Intelligent control method and system for full-servo hydraulic drive spinning machine

Abstract

This invention relates to the field of spinning machine technology, and more particularly to an intelligent control method and system for a fully servo hydraulically driven spinning machine. The method includes the following steps: fixing the workpiece to the spindle chuck and tightening it by the tailstock mechanism; a pressure sensor acquiring real-time load force information of the radial cylinder of the spinning machine, and a displacement sensor acquiring real-time radial displacement information of the piston rod of the radial cylinder; a PLC calculating the radial cylinder position deviation, speed deviation, and pressure deviation in real-time; the PLC integrating the radial cylinder position deviation, speed deviation, and pressure deviation to calculate the desired control strength percentage of the fully servo hydraulic drive mechanism; and the fully servo hydraulic drive mechanism integrating the nonlinear correction, dead zone compensation, and zero-bias compensation functions of the hydraulic pump to determine the final output flow rate or output speed, thereby controlling the spinning process of the spinning machine. The method and system provided by this invention effectively avoid workpiece tearing due to overpressure or incomplete forming due to underpressure, significantly improving surface quality and dimensional accuracy.

Description

Technical Field

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

[0002] In metal forming, spinning machines rely on hydraulic systems to drive actuators to achieve precise movements. Existing spinning machine hydraulic control systems often employ a decentralized structure of "servo motor + independent hydraulic valve group": the servo motor drives the hydraulic pump to supply oil, and the hydraulic valve group is connected to the actuator through external pipelines. During the actual spinning process, spinning control is achieved solely by controlling the position of the actuator. This control method creates a conflict between "shape preservation" and "force control" during spinning, easily leading to excessive spinning volume, causing product tearing or reduced surface finish, thus affecting product surface quality and dimensional accuracy. Furthermore, the hydraulic valve group connected to the actuator through external pipelines is prone to leakage, affecting spinning quality and speed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent control method and system for a fully servo hydraulically driven spinning machine, which effectively avoids workpiece tearing due to overpressure or incomplete forming due to underpressure, and significantly improves surface quality and dimensional accuracy.

[0004] This invention is achieved through the following scheme:

[0005] A fully servo-driven hydraulic spinning machine intelligent control method and system, comprising the following steps:

[0006] S1: Fix the workpiece in the spindle chuck and tighten it by the tailstock mechanism;

[0007] S2: The spindle mechanism rotates at the preset spindle speed, and the spinning machine feeds synchronously in the horizontal and radial directions to gradually press against the workpiece. The pressure sensor collects the radial cylinder load force information of the spinning machine in real time, and the displacement sensor collects the radial displacement information of the piston rod of the radial cylinder in real time.

[0008] S3: The PLC calculates the deviation between the real-time position and the target displacement of the radial cylinder and the deviation between the real-time speed and the target speed of the radial cylinder based on the radial displacement information of the piston rod. It also calculates the deviation between the actual pressure and the target pressure of the radial cylinder based on the load force information of the radial cylinder in the spinning machine.

[0009] S4: The PLC integrates the deviations between the real-time position and target displacement of the radial cylinder, the deviations between the real-time speed and target speed of the radial cylinder, and the deviations between the actual pressure and target pressure of the radial cylinder to calculate the percentage of expected control strength of the fully servo hydraulic drive mechanism.

[0010] S5: The full servo hydraulic drive mechanism determines the final output flow rate or output speed based on the expected control strength percentage of the full servo hydraulic drive mechanism, and integrates the nonlinear correction, dead zone compensation and zero bias compensation functions of the hydraulic pump to perform spinning control on the spinning machine.

[0011] Furthermore, in step S4, the desired control strength percentage of the fully servo hydraulic drive mechanism is calculated according to equation (1):

[0012]

[0013] in: express Spinning machine The percentage of expected control strength for a fully servo hydraulic actuator on each axis. Indicates position control weights. Indicates the spinning machine number Individual axis velocity feedforward gain coefficient express Time Spinning Machine Target speed of each radial hydraulic cylinder on the axis Indicates the spinning machine number Individual axis acceleration feedforward gain coefficient express Spinning machine Target acceleration of the radial hydraulic cylinder on each axis express Spinning machine The target accelerometer of the radial hydraulic cylinder on each axis. Indicates the spinning machine number Individual axis accelerometer feedforward gain coefficient Indicates the spinning machine number Individual axis radial cylinder position deviation compensation gain express Spinning machine The deviation between the actual position and the target displacement of each radial hydraulic cylinder. Indicates the spinning machine number Gain for compensating for the rate deviation of the radial position change of the hydraulic cylinder on each axis. express Spinning machine The deviation between the actual speed and the target speed of the radial cylinder of each axis Indicates the pressure control weight. Indicates the spinning machine number Individual shaft pressure change rate deviation compensation gain express Spinning machine Target pressure change rate of each radial hydraulic cylinder express Spinning machine The deviation between the actual pressure and the target pressure of each radial hydraulic cylinder. Indicates the spinning machine number Individual axial radial cylinder pressure deviation compensation gain.

[0014] Furthermore, in step S5, the final output flow rate or output speed is determined according to equation (2):

[0015] (2);

[0016] in: This indicates the final output flow rate or output speed. This represents the normalization bias correction value. Indicates the dead zone value. This represents the scaling transformation function.

[0017] In step S3, the target displacement, target velocity, and target pressure are all determined using a fifth-order polynomial programming method.

[0018] Furthermore, in step S3, the target displacement and target velocity are determined according to equation (3):

[0019] (3);

[0020] in: express Spinning machine The target displacement of each radial hydraulic cylinder. Indicates the spinning machine number Initial position value of the target curve for the radial displacement of each axis hydraulic cylinder Indicates the spinning machine number The coefficient of the first term of the target curve for each axis displacement Indicates the spinning machine number The coefficients of the quadratic term of the target curve for each axis displacement Indicates the spinning machine number The coefficients of the cubic term of the target curve for each axial displacement. Indicates the spinning machine number The coefficients of the fourth term of the target curve for each axis displacement Indicates the spinning machine number The fifth-order coefficient of the target curve for each axis displacement Indicates time, express Spinning machine Target speed of each radial hydraulic cylinder on the axis express Spinning machine Target acceleration of the radial hydraulic cylinder on each axis express Spinning machine The target accelerator of the radial hydraulic cylinder on each axis.

[0021] Furthermore, in step S3, the target pressure is determined according to equation (4):

[0022] (4);

[0023] in: express Spinning machine Target pressure of each radial hydraulic cylinder This represents the initial pressure value of the radial cylinder pressure target curve. This represents the coefficient of the first-order term of the pressure target curve. This represents the coefficient of the quadratic term in the pressure target curve. This represents the coefficient of the cubic term of the pressure target curve. This represents the coefficient of the fourth term of the pressure target curve. This represents the coefficient of the fifth-order term of the pressure target curve. express Spinning machine Target pressure change rate of each radial hydraulic cylinder express Spinning machine Acceleration of pressure change in each radial hydraulic cylinder. express Spinning machine The radial hydraulic cylinder pressure changes are accelerated.

[0024] A fully servo-hydraulic driven intelligent control system for a spinning machine includes a spinning machine, a fully servo-hydraulic drive mechanism, a pressure sensor, a displacement sensor, and a PLC. The spinning machine includes a bed platform, a spindle mechanism, a tailstock mechanism, and a spinning machine body. The spindle mechanism includes a spindle mounting bracket, a spindle, a spindle motor, and a spindle chuck. The spindle mounting bracket is fixedly mounted on the bed platform, and the spindle motor is fixedly mounted on the spindle mounting bracket to drive the spindle rotation. The spindle chuck is mounted on the end of the spindle. The tailstock mechanism is slidably mounted on the bed platform and driven by the tailstock motor to slide along the bed platform. The spinning machine body includes a spinning machine frame, a transmission unit, three rams, and three spinning wheels. The spinning machine frame is slidably mounted on the bed platform and driven by the transmission unit to slide along the bed platform. The three rams... The system is mounted on a spinning frame. Three spinning wheels are fixedly mounted on the ends of corresponding slides and are evenly distributed. The three spinning wheels are driven by radial cylinders to move radially. The fully servo hydraulic drive mechanism includes an outer casing and a servo motor, an axial piston hydraulic pump, and an electromagnetic proportional flow valve housed within the outer casing. The output shaft of the servo motor is coaxially connected to the input shaft of the axial piston hydraulic pump. The axial piston hydraulic pump is connected to the electromagnetic proportional flow valve through an internal oil passage. The electromagnetic proportional flow valve is connected to the radial cylinder of the corresponding shaft. The PLC is fixedly mounted on the outer casing. The detection end of the pressure sensor extends into the internal oil passage. The displacement sensor is mounted on the piston rod of the radial cylinder. The pressure sensor, displacement sensor, servo motor, and electromagnetic proportional flow valve are respectively connected to the PLC.

[0025] The optimized design features a servo motor output shaft and an axial piston hydraulic pump input shaft that are coaxially connected via a flexible coupling.

[0026] The optimized transmission unit includes a lead screw, a lead screw motor, and a nut sleeve fixedly mounted on the spinning machine frame. The lead screw is mounted on the bed platform and driven to rotate by the lead screw motor, and the nut sleeve is fitted onto the lead screw.

[0027] Beneficial effects of the invention:

[0028] The present invention provides an intelligent control method and system for a fully servo-driven hydraulic spinning machine, which has the following advantages:

[0029] 1. By dynamically coordinating position and pressure control, the contradiction between "preserving shape" and "controlling force" during spinning is resolved. By adjusting the weighting coefficient, the most suitable pressure is applied while accurately tracking the trajectory, thereby optimizing material flow, effectively avoiding overpressure tearing or underpressure incomplete forming of the workpiece, and significantly improving surface quality and dimensional accuracy.

[0030] 2. By using the fifth-order polynomial programming method to determine the target displacement, target velocity and target pressure, the inertial lag and hydraulic delay of the system can be calculated and compensated in advance, thereby greatly reducing the tracking error and making the system response faster. It is particularly suitable for high-speed, high-precision spinning of complex curved surfaces.

[0031] 3. The fully servo hydraulic drive mechanism adopts a modular design and is connected to the actuator (radial cylinder) through built-in oil passages, which greatly reduces the leakage rate, extends the maintenance cycle, reduces the maintenance frequency, and ensures product quality and production efficiency. Attached Figure Description

[0032] Figure 1 This is a top view schematic diagram of the spinning machine of the present invention.

[0033] Figure 2 This is a side view of the spinning machine structure of the present invention.

[0034] Figure 3 This is a schematic diagram of the external structure of the fully servo hydraulic drive mechanism of the present invention.

[0035] Figure 4 This is a schematic diagram of the internal structure of the fully servo hydraulic drive mechanism of the present invention.

[0036] In the diagram: 1. Spindle mechanism; 101. Spindle mounting bracket; 102. Spindle motor; 103. Spindle; 104. Spindle chuck; 2. Bed platform; 3. Spinning machine body; 301. Spinning machine frame; 302. Radial cylinder; 303. Spinning wheel; 304. Ram; 305. Nut sleeve; 306. Lead screw; 307. Lead screw motor; 4. Tail lift mechanism; 401. Tail lift motor; 5. Full servo hydraulic drive mechanism; 501. Housing; 502. Servo motor; 503. Axial piston hydraulic pump; 504. Electromagnetic proportional flow valve; 505. Internal oil passage; 506. Flexible coupling; 6. PLC; 7. Displacement sensor; 8. Pressure sensor. Detailed Implementation

[0037] A fully servo-driven hydraulic spinning machine intelligent control method specifically includes the following steps:

[0038] S1: Fix the workpiece in the spindle chuck and tighten it by the tailstock mechanism;

[0039] S2: The spindle mechanism rotates at the preset spindle speed, and the spinning machine feeds synchronously in the horizontal and radial directions to gradually press against the workpiece. The pressure sensor collects the radial cylinder load force information of the spinning machine in real time, and the displacement sensor collects the radial displacement information of the piston rod of the radial cylinder in real time.

[0040] S3: The PLC calculates the deviation between the real-time position and the target displacement of the radial cylinder and the deviation between the real-time speed and the target speed of the radial cylinder based on the radial displacement information of the piston rod. It also calculates the deviation between the actual pressure and the target pressure of the radial cylinder based on the load force information of the radial cylinder in the spinning machine.

[0041] The target displacement, target velocity, and target pressure can all be determined using a fifth-order polynomial programming method.

[0042] Specifically, the target displacement and target velocity can be determined according to equation (3):

[0043] (3);

[0044] in: express Spinning machine The target displacement of each radial hydraulic cylinder is... Spinning machine The target displacement of each radial hydraulic cylinder. Indicates the spinning machine number Initial position value of the target curve for the radial displacement of each axis hydraulic cylinder Indicates the spinning machine number The coefficient of the first term of the target curve for each axis displacement Indicates the spinning machine number The coefficients of the quadratic term of the target curve for each axis displacement Indicates the spinning machine number The coefficients of the cubic term of the target curve for each axial displacement. Indicates the spinning machine number The coefficients of the fourth term of the target curve for each axis displacement Indicates the spinning machine number The fifth-order coefficient of the target curve for each axis displacement Indicates time, express Spinning machine Target speed of each radial hydraulic cylinder on the axis express Spinning machine Target acceleration of the radial hydraulic cylinder on each axis express Spinning machine The target accelerator of the radial hydraulic cylinder on each axis.

[0045] Parameters of the radial cylinder at the starting point position ( , , Given the parameters of the endpoint position ( , , Given that the starting point and the end point are both located at one end of the trajectory, the starting time for trajectory planning is... The end time is .

[0046] Generally, the start time The default value is 0. According to equation (3) and its first and second derivatives, the value can be calculated. , , , will be obtained , , Substituting back into equation (3) and its first and second derivatives, we can obtain... , , ,Right now , , , , , It can be obtained using the following formula:

[0047] ;

[0048] in: This represents the time it takes for the displacement target curve to travel from the starting point to the target point. , It represents the straight-line distance the target displacement curve has moved. .

[0049] , , , , , Once determined, the target displacement and target velocity can be calculated according to equation (3).

[0050] Furthermore, the target pressure can be determined according to equation (4):

[0051] (4);

[0052] in: express Spinning machine The target pressure of each radial hydraulic cylinder is... Spinning machine The target pressure of each radial hydraulic cylinder. This represents the initial pressure value of the radial cylinder pressure target curve. This represents the coefficient of the first-order term of the pressure target curve. This represents the coefficient of the quadratic term in the pressure target curve. This represents the coefficient of the cubic term of the pressure target curve. This represents the coefficient of the fourth term of the pressure target curve. This represents the coefficient of the fifth-order term of the pressure target curve. express Spinning machine Target pressure change rate of each radial hydraulic cylinder express Spinning machine Acceleration of pressure change in each radial hydraulic cylinder. express Spinning machine The radial hydraulic cylinder pressure changes are accelerated.

[0053] The coefficients in equation (4) can also be determined using the method described above, i.e., they can be determined using the following formula:

[0054] ;

[0055] in: The pressure target curve represents the change in pressure. .

[0056] , , , , , Once determined, the target pressure can be calculated according to equation (4).

[0057] Specifically, the deviation between the real-time position of the radial cylinder and the target displacement. according to Calculated, where The radial displacement of the piston rod of the radial cylinder of the spinning machine is collected by a displacement sensor.

[0058] Deviation between the real-time speed and the target speed of the radial cylinder according to Calculated, where The real-time speed of the radial cylinder can be calculated based on the ratio of the radial displacement of the piston rod of the radial cylinder of the spinning machine to time, which is collected by the displacement sensor.

[0059] Deviation between real-time pressure and target pressure of radial hydraulic cylinder according to Calculated, where The radial cylinder pressure of the spinning machine is collected by a pressure sensor.

[0060] Because of the use of quintic curve programming, the speed, acceleration and jerk during the radial cylinder movement are continuous without abrupt changes, resulting in smoother dynamic characteristics. By calculating and compensating for the system's inertial lag and hydraulic delay in advance, this predictive control significantly reduces tracking errors and makes the system respond more quickly, making it particularly suitable for high-speed, high-precision spinning of complex curved surfaces.

[0061] S4: The PLC integrates the deviations between the real-time position and target displacement of the radial cylinder, the deviations between the real-time speed and target speed of the radial cylinder, and the deviations between the actual pressure and target pressure of the radial cylinder to calculate the percentage of expected control strength of the fully servo hydraulic drive mechanism.

[0062] Specifically, the desired control strength percentage of the fully servo hydraulic drive mechanism can be calculated according to equation (1):

[0063]

[0064] in: express Spinning machine The percentage of expected control strength for a fully servo hydraulic actuator on each axis. Indicates position control weights. Indicates the spinning machine number Individual axis velocity feedforward gain coefficient express Spinning machine Target speed of each radial hydraulic cylinder on the axis Indicates the spinning machine number Individual axis acceleration feedforward gain coefficient express Spinning machine Target acceleration of the radial hydraulic cylinder on each axis express Spinning machine The target accelerometer of the radial hydraulic cylinder on each axis. Indicates the spinning machine number Individual axis accelerometer feedforward gain coefficient Indicates the spinning machine number Individual axis radial cylinder position deviation compensation gain express Spinning machine The deviation between the actual position and the target displacement of each radial hydraulic cylinder. Indicates the spinning machine number Gain for compensating for the rate deviation of the radial position change of the hydraulic cylinder on each axis. express Spinning machine The deviation between the actual speed and the target speed of the radial cylinder of each axis Indicates the pressure control weight. Indicates the spinning machine number Individual shaft pressure change rate deviation compensation gain express Spinning machine Target pressure change rate of each radial hydraulic cylinder express Spinning machine The deviation between the actual pressure and the target pressure of each radial hydraulic cylinder. Indicates the spinning machine number Individual axial radial cylinder pressure deviation compensation gain.

[0065] In formula (1) For the rate of change of velocity feedforward output, For the rate of change of acceleration feedforward output, For the jerk rate of change feedforward output, This indicates displacement deviation compensation. Indicates speed deviation compensation. This represents the pressure change rate feedforward output. This indicates pressure deviation compensation.

[0066] By using formula (1) to calculate the percentage of expected control strength of the full servo hydraulic drive mechanism, the position and pressure control can be dynamically coordinated, which solves the contradiction between "maintaining shape" and "controlling force" during the spinning process. By adjusting the control weights of pressure and position, the most suitable pressure can be applied while accurately tracking the trajectory, thereby optimizing the material flow and effectively avoiding overpressure tearing or underpressure forming incompleteness of the workpiece, thus significantly improving the surface quality and dimensional accuracy of the workpiece.

[0067] S5: The full servo hydraulic drive mechanism determines the final output flow rate or output speed based on the expected control strength percentage of the full servo hydraulic drive mechanism, and integrates the nonlinear correction, dead zone compensation and zero bias compensation functions of the hydraulic pump to perform spinning control on the spinning machine.

[0068] Furthermore, in step S5, the final output flow rate or output speed is determined according to equation (2):

[0069] (2);

[0070] in: This indicates the final output flow rate or output speed. This represents the normalization bias correction value. Indicates the dead zone value. This represents the scaling transformation function.

[0071] By integrating the nonlinear correction, dead zone compensation, and zero bias compensation functions of the hydraulic pump to determine the final output flow rate or output speed, precise control of the fully servo hydraulic drive spinning machine can be achieved. During the spinning process, a pressure limiting function is used to prevent excessive spinning amount from causing product tearing or reduced surface finish, which would otherwise be caused by relying solely on position control.

[0072] A fully servo-hydraulic driven intelligent control system for a spinning machine includes a spinning machine, a fully servo-hydraulic drive mechanism 5, a pressure sensor 8, a displacement sensor 7, and a PLC 6. The spinning machine includes a bed platform 2, a spindle mechanism 1, a tailstock mechanism 4, and a spinning machine body 3. The spindle mechanism includes a spindle mounting bracket 101, a spindle 103, a spindle motor 102, and a spindle chuck 104. The spindle mounting bracket is fixedly mounted on the bed platform, and the spindle motor is fixedly mounted on the spindle mounting bracket to drive the spindle rotation. The spindle chuck is mounted on the end of the spindle. The tailstock mechanism is slidably mounted on the bed platform and driven by the tailstock motor 401 to slide along the bed platform. The spinning machine body includes a spinning machine frame 301, a transmission unit, three rams 304, and three spinning wheels 303. The spinning machine frame is slidably mounted on the bed platform and driven by the transmission unit to slide along the bed platform. Three rams are slidably mounted on the spinning frame, and three spinning wheels are fixedly mounted on the ends of the corresponding rams and are evenly distributed. The three spinning wheels are driven to move radially by radial cylinders 302. The fully servo hydraulic drive mechanism includes a housing 501 and a servo motor 502, an axial piston hydraulic pump 503, and an electromagnetic proportional flow valve 504 housed within the housing. The output shaft of the servo motor is coaxially connected to the input shaft of the axial piston hydraulic pump. The axial piston hydraulic pump is connected to the electromagnetic proportional flow valve through an internal oil passage 505. The electromagnetic proportional flow valve is connected to the radial cylinder of the corresponding shaft. The PLC is fixedly mounted on the housing. The detection end of the pressure sensor extends into the internal oil passage. The displacement sensor is mounted on the piston rod of the radial cylinder, and the pressure sensor, displacement sensor, servo motor, and electromagnetic proportional flow valve are respectively connected to the PLC.

[0073] The schematic diagram of the spinning machine is as follows: Figure 1 and Figure 2 As shown in the diagram, the structure of the fully servo hydraulic drive mechanism is as follows: Figure 3 and Figure 4 As shown.

[0074] Because the fully servo hydraulic drive mechanism includes a housing and a servo motor, an axial piston hydraulic pump, and an electromagnetic proportional flow valve housed within the housing, with the servo motor output shaft coaxially connected to the axial piston hydraulic pump input shaft, and the axial piston hydraulic pump connected to the electromagnetic proportional flow valve via an internal oil passage, and the electromagnetic proportional flow valve connected to the radial cylinder of the corresponding shaft, the fully servo hydraulic drive mechanism forms an integrated structure. This shortens the hydraulic oil transmission path, reduces response lag during hydraulic oil transmission, and improves the accuracy of the rotary wheel feed. The pressure sensor detection end extends into the internal oil passage for close-range detection, providing real-time feedback of the actuator pressure, facilitating rapid response and pressure adjustment, improving product forming qualification rate, and reducing installation space. Furthermore, the internal oil passage has no external pipeline interface, significantly reducing leakage rate, extending maintenance cycle, reducing maintenance frequency, and improving ease of use.

[0075] The optimized servo motor output shaft and the axial piston hydraulic pump input shaft are coaxially connected via a flexible coupling 506, which reduces transmission heat and thus reduces errors caused by heat.

[0076] The optimized transmission unit includes a lead screw 306, a lead screw motor 307, and a nut sleeve 305 fixedly mounted on the spinning machine frame. The lead screw is mounted on the bed platform and driven to rotate by the lead screw motor. The nut sleeve is fitted onto the lead screw. The use of lead screw transmission makes the transmission of the spinning machine more stable and reliable.

[0077] In summary, the intelligent control method and system for a fully servo hydraulically driven spinning machine proposed in this invention solves the contradiction between "shape preservation" and "force control" during the spinning process by dynamically coordinating position and pressure control. This ensures that the most suitable pressure is applied while accurately tracking the trajectory, thereby optimizing material flow, effectively avoiding overpressure tearing or underpressure incomplete forming of the workpiece, and significantly improving surface quality and dimensional accuracy.

[0078] 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 method for intelligent control of a fully servo-driven hydraulic spinning machine, characterized in that: Includes the following steps: S1: Fix the workpiece in the spindle chuck and tighten it by the tailstock mechanism; S2: The spindle mechanism rotates at the preset spindle speed, and the spinning machine feeds synchronously in the horizontal and radial directions to gradually press against the workpiece. The pressure sensor collects the radial cylinder load force information of the spinning machine in real time, and the displacement sensor collects the radial displacement information of the piston rod of the radial cylinder in real time. S3: The PLC calculates the deviation between the real-time position and the target displacement of the radial cylinder and the deviation between the real-time speed and the target speed of the radial cylinder based on the radial displacement information of the piston rod. It also calculates the deviation between the actual pressure and the target pressure of the radial cylinder based on the load force information of the radial cylinder in the spinning machine. S4: The PLC integrates the deviations between the real-time position and target displacement of the radial cylinder, the deviations between the real-time speed and target speed of the radial cylinder, and the deviations between the actual pressure and target pressure of the radial cylinder to calculate the percentage of expected control strength of the fully servo hydraulic drive mechanism according to formula (1): in: express Spinning machine The percentage of expected control strength for a fully servo hydraulic actuator on each axis. Indicates position control weights. Indicates the spinning machine number Individual axis velocity feedforward gain coefficient express Spinning machine Target speed of each radial hydraulic cylinder on the axis Indicates the spinning machine number Individual axis acceleration feedforward gain coefficient express Spinning machine Target acceleration of the radial hydraulic cylinder on each axis express Spinning machine The target accelerometer of the radial hydraulic cylinder on each axis. Indicates the spinning machine number Individual axis accelerometer feedforward gain coefficient Indicates the spinning machine number Individual axis radial cylinder position deviation compensation gain express Spinning machine The deviation between the actual position and the target displacement of each radial hydraulic cylinder. Indicates the spinning machine number Gain for compensating for the rate deviation of the radial position change of the hydraulic cylinder on each axis. express Spinning machine The deviation between the actual speed and the target speed of the radial cylinder of each axis Indicates the pressure control weight. Indicates the spinning machine number Individual shaft pressure change rate deviation compensation gain express Spinning machine Target pressure change rate of each radial hydraulic cylinder express Spinning machine The deviation between the actual pressure and the target pressure of each radial hydraulic cylinder. Indicates the spinning machine number Individual axis radial hydraulic cylinder pressure deviation compensation gain; S5: The full servo hydraulic drive mechanism determines the final output flow rate or output speed based on the expected control strength percentage of the full servo hydraulic drive mechanism, and integrates the nonlinear correction, dead zone compensation and zero bias compensation functions of the hydraulic pump to perform spinning control on the spinning machine.

2. The intelligent control method for a fully servo-driven hydraulic spinning machine according to claim 1, characterized in that: In step S5, the final output flow rate or output speed is determined according to equation (2): （2）； in: This indicates the final output flow rate or output speed. This represents the normalization bias correction value. Indicates the dead zone value. This represents the scaling transformation function.

3. The intelligent control method for a fully servo-driven hydraulic spinning machine according to claim 1, characterized in that: In step S3, the target displacement, target velocity, and target pressure are all determined using a fifth-order polynomial programming method.

4. The intelligent control method for a fully servo-driven hydraulic spinning machine according to claim 3, characterized in that: In step S3, the target displacement and target velocity are determined according to equation (3): （3）； in: express Spinning machine The target displacement of each radial hydraulic cylinder. Indicates the spinning machine number Initial position value of the target curve for the radial displacement of each axis hydraulic cylinder Indicates the spinning machine number The coefficient of the first term of the target curve for each axis displacement Indicates the spinning machine number The coefficients of the quadratic term of the target curve for each axis displacement Indicates the spinning machine number The coefficients of the cubic term of the target curve for each axial displacement. Indicates the spinning machine number The coefficients of the fourth term of the target curve for each axis displacement Indicates the spinning machine number The fifth-order coefficient of the target curve for each axis displacement Indicates time, express Spinning machine Target speed of each radial hydraulic cylinder on the axis express Spinning machine Target acceleration of the radial hydraulic cylinder on each axis express Spinning machine The target accelerator of the radial hydraulic cylinder on each axis.

5. The intelligent control method for a fully servo-driven hydraulic spinning machine according to claim 3, characterized in that: In step S3, the target pressure is determined according to equation (4): （4）； in: express Spinning machine Target pressure of each radial hydraulic cylinder This represents the initial pressure value of the radial cylinder pressure target curve. This represents the coefficient of the first-order term of the pressure target curve. This represents the coefficient of the quadratic term in the pressure target curve. This represents the coefficient of the cubic term of the pressure target curve. This represents the coefficient of the fourth term of the pressure target curve. This represents the coefficient of the fifth-order term of the pressure target curve. express Spinning machine Target pressure change rate of each radial hydraulic cylinder express Spinning machine Acceleration of pressure change in each radial hydraulic cylinder. express Spinning machine The radial hydraulic cylinder pressure changes are accelerated.

6. A fully servo-driven hydraulic spinning machine intelligent control system, used to execute the fully servo-driven hydraulic spinning machine intelligent control method as described in any one of claims 1 to 5, characterized in that: The system includes a spinning machine, a fully servo hydraulic drive mechanism, a pressure sensor, a displacement sensor, and a PLC. The spinning machine comprises a bed platform, a spindle mechanism, a tailstock mechanism, and a spinning machine body. The spindle mechanism includes a spindle mounting bracket, a spindle, a spindle motor, and a spindle chuck. The spindle mounting bracket is fixedly mounted on the bed platform, and the spindle motor is fixedly mounted on the spindle mounting bracket to drive the spindle rotation. The spindle chuck is mounted at the end of the spindle. The tailstock mechanism is slidably mounted on the bed platform and driven by the tailstock motor to slide along the bed platform. The spinning machine body includes a spinning machine frame, a transmission unit, three rams, and three spinning wheels. The spinning machine frame is slidably mounted on the bed platform and driven by the transmission unit to slide along the bed platform. The three rams are slidably mounted on the spinning machine frame. The three spinning rollers are fixedly installed at the ends of the corresponding slide blocks and are evenly distributed. The three spinning rollers are driven by radial cylinders to move radially. The full servo hydraulic drive mechanism includes an outer shell and a servo motor, an axial piston hydraulic pump, and an electromagnetic proportional flow valve housed within the outer shell. The output shaft of the servo motor is coaxially connected to the input shaft of the axial piston hydraulic pump. The axial piston hydraulic pump is connected to the electromagnetic proportional flow valve through an internal oil passage. The electromagnetic proportional flow valve is connected to the radial cylinder of the corresponding shaft. The PLC is fixedly installed on the outer shell. The detection end of the pressure sensor extends into the internal oil passage. The displacement sensor is installed on the piston rod of the radial cylinder. The pressure sensor, displacement sensor, servo motor, and electromagnetic proportional flow valve are respectively connected to the PLC.

7. The intelligent control system for a fully servo-driven hydraulic spinning machine according to claim 6, characterized in that: The output shaft of the servo motor and the input shaft of the axial piston hydraulic pump are coaxially connected by a flexible coupling.

8. The intelligent control system for a fully servo-driven hydraulic spinning machine according to claim 6, characterized in that: The transmission unit includes a lead screw, a lead screw motor, and a nut sleeve fixedly mounted on the spinning machine frame. The lead screw is mounted on the bed platform and driven to rotate by the lead screw motor, and the nut sleeve is fitted onto the lead screw.

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