A method, system, terminal and medium for controlling a positioner for different workpieces

Abstract

The present application relates to the field of automation control, in particular to a method and system for controlling a positioner for different workpieces, a terminal and a medium, which are applied to an integrated die casting CNC flexible machining production line. The method comprises: configuring and storing a machining formula containing target height and angle for different workpiece models; calling the corresponding formula to control the positioner to move to each station in turn; collecting the double-motor rotation angle, actual position of the mechanism and vibration acceleration in real time during the movement; generating a smooth trajectory by using a quintic polynomial interpolation, and generating a position tracking control amount by using PID; generating a synchronous compensation amount according to the double-motor rotation angle, a gravity center feedforward compensation amount according to the gravity center coordinates and the overturning angle, and a decoupling control amount according to the vibration acceleration; and outputting the control amount to the lifting double-motor and the overturning motor according to the mechanism. The present application improves the control precision, operation stability and machining adaptability of the positioner.

Description

Technical Field

[0001] This invention relates to the field of automation control, and specifically to a positioner control method, system, terminal, and medium for different workpieces. Background Technology

[0002] Integrated die casting technology is widely used in the new energy vehicle industry. The CNC machining of large integrated die casting parts (such as the whole rear body) requires a positioner to switch the workpiece posture between different stations to meet the process requirements of multi-face machining.

[0003] Traditional positioners mostly use manual teaching or fixed-point programming methods. When switching between different workpiece models, the teaching and debugging need to be restarted, which makes it difficult to adapt to the production requirements of flexible production lines with multiple varieties and small batches. This results in long changeover times and low efficiency. At the same time, the control methods of related positioners in the production process usually adopt point-to-point control, that is, directly driving the motor to move to the target position. This control method has many technical defects in practical applications, specifically: 1) Large die-cast parts can weigh hundreds of kilograms. The positioner is a large inertia system. When using conventional point-to-point control, the impact during the start-up and shutdown process will excite mechanical structure resonance, resulting in residual vibration after the positioner is in place. It takes a long time to stabilize, affecting the processing cycle; 2) The lifting mechanism of large positioners usually uses dual motor drive to ensure load-bearing capacity and smooth movement. However, due to the wear difference and uneven load distribution of the mechanical transmission systems on both sides, the two motors will be out of sync during actual operation, causing torsional deformation of the lifting frame. This not only affects the positioning accuracy but also causes additional internal stress on the workpiece, affecting the processing quality; 3) Different workpiece models have different center of gravity positions. The offset torque generated during the flipping process affects the load distribution of the dual lifting motors. Conventional control methods cannot pre-compensate for this change and can only adjust after the error occurs, resulting in a lag in control response. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a positioner control method, system, terminal, and medium for different workpieces. Through formula-based flexible adaptation, smooth trajectory and PID closed-loop positioning, as well as multi-dimensional disturbance suppression such as synchronous error compensation, center of gravity feedforward compensation, and vibration decoupling control, the control accuracy, operational stability, and processing adaptability of the positioner are improved.

[0005] In a first aspect, the technical solution of the present invention provides a positioner control method for different workpieces. This method is applied to an integrated die-casting CNC flexible machining production line. The positioner includes a lifting mechanism driven by a first motor and a second motor, and a tilting mechanism driven by a third motor, comprising the following steps:

[0006] The human-computer interaction interface is used to configure and store processing recipes for different workpiece models. The processing recipe contains a sequence of target position parameters for N processing stations corresponding to the workpiece model. The target position parameters include target height and target angle.

[0007] Based on the currently selected workpiece model, the corresponding processing recipe is retrieved from the storage unit, and the positioner is controlled to move sequentially to the target position of each station in the processing recipe;

[0008] During the movement of the positioner towards the target position, the following control steps are executed:

[0009] The output shaft rotation angles of the first and second motors, the actual positions of the lifting and tilting mechanisms, and the vibration acceleration signals of the target part of the positioner are collected in real time.

[0010] Based on the target position, the motion trajectory of the target position is generated by fifth-order polynomial interpolation, and the position deviation between the actual position and the motion trajectory of the target position is calculated. The position deviation is input into the PID controller to generate position tracking control quantity, including lifting position tracking control quantity and flipping position tracking control quantity.

[0011] The synchronization error between the first and second motors is calculated based on their output shaft rotation angles, and a synchronization compensation amount is generated based on the synchronization error. A center of gravity feedforward compensation amount is generated based on the workpiece's center of gravity coordinates and the actual angle of the flipping mechanism, and a decoupling control amount is generated based on the vibration acceleration signal.

[0012] The lifting position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the first and second motors; the flipping position tracking control quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the third motor.

[0013] Secondly, the technical solution of the present invention provides a positioner control system for different workpieces. This system is applied to an integrated die-casting CNC flexible machining production line. The positioner includes a lifting mechanism driven by a first motor and a second motor, and a tilting mechanism driven by a third motor, comprising:

[0014] The processing recipe configuration module is used to configure and store processing recipes for different workpiece models through a human-machine interface. The processing recipe contains a sequence of target position parameters for N processing stations corresponding to the workpiece model. The target position parameters include target height and target angle.

[0015] The positioner control module is used to retrieve the corresponding processing recipe from the storage unit according to the currently selected workpiece model, and control the positioner to move sequentially to the target position of each station in the processing recipe;

[0016] During the movement of the positioner towards the target position, the positioner control module executes the following control steps:

[0017] The output shaft rotation angles of the first and second motors, the actual positions of the lifting and tilting mechanisms, and the vibration acceleration signals of the target part of the positioner are collected in real time.

[0018] Based on the target position, the motion trajectory of the target position is generated by fifth-order polynomial interpolation, and the position deviation between the actual position and the motion trajectory of the target position is calculated. The position deviation is input into the PID controller to generate position tracking control quantity, including lifting position tracking control quantity and flipping position tracking control quantity.

[0019] The synchronization error between the first and second motors is calculated based on their output shaft rotation angles, and a synchronization compensation amount is generated based on the synchronization error. A center of gravity feedforward compensation amount is generated based on the workpiece's center of gravity coordinates and the actual angle of the flipping mechanism, and a decoupling control amount is generated based on the vibration acceleration signal.

[0020] The lifting position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the first and second motors; the flipping position tracking control quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the third motor.

[0021] Thirdly, the technical solution of the present invention provides a terminal, comprising:

[0022] The memory is used to store the positioner control program for different workpieces;

[0023] A processor is configured to implement the steps of the positioner control method for different workpieces as described above when executing the positioner control program for different workpieces.

[0024] Fourthly, the present invention provides a computer-readable storage medium storing a positioner control program for different workpieces, wherein the positioner control program for different workpieces, when executed by a processor, implements the steps of the positioner control method for different workpieces as described in any of the preceding claims.

[0025] As can be seen from the above technical solutions, this application has the following advantages: First, by configuring and storing processing recipes containing target height and target angle for different workpiece models, rapid recipe recall and attitude switching for multiple workpiece models can be achieved without repeated teaching and debugging, significantly shortening changeover time and adapting to the multi-variety, small-batch production needs of flexible processing production lines. Second, by using fifth-order polynomial interpolation to generate smooth target position motion trajectories for the lifting and tilting mechanisms, combined with PID closed-loop position tracking control, motion impact and trajectory abrupt changes can be effectively eliminated, ensuring high-precision positioning of lifting height and tilting angle; at the same time, unified control of the lifting and tilting mechanisms realizes coordinated motion of multiple mechanisms, avoids the superposition of position deviations, and improves the stability of workpiece processing attitude and position. Furthermore, by real-time acquisition of the rotation angle of the two motors and calculation of the synchronization error, a synchronization compensation amount is generated based on the synchronization error and superimposed on the motor control output, ensuring that the two motors remain synchronized throughout the entire movement. This eliminates torsional deformation of the lifting frame, avoids additional internal stress on the workpiece, and improves machining accuracy. By generating a center-of-gravity feedforward compensation amount based on the workpiece's center-of-gravity coordinates and the current flipping angle, uneven load caused by center-of-gravity offset is pre-compensated, ensuring that the two lifting motors maintain balanced output during flipping, further improving synchronization control accuracy. By generating a decoupling control amount based on the vibration acceleration signal, the mutual coupling between lifting position tracking control and synchronization compensation is eliminated, preventing mutual interference that could cause system oscillations and ensuring the stability and robustness of the control system. This invention, targeting large, heavy-duty workpieces, integrates dual-motor synchronization compensation, center-of-gravity feedforward compensation, and vibration decoupling control. It suppresses disturbances from three core dimensions: synchronization error, center-of-gravity offset, and vibration interference, effectively avoiding problems such as positioning deviation and poor surface quality caused by disturbances, significantly improving the stability and reliability of the positioner operation. Attached Figure Description

[0026] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the positioner structure.

[0028] Figure 2 This is a schematic flowchart of a positioner control method for different workpieces provided in an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the motion control process of the positioner for the current workpiece to be processed.

[0030] Figure 4This is a schematic block diagram of a positioner control system for different workpieces, provided as an embodiment of the present invention.

[0031] Figure 5 This is a schematic diagram of the structure of a terminal provided in an embodiment of the present invention.

[0032] In the diagram, 1 represents the first motor, 2 represents the second motor, and 3 represents the third motor. Detailed Implementation

[0033] To make the purpose, features, and advantages of this application more apparent and understandable, specific embodiments and accompanying drawings will be used to clearly and completely describe the technical solution protected by this application. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this application and in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0035] The key terms used in this invention will be explained below.

[0036] CNC: Computer Numerical Control Flexible Machining Production Line.

[0037] The positioner control method provided by this invention is applied to an integrated die-casting CNC flexible machining production line, and is adapted to the positioner required for multi-station machining of large integrated die-casting parts in this production line. Figure 1 This is a schematic diagram of the positioner structure. This positioner is a heavy-duty positioner compatible with the processing of different models of integrated die-cast parts. Its core mechanical actuator mainly includes two motion mechanisms: one is a lifting mechanism, which adopts a dual-motor structure driven by a first motor 1 and a second motor 2, capable of supporting large integrated die-cast parts weighing hundreds of kilograms to achieve stable lifting motion and meet the height adjustment requirements of different processing stations; the other is a tilting mechanism, which is independently driven by a third motor 3, and can drive the workpiece to achieve multi-angle tilting to complete the posture adjustment of different processing surfaces of the workpiece. The two mechanisms work together to realize multi-dimensional posture switching of the workpiece during the processing, providing hardware support for multi-faceted CNC machining of integrated die-cast parts.

[0038] Figure 2This is a schematic flowchart illustrating a positioner control method for different workpieces, provided by an embodiment of the present invention. Figure 2 The executing entity can be a positioner control system for different workpieces. The positioner control method for different workpieces provided in this embodiment of the invention is executed by a computer device; correspondingly, the positioner control system for different workpieces runs within the computer device. Depending on different requirements, the order of steps in this flowchart can be changed, and some steps can be omitted.

[0039] like Figure 2 As shown, the method includes the following steps.

[0040] S1 configures and stores processing recipes for different workpiece models through a human-machine interface. The processing recipe contains a sequence of target position parameters for N processing stations corresponding to the workpiece model. The target position parameters include target height and target angle.

[0041] S2, based on the currently selected workpiece model, retrieves the corresponding processing recipe from the storage unit and controls the positioner to move sequentially to the target position of each station in the processing recipe.

[0042] In step S2, during the movement of the positioner toward the target position, the following control steps S231 to S234 are executed.

[0043] S231, real-time acquisition of the output shaft rotation angle of the first motor 1 and the second motor 2, the actual position of the lifting mechanism and the tilting mechanism, and the vibration acceleration signal of the target part of the positioner.

[0044] S232, based on the target position, uses fifth-order polynomial interpolation to generate the target position motion trajectory, and calculates the position deviation between the actual position and the target position motion trajectory. The position deviation is input into the PID controller to generate position tracking control quantities, including lifting position tracking control quantities and flipping position tracking control quantities.

[0045] S233, calculate the synchronization error between the first motor 1 and the second motor 2 based on the output shaft rotation angles, generate a synchronization compensation amount based on the synchronization error, generate a center of gravity feedforward compensation amount based on the workpiece center of gravity coordinates and the actual angle of the flipping mechanism, and generate a decoupling control amount based on the vibration acceleration signal.

[0046] S234 superimposes the lifting position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, and decoupling control quantity as the final control output of the first motor 1 and the second motor 2; and superimposes the flipping position tracking control quantity, center of gravity feedforward compensation quantity, and decoupling control quantity as the final control output of the third motor 3.

[0047] As a refinement and extension of the specific implementation of the above embodiments, in order to fully explain the specific implementation process of this embodiment, the following will provide possible embodiments to describe the specific implementation of the above steps in a non-limiting manner.

[0048] In this embodiment, step S1 is the basic configuration for the positioner to realize flexible processing of different types of workpieces. The personalized configuration and storage of the processing formula are completed through the human-machine interface.

[0049] Specifically, based on the CNC machining process requirements of different integrated die-cast parts, operators configure exclusive machining recipes for each workpiece model in the human-machine interface. Each recipe pre-stores a sequence of target position parameters for N machining stations required for the workpiece machining. The target position parameters for each station include the target height of the lifting mechanism and the target angle of the tilting mechanism to meet machining requirements. These parameters are used to limit the height position the lifting mechanism needs to reach and the angle and posture the tilting mechanism needs to adjust when the positioner moves the workpiece to that machining station. After all machining recipes for all workpiece models are configured, they are uniformly stored in the storage unit of the positioner control system. Each recipe is bound to a specific workpiece model, eliminating the need for repeated debugging during subsequent production. Simply selecting the corresponding workpiece model automatically retrieves the recipe parameters, simplifying the changeover process and adapting to the multi-variety, small-batch production needs of the integrated die-casting CNC flexible machining production line.

[0050] In this embodiment, step S2 realizes the execution of flexible machining by the positioner. Based on the machining formula configured and stored in step S1, the formula is called by binding and matching the workpiece model with the formula. Combined with the button box operation, the positioner is triggered to switch positions and controls the positioner to complete the sequential movement of multiple positions according to the preset position sequence. At the same time, it forms a linkage with the CNC machine tool to ensure the continuous and orderly processing of multi-faceted machining of integrated die-cast parts.

[0051] The positioner is controlled to move sequentially to the target position of each station in the processing recipe. Specifically, starting from the current processing station index n=1, the following operations are performed in a loop until n=N: triggering the positioner to move to the target position of the nth station; when the positioner reaches the target position of the nth station, sending a processing permission signal for the nth station to the CNC machine tool; and after receiving the external trigger signal indicating that the processing of the nth station is completed, updating the current processing station index to n+1.

[0052] Specifically, such as Figure 3 As shown, the motion control of the positioner for the current workpiece to be processed includes the following steps.

[0053] S21, processing formula matching and calling.

[0054] After the operator selects the workpiece model to be processed on the human-machine interface of the positioner control system, the control system automatically retrieves the processing recipe uniquely bound to the workpiece model in the storage unit and completes the retrieval and loading of the recipe. The recipe contains the target position parameter sequence of N processing stations required for the processing of the workpiece, and the parameters of each station correspond one-to-one and the order is fixed.

[0055] S22, Workstation motion initialization.

[0056] The control system assigns the current processing station index n to the initial value 1, determines the first processing station to be moved by the positioner as the first station, and reads the target height of the lifting mechanism and the target angle of the flipping mechanism corresponding to the first station in the recipe to prepare the parameters for the first movement of the positioner.

[0057] S23, the movement of the nth workstation is triggered.

[0058] Based on the target position parameters of the nth station, the control system sends coordinated motion commands to the lifting and tilting mechanisms of the positioner, controlling the lifting and tilting mechanisms to move in coordination and drive the workpiece to the target position of the nth station.

[0059] In this embodiment, during the entire process of controlling the positioner to move to the target position of the nth workstation, the above steps S231 to S234 are executed synchronously and continuously. By collecting key parameters of the positioner in real time, generating various control quantities and superimposing them for output, the movement of the lifting mechanism and the flipping mechanism is adjusted in real time to ensure that the positioner moves smoothly and accurately to the target workstation, thus ensuring the stability of the processing posture and the positioning accuracy.

[0060] S24, Workstation arrival detection and processing permission signal transmission.

[0061] During the movement of the positioner, the control system collects the actual height of the lifting mechanism and the actual angle of the tilting mechanism in real time. When the actual position is detected to be completely matched with the target position of the nth station and the positioner's movement is stable, it is determined that the positioner has reached the target position of the nth station. At this time, the control system sends a processing permission signal for the nth station to the matching CNC machine tool. After receiving the signal, the CNC machine tool can start the CNC machining operation on the nth station machining surface of the workpiece.

[0062] S25, receiving the processing completion signal and updating the workstation index.

[0063] After the CNC machine tool completes the machining at the nth station, it can send an external trigger signal to the positioner control system to indicate that the machining at the nth station is complete. Alternatively, the operator can press the button on the button box indicating that the machining is complete. This button signal is then sent to the positioner control system as an external trigger signal. After receiving the external trigger signal, the positioner control system will update the current machining station index n by incrementing it to n+1.

[0064] S26, Workstation Cycle Judgment and Execution.

[0065] The control system compares the updated workstation index n+1 with the preset total number of workstations N in the recipe:

[0066] If n+1≤N, then return to step S23, the control system reads the target position parameter of the n+1th station in the formula, controls the positioner to move to the target position of the station, and sequentially completes the movement and processing linkage of the subsequent stations;

[0067] If n+1>N, it is determined that all N processing stations of the workpiece have been completed, the positioner station moves sequentially and the process ends, and the control system can trigger subsequent linkage operations such as unloading.

[0068] The motion control process of the positioner in this embodiment does not require manual lifting, tilting and positioning operations, reducing human intervention, ensuring continuous processing at each station, effectively improving processing efficiency and station positioning accuracy, and adapting to the diverse processing needs of flexible processing production lines.

[0069] In this embodiment, step S232 generates a smooth target height motion trajectory using fifth-order polynomial interpolation based on the target position, specifically including the following steps.

[0070] S232.1, Obtain the starting position of the mechanism Target location and preset total exercise time , constructing a time-based The fifth-degree polynomial function of the target height trajectory with respect to the independent variable:

[0071]

[0072] in, , These are the polynomial coefficients.

[0073] Specifically, based on the currently invoked processing formula, the target height of the lifting mechanism at the corresponding processing station is extracted. Target angle of the flipping mechanism At the same time, the lifting mechanism is calibrated from the current actual height. Move to the target height Preset total motion time From a current practical perspective, the flipping mechanism Move to the target angle Preset total motion time The motion time is pre-calibrated based on the production line's processing cycle and the mechanism's motion characteristics; the lifting motion time variable is defined. , flip motion time variable , These represent the starting times of the lifting and tilting mechanisms, respectively. These represent the moments when the motion ends.

[0074] Using time as the independent variable and position as the dependent variable, construct the motion trajectory function of the lifting mechanism at the target height. Target angle motion trajectory function of the flipping mechanism Both employ a fifth-order polynomial interpolation model to ensure the third-order continuity of the mechanism's position, velocity, and acceleration, eliminating start-up and braking shocks and sudden trajectory changes. The general expression is: When calculating the trajectory of the lifting mechanism at the target height, for When calculating the target angle motion trajectory of the flipping mechanism, for It should be noted that the coefficients for the target height movement trajectory of the lifting mechanism and the target angle movement trajectory of the tilting mechanism are calculated based on their respective conditions.

[0075] S232.2, Set motion constraints: hour, ; hour, .

[0076] Specifically, for the lifting mechanism, the motion constraints are: ; .

[0077] For the tilting mechanism, the motion constraints are: ; .

[0078] S232.3, by substituting the motion constraints into the fifth-order polynomial trajectory function and its first and second derivative expressions, the polynomial coefficients are obtained. Determine the trajectory of the target position. .

[0079] Substituting the above constraints into the corresponding trajectory function and its first derivative (velocity) and second derivative (acceleration) expressions, the unique polynomial coefficients are obtained, and the smooth target position motion trajectory of the lifting and flipping mechanism is determined.

[0080] During the movement of the positioner, the actual height of the lifting mechanism is collected in real time. Actual angle of the flipping mechanism The position deviations are calculated by comparing the trajectory values ​​with the target position values ​​at the same time. , flipping position deviation The deviation value is the difference between the target trajectory value and the actual position value, representing the degree of deviation of the actual motion relative to the target trajectory. The calculation formula is:

[0081] Lifting / lowering position deviation: ;

[0082] Flip position deviation: .

[0083] The real-time collected and calculated elevation and depression position deviation , flipping position deviation Two independent PID position controllers are input separately. The parameters of the two PID controllers are calibrated separately according to the motion characteristics of the mechanism. Through the coordinated adjustment of the proportional, integral, and derivative components, the lifting position tracking control quantities are generated respectively. , flip position tracking control quantity To achieve high-precision closed-loop tracking of the target position motion trajectory of the lifting and tilting mechanism, the PID controller output expression is:

[0084] Lifting position tracking control quantity:

[0085]

[0086] Flip position tracking control quantity:

[0087]

[0088] in, These are the proportional, integral, and derivative coefficients of the PID controller for the lifting mechanism; These are the proportional, integral, and derivative coefficients of the PID controller for the flipping mechanism; This is the time variable for integration.

[0089] This process achieves smoothing of the motion trajectory of the dual mechanisms through fifth-order polynomial interpolation, combined with independent PID closed-loop control of each mechanism to achieve high-precision trajectory tracking. Since CNC machining of large integrated die-cast parts places high demands on the stability and positioning accuracy of the positioner's motion, and large inertia loads are prone to start-stop shocks and trajectory oscillations, this embodiment, through the coordinated control of smooth trajectory and closed-loop tracking, ensures both the stability of the lifting and tilting mechanisms' motion and precise control of position and angle, thereby effectively suppressing motion shocks and residual vibrations, and guaranteeing the posture stability and positioning accuracy of multi-station machining.

[0090] In this embodiment, in step S233, considering the structural characteristics of the dual-motor drive of the positioner lifting mechanism, the synchronization error is calculated by real-time acquisition of the output shaft rotation angles of the first motor 1 and the second motor 2, and the synchronization error is used as the core parameter to input the compensation controller to generate the synchronization compensation amount, thereby achieving precise synchronous control of the dual motors and offsetting the problem of asynchronous rotation angles caused by motor response characteristics and load differences.

[0091] Specifically, during the movement of the positioner's lifting mechanism, the actual rotation angle of the output shaft of the first motor 1 is collected in real time through the motor encoder. The actual rotation angle of the output shaft of the second motor 2 The collection time is recorded as Furthermore, the angle acquisition is synchronized with the detection time of the height and speed of the lifting mechanism, ensuring the consistency of the control timing.

[0092] Based on the real-time acquired output shaft rotation angles of the two motors, the synchronization error of the two motors is calculated. This parameter quantifies the degree of angular coordination deviation between the two motors. The formula for calculating the synchronization error is:

[0093]

[0094] Synchronization error The sign of the value indicates whether the first motor 1 is ahead or behind the second motor 2 in terms of rotation angle, and the magnitude indicates the size of the deviation.

[0095] The calculated dual-motor synchronization error Input the preset synchronous compensation controller, which has a built-in proportional adjustment algorithm and combines the mechanical transmission characteristics of the positioner lifting mechanism with the motor rated parameters to pre-calibrate the synchronous compensation coefficient. With synchronization error Using the core input parameters, synchronous compensation quantities acting on the first motor 1 are generated respectively. and the synchronization compensation amount acting on the second motor 2 This enables real-time dynamic compensation for asynchronous states of dual motors. The specific generation formula is as follows:

[0096]

[0097] Among them, the synchronous compensation coefficient It can adaptively adjust according to the workpiece load size, and the positive and negative values ​​of the compensation amount are matched with the synchronization error to achieve deceleration compensation for the leading motor and speed-up compensation for the lagging motor, ensuring that the rotation angles of the two motors are coordinated and consistent.

[0098] This process quantifies the synchronization error by real-time detection of the rotation angle deviation of the two motors, and uses the synchronization error as a parameter in the calculation of the synchronization compensation amount. The targeted compensation amount is then directly applied to the control output of the two motors. Since uneven load distribution and differences in mechanical transmission are more likely to cause synchronization deviations under heavy load lifting conditions of large integrated die-cast parts, this embodiment uses a closed-loop synchronization compensation mechanism to ensure that the output shaft rotation angles of the first motor 1 and the second motor 2 always maintain a high degree of coordination. This effectively avoids lifting mechanism jamming, guide rail wear, and positioning deviations caused by synchronization errors, ensuring the smoothness and positioning accuracy of the lifting motion under heavy load conditions.

[0099] In this embodiment, step S233 generates a center-of-gravity feedforward compensation amount based on the workpiece's center-of-gravity coordinates and the actual angle of the flipping mechanism. This includes generating a center-of-gravity feedforward compensation amount acting on the flipping end of the flipping mechanism and a center-of-gravity feedforward compensation amount acting on the lifting mechanism. Specifically, addressing the full-link interference problem caused by the non-central distribution of the center of gravity of large integrated die-cast parts, resulting in the original bias torque at the flipping end and the cross-mechanism coupled load disturbance at the lifting end, this embodiment adopts a center-of-gravity feedforward compensation strategy with flipping-lifting dual-end coordination. Based on the workpiece's center-of-gravity coordinates and the actual angle of the flipping mechanism, a center-of-gravity feedforward compensation amount is generated for the flipping end of the third motor 3 of the flipping mechanism and for the lifting end of the first / second motor of the lifting mechanism, respectively. This achieves full-link cancellation of the center-of-gravity offset interference, ensuring the accuracy and stability of the positioner's lifting-flipping coordinated motion.

[0100] The process of generating the feedforward compensation amount of the center of gravity at the flipping end acting on the flipping mechanism includes the following steps.

[0101] S233.a1, Pre-calibrate and store the workpiece's center of gravity coordinates. Workpiece quality , Flip center fixed coordinates and the torque constant of the reversing motor Reduction ratio Transmission efficiency .

[0102] For different models of integrated die-cast parts, the absolute center of gravity coordinates of the workpiece are calibrated using 3D modeling / center of gravity detection equipment. Actual quality The parameters are bound to the workpiece model and stored in the processing recipe; at the same time, the core fixed parameters of the positioner are calibrated and the fixed coordinates of the flipping center are pre-stored. and the torque constant of the reversing motor Reduction ratio Transmission efficiency .

[0103] S233.a2, the dynamic lever arm offset of the flipping end is calculated through spatial coordinate rotation transformation, and is expressed as:

[0104]

[0105] In the formula, This refers to the actual angle of the flipping mechanism, which is collected in real time.

[0106] The actual tilting angle of the tilting mechanism around the tilting center is collected in real time by an angle encoder. , The collection time is recorded as Furthermore, the timing of angle acquisition is completely synchronized with the detection timing of the rotation angle and lifting height of the dual lifting motors, ensuring the timing consistency of the dual-end compensation.

[0107] This embodiment is based on the workpiece's center of gravity coordinates, the rotation center coordinates, and the real-time rotation angle. By transforming spatial coordinates, two core intermediate parameters are calculated at any flip angle, thus quantitatively resolving the center of gravity offset disturbance. The dynamic lever arm offset at the flipping end is calculated as described above. The actual lever arm of the workpiece's center of gravity relative to the flipping center determines the magnitude of the original bias torque at the flipping end.

[0108] S233.a3, calculate the original bias torque at the flipping end, expressed as: .

[0109] Original bias torque at the flip end This is the direct disturbance torque of the flipping mechanism.

[0110] S233.a4, the feedforward compensation amount of the center of gravity of the flipping end is obtained through the torque-motor control quantity conversion model. The compensation amount is applied to the third motor 3.

[0111] This embodiment uses a torque-motor control quantity conversion model to map the bias torque into a feedforward compensation amount for the center of gravity at the flipping end of the third flipping motor 3. This enables proactive compensation for torque deviation in the flip motor.

[0112] The process of generating the feedforward compensation amount for the center of gravity at the tilting end of the lifting mechanism includes the following steps.

[0113] S233.b1, Pre-calibrate and store the workpiece's center of gravity coordinates. Workpiece quality , Flip center fixed coordinates Mechanical coupling coefficient of lifting and tilting mechanism Torque constant of the lifting motor Lead screw Transmission ratio and transmission efficiency .

[0114] It should be noted that the parameters of the first motor 1 and the second motor 2 are identical, and their torque constants are both... .

[0115] S233.b2, calculate the dynamic effective lever arm of the lifting end, expressed as:

[0116]

[0117] In the formula, This refers to the actual angle of the flipping mechanism, which is collected in real time.

[0118] Dynamic effective lever arm of the lifting end The effective lever arm of the workpiece's center of gravity relative to the force-bearing surface of the lifting mechanism determines the magnitude of the load disturbance across the lifting end of the mechanism.

[0119] The initial static offset of the workpiece's center of gravity relative to the center of rotation is given. This is a trigonometric function transformation term for the flip angle, enabling dynamic updating of the lever arm as the flip angle changes.

[0120] S233.b3, calculate the dynamic load disturbance across the lifting end mechanism, expressed as: ;in, This is the reference value for the lifting end lever arm when flipping to the zero position.

[0121] Dynamic load disturbance across the lifting end mechanism This is the core cause of the load imbalance in the dual lifting motors. Used for normalization calculations to ensure dimensional consistency.

[0122] S233.b4, the feedforward compensation amount of the center of gravity of the lifting end with equal amplitude and in phase is obtained through the load-motor control quantity conversion model. The compensation amount is applied to the first motor 1 and the second motor 2 of the lifting mechanism, respectively.

[0123] Using a load-motor control quantity conversion model, load disturbances are mapped to feedforward compensation quantities of the lifting end center of gravity acting on the first lifting motor 1 and the second lifting motor 2. Due to the synchronous drive of the two motors and the uniform distribution of load disturbances, compensation quantities of equal amplitude and in phase are generated. .

[0124] In this embodiment, the mechanical coupling coefficient It can perform online adaptive learning to ensure the accuracy of parameter transformation across institutions. Specifically, it includes the following steps.

[0125] Step 1: Pre-calibrate the reference load torque of the lifting mechanism under the zero-position flipping condition. And store the initial mechanical coupling coefficients. .

[0126] When the tilting mechanism is in the zero position and the lifting mechanism is stationary, the average value of the output torque of the two lifting motors is collected as the reference load torque. Simultaneously, the initial mechanical coupling coefficient was calibrated through offline experiments. They are all stored in the control system.

[0127] Step 2: During the movement of the positioner, the actual output torque of the first motor 1 and the second motor 2 is collected in real time, and the actual average load torque of the lifting mechanism is calculated. .

[0128] This represents the actual load torque experienced by the motor.

[0129] Step 3, based on the current mechanical coupling coefficient Computational model predicts load disturbance And convert it into a model to predict load torque. The conversion formula is:

[0130]

[0131] This represents the motor load torque that should theoretically result from the shift in the center of gravity.

[0132] This conversion formula is used to transform the theoretically calculated lifting end load disturbance. This is converted into the load torque that the motor shaft should bear, which is the theoretical load that the motor should perceive.

[0133] Due to the shift in center of gravity and the angle of rotation and coupling coefficient The combined determination represents the equivalent axial force generated on the lifting mechanism due to the workpiece's rotation. Lead screw pitch. (mm / r) and transmission ratio The product of axial linear motion and motor rotational motion mechanically converts axial force into linear motion, reflecting the physical relationship between axial force and motor shaft torque. Convert linear displacement into rotational radians; Transmission efficiency reflects the energy loss during mechanical transmission. This conversion formula is based on the physical principle of "force × lever arm / efficiency," mapping the axial disturbance load borne by the lifting mechanism to the theoretical load torque that the motor needs to output, thus enabling feedforward compensation and parameter identification.

[0134] Step 4: Calculate the deviation between the model-predicted load torque and the actual average load torque. Based on this deviation, the coupling coefficient is incrementally and adaptively corrected. The correction formula is as follows:

[0135]

[0136] This correction formula is used to determine the deviation between the actual load torque and the theoretically predicted load torque. Reverse correction of coupling coefficient This allows the model to gradually approximate the real physical system.

[0137] This is the difference between the actual load torque (sensed by the motor) and the theoretically predicted load torque. If... This indicates that the actual load is greater than the theoretical prediction, meaning that the current coupling coefficient is lower. The impact of tilting on the lifting mechanism is underestimated; conversely, it is overestimated. (Denominator) This reflects the degree of influence of the unit coupling coefficient change on the motor torque, and is essentially a "load disturbance". right The equivalent gain of "sensitivity" after transmission conversion.

[0138] This correction formula adjusts the coupling coefficient in the reverse direction based on the deviation between the actual and theoretical torque. This ensures that the load disturbances predicted by the model are consistent with the actual system. Essentially, it's an online model identification mechanism that enables the control model to adapt to changes in workpiece mass, center of gravity, mechanical wear, etc., while maintaining feedforward control accuracy.

[0139] Step 5, adjust the corrected coupling coefficients. As the next control cycle .

[0140] This embodiment addresses the global coupled vibration interference during the coordinated movement of the lifting and tilting mechanisms of a positioner. Based on real-time acquired vibration acceleration signals from the target area of ​​the positioner, it generates decoupling control quantities for the lifting end of the lifting mechanism (first motor 1 and second motor 2) and for the tilting end of the tilting mechanism (third motor 3) through vibration signal calculation, modal decoupling, and control quantity mapping. This decouples vibration interference from the mechanism's motion control, suppressing the impact of vibration on the positioner's positioning accuracy and processing stability. Specifically, step S233, generating decoupling control quantities based on the vibration acceleration signals, includes the following steps.

[0141] S233.c1, for vibration acceleration signals By performing time-domain integration, the vibration displacement can be calculated. For vibration displacement Modal decomposition was performed to identify the coupled vibration displacements at the lifting and lowering ends. Coupled vibration displacement of the flipping end .

[0142] A triaxial vibration acceleration sensor is placed at the workpiece machining reference area of ​​the positioner (the core point of vibration interference, which is the target acquisition point) to collect the vibration acceleration time-domain signal in real time during the positioner's movement towards the target position. The sampling frequency is synchronized with the sampling frequency of the positioner motion control to ensure consistent control timing.

[0143] For the original vibration acceleration signal Preprocessing is performed, and high-frequency noise is filtered out using a low-pass filtering algorithm to obtain the effective vibration acceleration signal. The filtering formula is:

[0144]

[0145] in, This is the length of the filtering window. The signal sampling time interval is used to eliminate the interference of environmental noise and sensor noise on vibration calculation through preprocessing.

[0146] Based on the preprocessed effective vibration acceleration signal Vibration velocity is calculated by time-domain integration. and vibration displacement The core characteristic quantity of the vibration is obtained, and the calculation formula is:

[0147]

[0148] in, This is the time variable for integration.

[0149] Based on the mechanical modal characteristics of the positioner's lifting-tilting coordinated motion, the vibration displacement... Modal decomposition was performed to identify the vibration components coupled to the lifting mechanism and the tilting mechanism, respectively, i.e., the coupled vibration displacement at the lifting end. Coupled vibration displacement of the flipping end ,satisfy This enables precise decoupling of global vibration from the vibration of individual components.

[0150] Specifically, this embodiment is based on the mechanical modal characteristics of the lifting-tilting coordinated motion of the positioner, and achieves accurate identification of vibration components through offline modal pre-identification and online signal decomposition. Modal tests are performed on the entire positioner in advance through experimental modal analysis (EMA) or finite element simulation (FEA) to identify the natural frequencies and mode shapes of the lifting and tilting mechanisms, establish a modal database, and clarify the vibration characteristic frequency bands and mode shapes coupled to the lifting and tilting mechanisms respectively in the whole-domain vibration.

[0151] During real-time control, the pre-processed vibration displacement signal By employing bandpass filtering or modal filtering algorithms, combined with offline pre-identified modal parameters, the signal is separated according to the modal characteristics of the mechanism: the vibration components of the corresponding lifting mechanism modal frequency band are extracted to obtain the coupled vibration displacement of the lifting end. Extract the vibration components of the corresponding modal frequency band of the flipping mechanism to obtain the coupled vibration displacement of the flipping end. ; Ensure that the decomposition satisfies This enables precise decoupling of global vibration from the vibration of individual components.

[0152] S233.c2, based on pre-calibrated vibration decoupling coefficients Generate equal-amplitude and in-phase decoupling control quantities for the lifting and lowering ends. , respectively acting on the first motor 1 and the second motor 2.

[0153] A linear mapping model of vibration displacement and motor control quantity is constructed. The coupled vibration displacements of the decoupled lifting end and the flipping end are converted into decoupled control quantities that can be directly applied to the corresponding motors. The mapping relationship is based on the mechanical transmission characteristics of the positioner and the pre-calibrated rated parameters of the motor to ensure the accuracy of vibration suppression.

[0154] Taking advantage of the synchronous drive characteristic of the dual motors in the lifting mechanism, a decoupled control quantity for the lifting end with equal amplitude and in-phase is generated. This is used to counteract vibration interference coupled to the lifting mechanism, and the calculation formula is:

[0155]

[0156] in, The vibration decoupling coefficient is pre-calibrated and stored in the control system based on the vibration suppression requirements of the positioner and the motor torque characteristics. It can be adaptively adjusted according to the vibration amplitude.

[0157] S233.c3, based on pre-calibrated vibration decoupling coefficients Modal correction coefficients for the flipping mechanism Generate decoupling control quantity for the flip end , which acts on the third motor 3.

[0158] To address the single-motor drive characteristic of the tilting mechanism, a torque-matched decoupling control quantity for the tilting end is generated. The formula for calculating the vibration interference coupled to the tilting mechanism is as follows:

[0159]

[0160] in, The modal correction coefficient of the flipping mechanism is used to match the mechanical transmission ratio and rotational inertia characteristics of the flipping mechanism, ensuring the torque adaptability of the decoupling control quantity at the flipping end. The negative sign in the formula indicates that the decoupling control quantity and the vibration displacement are in opposite directions to compensate for each other, thereby achieving active suppression of vibration.

[0161] During the movement of the positioner toward the target workstation, the control system superimposes and distributes the control quantities of each dimension according to the characteristics of the mechanism to form the final motor control output, so as to achieve coordinated control of multi-disturbance suppression and high-precision trajectory tracking.

[0162] Considering the characteristic that the lifting mechanism is synchronously driven by the first motor 1 and the second motor 2, the lifting position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are linearly superimposed as the final control output of the first motor 1 and the second motor 2. The lifting position tracking control quantity is used to correct the positional deviation between the actual height of the lifting mechanism and the target trajectory, ensuring accurate positioning of the lifting motion. The synchronization compensation quantity is used to eliminate the positional synchronization error caused by mechanical differences and uneven load between the first motor 1 and the second motor 2, preventing torsional deformation of the lifting frame. The center of gravity feedforward compensation quantity is used to pre-compensate for cross-mechanism load disturbances caused by the workpiece's center of gravity offset, stabilizing the load distribution between the two motors. The decoupling control quantity is used to suppress vibration interference and coupling oscillations between various control quantities, improving system stability and robustness. After the four types of control quantities are superimposed, they work together on the first motor 1 and the second motor 2 to achieve multi-dimensional collaborative control of position tracking, synchronization assurance, disturbance pre-compensation, and vibration suppression, ensuring that the lifting mechanism runs smoothly, accurately, and synchronously to the target height.

[0163] Considering the characteristic that the flipping mechanism is independently driven by the third motor 3, the flipping position tracking control quantity, the center of gravity feedforward compensation quantity, and the decoupling control quantity are linearly superimposed as the final control output of the third motor 3. The flipping position tracking control quantity is used to correct the angular deviation between the actual angle of the flipping mechanism and the target trajectory, ensuring precise adjustment of the workpiece's posture. The center of gravity feedforward compensation quantity is used to pre-compensate for the flipping bias torque caused by the workpiece's center of gravity offset, avoiding swaying or jamming during the flipping process. The decoupling control quantity is used to suppress vibration interference and control quantity coupling oscillation, improving the smoothness of the flipping motion. After being superimposed, these three control quantities work together on the third motor 3 to achieve angle tracking, torque pre-compensation, and vibration suppression control, ensuring that the flipping mechanism smoothly and accurately adjusts to the target angle.

[0164] By superimposing control quantities according to the characteristics of the mechanism, the control objectives and disturbance suppression requirements of the lifting and tilting mechanisms are guaranteed, and the coordinated cooperation of multi-dimensional control logic is realized. This avoids the limitations of single control quantity adjustment, improves the overall positioning accuracy, motion stability and operational reliability of the positioner, and adapts to the high precision and high stability requirements of CNC flexible machining of large integrated die-cast parts.

[0165] Specifically, the superposition of various control quantities is achieved through the real-time computing unit of the PLC / motion controller. First, all control quantities (position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, decoupling control quantity) are quantized into motor control signals of the same dimension, such as current setpoint, torque setpoint, or position loop output value, to ensure the mathematical validity of the superposition operation.

[0166] The control system performs linear addition operations in each control cycle according to the mechanism type. Lifting mechanism (first motor 1, second motor 2):

[0167]

[0168]

[0169] in, For lifting position tracking control quantity, For synchronous compensation amount, This is the feedforward compensation amount for the center of gravity of the lifting end. This is the decoupling control quantity for the lifting end. These are the final control outputs for the first motor 1 and the second motor 2, respectively, with equal amplitude and phase to ensure synchronous drive of the two motors.

[0170] Tilting mechanism (third motor 3):

[0171]

[0172] in, For flip position tracking control, This is the feedforward compensation amount for the center of gravity at the flip end. For decoupling control of the flip end, This is the final control output for the third motor 3.

[0173] After the superposition operation is completed, the control system will finally control the output. The signal is mapped to a control signal that the motor driver can recognize and sent to the corresponding motor driver. Based on the received control signal, the motor driver adjusts the motor's current / torque / speed to drive the lifting mechanism and tilting mechanism to complete the corresponding movements, achieving the goal of coordinated control of multiple control quantities.

[0174] The foregoing has described in detail an embodiment of a positioner control method for different workpieces. Based on the positioner control method for different workpieces described in the above embodiment, this invention also provides a positioner control system for different workpieces corresponding to the method.

[0175] Figure 4This is a schematic block diagram of a positioner control system for different workpieces provided in an embodiment of the present invention. In this embodiment, the positioner control system for different workpieces can be divided into multiple functional modules according to the functions it performs, such as... Figure 4 As shown, it includes a processing recipe configuration module and a positioner control module. The module referred to in this invention is a series of computer program segments that can be executed by at least one processor and perform a fixed function, and is stored in memory.

[0176] The control system of this embodiment is applied to an integrated die-casting CNC flexible machining production line. The positioner includes a lifting mechanism driven by a first motor 1 and a second motor 2, and a tilting mechanism driven by a third motor 3.

[0177] The processing recipe configuration module is used to configure and store processing recipes for different workpiece models through a human-machine interface. The processing recipe contains a sequence of target position parameters for N processing stations corresponding to the workpiece model. The target position parameters include target height and target angle.

[0178] The positioner control module is used to retrieve the corresponding processing recipe from the storage unit according to the currently selected workpiece model, and control the positioner to move sequentially to the target position of each station in the processing recipe.

[0179] During the movement of the positioner towards the target position, the positioner control module executes the following control steps:

[0180] The output shaft rotation angle of the first motor 1 and the second motor 2, the actual position of the lifting mechanism and the tilting mechanism, and the vibration acceleration signal of the target part of the positioner are collected in real time.

[0181] Based on the target position, the motion trajectory of the target position is generated by fifth-order polynomial interpolation, and the position deviation between the actual position and the motion trajectory of the target position is calculated. The position deviation is input into the PID controller to generate position tracking control quantity, including lifting position tracking control quantity and flipping position tracking control quantity.

[0182] The synchronization error between the first motor 1 and the second motor 2 is calculated based on their output shaft rotation angles, and a synchronization compensation amount is generated based on the synchronization error. A center of gravity feedforward compensation amount is generated based on the workpiece's center of gravity coordinates and the actual angle of the flipping mechanism, and a decoupling control amount is generated based on the vibration acceleration signal.

[0183] The lifting position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the first motor 1 and the second motor 2; the flipping position tracking control quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the third motor 3.

[0184] The positioner control system for different workpieces in this embodiment is used to implement the aforementioned positioner control method for different workpieces. Therefore, the specific implementation of this system can be found in the embodiment section of the positioner control method for different workpieces above. Thus, the specific implementation can be referred to the description of the corresponding embodiments, which will not be elaborated here.

[0185] Furthermore, since the positioner control system for different workpieces in this embodiment is used to implement the aforementioned positioner control method for different workpieces, its function corresponds to the function of the above method, and will not be repeated here.

[0186] Figure 5 This is a schematic diagram of a terminal 500 provided in an embodiment of the present invention, including: a processor 510, a memory 520, and a communication unit 530. The processor 510 is used to implement the flow steps of the above-described embodiment of the positioner control method for different workpieces when implementing the positioner control program for different workpieces stored in the memory 520.

[0187] This invention also provides a computer storage medium, which may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. The computer storage medium stores positioner control programs for different workpieces. When executed by a processor, these positioner control programs implement the process steps of the above-described embodiments of the positioner control method for different workpieces.

[0188] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A positioner control method for different workpieces, applied to an integrated die-casting CNC flexible machining production line, wherein the positioner includes a lifting mechanism driven by a first motor and a second motor, and a tilting mechanism driven by a third motor, characterized in that... Includes the following steps: The human-computer interaction interface is used to configure and store processing recipes for different workpiece models. The processing recipe contains a sequence of target position parameters for N processing stations corresponding to the workpiece model. The target position parameters include target height and target angle. Based on the currently selected workpiece model, the corresponding processing recipe is retrieved from the storage unit, and the positioner is controlled to move sequentially to the target position of each station in the processing recipe; During the movement of the positioner towards the target position, the following control steps are executed: The output shaft rotation angles of the first and second motors, the actual positions of the lifting and tilting mechanisms, and the vibration acceleration signals of the target part of the positioner are collected in real time. Based on the target position, the motion trajectory of the target position is generated by fifth-order polynomial interpolation, and the position deviation between the actual position and the motion trajectory of the target position is calculated. The position deviation is input into the PID controller to generate position tracking control quantity, including lifting position tracking control quantity and flipping position tracking control quantity. The synchronization error between the first and second motors is calculated based on their output shaft rotation angles, and a synchronization compensation amount is generated based on the synchronization error. A center of gravity feedforward compensation amount is generated based on the workpiece's center of gravity coordinates and the actual angle of the flipping mechanism, and a decoupling control amount is generated based on the vibration acceleration signal. The lifting position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the first and second motors; the flipping position tracking control quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the third motor.

2. The positioner control method for different workpieces according to claim 1, characterized in that, Controlling the positioner to move sequentially to the target positions of each station in the processing formula specifically includes: Starting with the current machining station index n=1, perform the following operations in a loop until n=N: trigger the positioner to move to the target position of the nth station; when the positioner reaches the target position of the nth station, send a machining permission signal for the nth station to the CNC machine tool; and after receiving the external trigger signal indicating that the machining of the nth station is complete, update the current machining station index to n+1.

3. The positioner control method for different workpieces according to claim 1, characterized in that, Based on the target location, a smooth target height motion trajectory is generated using fifth-order polynomial interpolation, specifically including: Obtain the starting position of the organization Target location and preset total exercise time , build based on time The fifth-degree polynomial function of the target height trajectory with respect to the independent variable: in, , These are the polynomial coefficients; Set motion constraints: hour, ; hour, ; Substituting the motion constraints into the fifth-order polynomial trajectory function and its first and second derivative expressions, the polynomial coefficients are obtained. Determine the target location and trajectory .

4. The positioner control method for different workpieces according to claim 1, characterized in that, The center of gravity feedforward compensation amount is generated based on the workpiece's center of gravity coordinates and the actual angle of the flipping mechanism. This includes generating the center of gravity feedforward compensation amount acting on the flipping end of the flipping mechanism, specifically: Pre-calibrate and store the workpiece's center of gravity coordinates Workpiece quality , Flip center fixed coordinates and the torque constant of the reversing motor Reduction ratio Transmission efficiency ; The dynamic lever arm offset of the flipping end is calculated by spatial coordinate rotation transformation and expressed as: In the formula, The actual angle of the flipping mechanism is collected in real time; The original bias torque at the flipping end is calculated and expressed as: ; The feedforward compensation amount of the center of gravity of the flipping end is obtained through the torque-motor control quantity conversion model. This compensation amount is applied to the third motor.

5. The positioner control method for different workpieces according to claim 1, characterized in that, The center of gravity feedforward compensation amount is generated based on the workpiece's center of gravity coordinates and the actual angle of the tilting mechanism. This includes generating the center of gravity feedforward compensation amount for the tilting end acting on the lifting mechanism, specifically: Pre-calibrate and store the workpiece's center of gravity coordinates Workpiece quality , Flip center fixed coordinates Mechanical coupling coefficient of lifting and tilting mechanism Torque constant of the lifting motor Lead screw Transmission ratio and transmission efficiency ; The dynamic effective lever arm of the lifting end is calculated and expressed as: In the formula, The actual angle of the flipping mechanism is collected in real time; The dynamic load disturbance across the lifting end mechanism is calculated and expressed as: ;in, This is the reference value for the lifting arm when the flipping position is zero; The feedforward compensation amount of the center of gravity at the lifting end with equal amplitude and in phase is obtained through the load-motor control quantity conversion model. The compensation amount is applied to the first motor and the second motor of the lifting mechanism, respectively.

6. The positioner control method for different workpieces according to claim 5, characterized in that, The method also includes a mechanical coupling coefficient. The steps of online adaptive learning specifically include: The reference load torque of the lifting mechanism is calibrated in advance under the zero-position flipping condition. And store the initial mechanical coupling coefficients. ; During the movement of the positioner, the actual output torque of the first and second motors is collected in real time, and the actual average load torque of the lifting mechanism is calculated. ; Based on the current mechanical coupling coefficient Computational model predicts load disturbance And convert it into a model to predict load torque. The conversion formula is: The deviation between the load torque predicted by the calculation model and the actual average load torque. Based on this deviation, the coupling coefficient is incrementally and adaptively corrected. The correction formula is as follows: The corrected coupling coefficient As the next control cycle .

7. The positioner control method for different workpieces according to claim 1, characterized in that, The decoupling control quantity is generated based on the vibration acceleration signal, specifically including: Vibration acceleration signal By performing time-domain integration, the vibration displacement can be calculated. For vibration displacement Modal decomposition was performed to identify the coupled vibration displacements at the lifting and lowering ends. Coupled vibration displacement with the flipping end ; Based on pre-calibrated vibration decoupling coefficients Generate equal-amplitude and in-phase decoupling control quantities for the lifting and lowering ends. , respectively acting on the first motor and the second motor; Based on pre-calibrated vibration decoupling coefficients Modal correction coefficients for the flipping mechanism Generate decoupling control quantity for the flip end It acts on the third motor.

8. A positioner control system for different workpieces, the system being applied to an integrated die-casting CNC flexible machining production line, the positioner comprising a lifting mechanism driven by a first motor and a second motor, and a tilting mechanism driven by a third motor, characterized in that, include: The processing recipe configuration module is used to configure and store processing recipes for different workpiece models through a human-machine interface. The processing recipe contains a sequence of target position parameters for N processing stations corresponding to the workpiece model. The target position parameters include target height and target angle. The positioner control module is used to retrieve the corresponding processing recipe from the storage unit according to the currently selected workpiece model, and control the positioner to move sequentially to the target position of each station in the processing recipe; During the movement of the positioner towards the target position, the positioner control module executes the following control steps: The output shaft rotation angles of the first and second motors, the actual positions of the lifting and tilting mechanisms, and the vibration acceleration signals of the target part of the positioner are collected in real time. Based on the target position, the motion trajectory of the target position is generated by fifth-order polynomial interpolation, and the position deviation between the actual position and the motion trajectory of the target position is calculated. The position deviation is input into the PID controller to generate position tracking control quantity, including lifting position tracking control quantity and flipping position tracking control quantity. The synchronization error between the first and second motors is calculated based on their output shaft rotation angles, and a synchronization compensation amount is generated based on the synchronization error. A center of gravity feedforward compensation amount is generated based on the workpiece's center of gravity coordinates and the actual angle of the flipping mechanism, and a decoupling control amount is generated based on the vibration acceleration signal. The lifting position tracking control quantity, synchronization compensation quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the first and second motors; the flipping position tracking control quantity, center of gravity feedforward compensation quantity, and decoupling control quantity are superimposed as the final control output of the third motor.

9. A terminal, characterized in that, include: The memory is used to store the positioner control program for different workpieces; A processor is configured to implement the steps of the positioner control method for different workpieces as described in any one of claims 1 to 7 when executing the positioner control program for different workpieces.

10. A computer-readable storage medium, characterized in that, The readable storage medium stores positioner control programs for different workpieces, which, when executed by a processor, implement the steps of the positioner control method for different workpieces as described in any one of claims 1 to 7.

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