303. The axial screw is driven to rotate by the axial screw motor 301, and the axial screw nut is fitted onto... The radial spinning assembly includes a radial screw 310 and a radial screw nut (not shown). The radial screw is rotatably mounted on the spinning bracket via a bearing at a radial screw mounting seat 309. The radial screw is driven to rotate by a radial screw motor 307. The radial screw nut is fitted onto the radial screw and slidably connected to the spinning bracket. The spinning wheel is fixedly mounted on the radial screw nut. Temperature sensors are installed on the axial screw mounting seat, the radial screw mounting seat, the surface of the axial screw nut, the surface of the radial screw nut, around the radial screw, and around the axial screw. A position sensor is installed between the axial screw nut and the axial guide rail, and a position sensor is installed between the radial screw nut and the radial guide rail. The axial screw motor, the radial screw motor, and the multiple temperature and position sensors are connected to a CNC unit.

[0075] During spinning, the workpiece to be processed is mounted on the spindle chuck and tightened by the tailstock unit. During spinning, the axial screw motor drives the axial screw to rotate, thereby causing the axial screw nut to move along the axial screw, which in turn drives the corresponding radial spinning assembly to move along the axial screw. The radial screw motor drives the radial screw to rotate, thereby causing the radial screw nut to move along the radial screw, which in turn drives the spinning wheel to spin the workpiece to be processed.

[0076] In the optimized configuration, the axial lead screw motor is connected to the axial lead screw via an axial elastic coupling 302, and the radial lead screw motor is connected to the radial lead screw via a radial elastic coupling 308.

[0077] By installing axial and radial flexible couplings, the heat generated by the lead screw can be reduced, thereby reducing errors caused by heat.

[0078] Furthermore, a rack 202 is fixedly installed on the bed platform, and the tailstock main body mechanism includes a tailstock frame 203 and a tailstock cylinder 205. A gear 204 that meshes with the rack is installed on the tailstock frame, and the tailstock motor drives the gear to rotate. The tailstock cylinder is installed on the tailstock frame.

[0079] The tailstock motor drives the gear to rotate, which in turn moves the gear along the rack, thereby moving the tailstock frame to the corresponding position. Then, the tailstock cylinder actuates to clamp the workpiece to be processed.

[0080] In summary, the fully servo-driven electric spinning machine control method and system proposed in this invention significantly improves the spinning forming accuracy and the stability of the spinning process by adopting a control method that couples thermal error and wear compensation. At the same time, it improves the equipment's accuracy retention performance, and the processed workpieces can meet the accuracy requirements of aerospace, precision molds, optical components and other fields.

[0081] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A full servo electric drive spinning machine control method, characterized by: Includes the following steps: S1: The workpiece to be processed is installed on the spindle chuck and tightened by the tail jack unit. During the spinning process, the temperature of the screw fixing seat and screw nut surface of each axis of the spinning machine and the ambient temperature are collected in real time, and the corresponding temperature information is transmitted to the CNC unit. The position information and running speed information of each axis of the spinning machine are collected in real time, and the corresponding position information and running speed information of the screw nut are transmitted to the CNC unit. S2: The CNC unit establishes the distribution field of position and temperature of each axis of the spinning machine based on the real-time collected temperature of the lead screw fixing seat and lead screw nut surface of each axis of the spinning machine, ambient temperature, and position information of the lead screw nut of each axis of the spinning machine, and establishes a thermal deformation compensation model based on the distribution field of position and temperature of each axis of the spinning machine. S3: The CNC unit calculates the cumulative stroke of the lead screw and nut of each axis of the spinning machine at regular intervals based on the position information and running speed information of the lead screw and nut of each axis of the spinning machine collected in real time, and establishes a lead screw wear compensation model based on the cumulative stroke of the lead screw and nut of each axis of the spinning machine. S4: Integrate the thermal deformation compensation model with the lead screw wear compensation model to construct a total error compensation model, and iteratively optimize the total error compensation model to determine the thermal characteristic parameters of the thermal deformation compensation model and the wear parameters of the lead screw wear compensation model, and assign optimal weights to the thermal error and wear error. S5: Based on the determined total error compensation model, calculate the compensation displacement of each axis of the spinning machine in real time, and send the compensation command to the servo drive to compensate the displacement to the corresponding axis.

2. A full servo-electro spinning machine control method according to claim 1, characterized in that: The thermal deformation compensation model established in step S2 is Equation (1): （1）； in: This indicates the thermal conductivity of the lead screw material. This represents the cross-sectional area of ​​the leadscrew. Indicates the position of the leadscrew nut. Indicates time, This represents the distribution field of the lead screw nut position and temperature. This represents the heat flux density of a single unit in the lead screw calculation section. This represents the surface area of ​​the lead screw calculation section. This indicates the density of the lead screw material. This indicates the specific heat capacity of the lead screw. This represents the thermal error generated when the lead screw and nut move to any position. Indicates ambient temperature. This represents the coefficient of thermal expansion of the lead screw. This represents the thermal error of a unit when the lead screw and nut are in any position.

3. A full servo-electro spinning machine control method according to claim 2, characterized in that: Heat flux density of a unit in the lead screw calculation section Calculate according to formula (2): （2）； in: This represents the heat flux density of the lead screw nut. This indicates the heat flux density of the bearing. Indicates the rotational speed as When the lead screw nut runs to The thermal conductivity coefficient between the lead screw temperature and the ambient temperature. This indicates the distance between the bearing seats at both ends of the lead screw.

4. The control method for a fully servo-driven electric spinning machine according to claim 1, characterized in that: In step S3, the cumulative stroke of the lead screw nut of each shaft of the spinning machine is calculated according to formula (3): （3）； in: express The cumulative stroke of the lead screw nut at all times. express The position of the lead screw nut at all times. express The position of the lead screw nut at all times. This indicates the total number of calculations.

5. A full servo-electro spinning machine control method according to claim 4, characterized in that: The lead screw wear compensation model established in step S3 is Equation (4): （4）； in: express The wear error of the lead screw at all times. This indicates the wear coefficient of the leadscrew. This indicates the initial deviation.

6. A full servo-electro spinning machine control method according to claim 1, characterized in that: The total error compensation model constructed in step S4 is Equation (5): （5）； in: This indicates the compensated displacement of each axis of the spinning machine. This represents the weighting coefficient for the thermal error of the leadscrew. This represents the distribution field of the lead screw nut position and temperature. Indicates ambient temperature. This represents the coefficient of thermal expansion of the lead screw. This represents the thermal error of a unit when the lead screw and nut are in any position. This represents the weighting coefficient for lead screw wear error. This indicates the wear coefficient of the leadscrew. express The cumulative stroke of the lead screw nut at all times. This indicates the initial deviation.

7. The control method of a full-servo electric drive spinning machine according to claim 1, wherein: In step S4, an improved particle swarm optimization algorithm is used to iteratively optimize the total error compensation model.

8. A full servo-electro spinning machine control method according to claim 1, characterized in that: This control method is executed using a fully servo-driven electric spinning machine control system. The servo-driven electric spinning machine control system includes a spindle unit, a tailstock unit, a spinning machine body, and a CNC unit. The spindle unit includes a spindle, a spindle motor, and a spindle chuck. The spindle motor drives the spindle to rotate, and the spindle chuck is mounted at the end of the spindle. The tailstock unit includes a tailstock main mechanism, a bed platform, and a tailstock motor. The tailstock main mechanism is mounted on the bed platform and is driven by the tailstock motor to slide along the bed platform. The spinning machine body includes multiple spinning mechanisms. Each spinning mechanism includes a spinning bracket, a spinning wheel, an axial spinning assembly, and a radial spinning assembly. The axial spinning assembly includes an axial guide rail, an axial screw, and an axial screw nut. The axial screw is rotatably mounted on the axial guide rail via a bearing at the axial screw fixing seat. The axial screw is driven to rotate by an axial screw motor, and the axial screw nut is fitted onto the guide rail. The radial spinning assembly includes a radial screw and a radial screw nut. The radial screw is rotatably mounted on the spinning bracket via a bearing at the radial screw mounting seat. The radial screw is driven to rotate by a radial screw motor. The radial screw nut is fitted onto the radial screw and slidably connected to the spinning bracket. The spinning wheel is fixedly mounted on the radial screw nut. Temperature sensors are installed on the axial screw mounting seat, the radial screw mounting seat, the surface of the axial screw nut, the surface of the radial screw nut, around the radial screw, and around the axial screw. A position sensor is installed between the axial screw nut and the axial guide rail, and a position sensor is installed between the radial screw nut and the radial guide rail. The axial screw motor, the radial screw motor, and the multiple temperature and position sensors are connected to a CNC unit.

9. A full servo-electro spinning machine control method according to claim 8, characterized in that: The axial lead screw motor is connected to the axial lead screw via an axial elastic coupling, and the radial lead screw motor is connected to the radial lead screw via a radial elastic coupling.

10. A full servo-electro spinning machine control method according to claim 8, characterized in that: A rack is fixedly installed on the bed platform. The tailstock main body mechanism includes a tailstock frame and a tailstock cylinder. A gear that meshes with the rack is installed on the tailstock frame. The tailstock motor drives the gear to rotate. The tailstock cylinder is installed on the tailstock frame.

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