A multi-station progressive stamping equipment for high-precision automobile metal part die forgings based on vibration suppression technology and a process thereof

Abstract

The application relates to the technical field of stamping processing, in particular to a multi-station progressive stamping equipment based on vibration suppression technology for high-precision automobile metal part die forgings and a process thereof, which comprises a press body, a servo driving unit and a control unit, further comprises a modal parameter acquisition unit for acquiring modal parameters of at least one vibration mode of the press body under current stamping conditions; a shaping control unit for constructing an input shaper according to the modal parameters and performing convolution operation on a predetermined standard motion track and the input shaper; and an execution unit for controlling the servo driving unit to drive the execution mechanism of the press body according to the shaped motion track. The modal parameters under the current stamping conditions are acquired by the modal parameter acquisition unit, and the input shaper is constructed online according to the modal parameters to shape the motion instruction, so that the residual vibration when the execution mechanism starts and stops is effectively suppressed, and the forming precision and surface quality of the stamping part are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of stamping technology, specifically to a multi-station progressive stamping equipment and process for high-precision automotive metal parts forging based on vibration damping technology. Background Technology

[0002] Multi-station progressive stamping integrates multiple stamping processes, such as blanking, bending, drawing, and flanging, into different stations of the same mold. The material strip is fed into each station sequentially by a feeding mechanism to complete continuous stamping forming. It has the advantages of high production efficiency and stable product quality, and is widely used in the mass production of automotive metal parts.

[0003] In multi-station progressive stamping processes, the frequent start-stop cycles of the press's slide and feeding mechanism generate significant mechanical vibrations. These vibrations affect the forming accuracy of stamped parts, leading to dimensional errors and inconsistent springback. Furthermore, they exacerbate die wear, reduce equipment lifespan, and generate considerable noise. With the automotive industry's ever-increasing demands for component precision, effectively suppressing vibrations during the operation of multi-station progressive stamping equipment has become a pressing technical problem in this field.

[0004] Several technical solutions for vibration control of stamping equipment already exist in the prior art. For example, patent application CN105710246A discloses a rotary continuous automatic feeding mechanism for a stamping press, which reduces impact during the feeding process by optimizing the structural design of the feeding mechanism. Furthermore, patent application CN106020123A discloses a control device, machine tool, and control method, which can be applied to servo control of multi-axis motion of machine tools.

[0005] However, the existing technologies still have the following shortcomings: the existing solutions have a single method for obtaining modal parameters, which cannot adapt to the impact of changes in working conditions such as mold replacement and stamping speed on the dynamic characteristics of the system; the existing solutions lack the ability to comprehensively process multiple vibration modes, and when the system has multiple significant vibration modes, the vibration suppression effect of a single shaper is limited. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention aims to provide a multi-station progressive stamping equipment and process for high-precision automotive metal parts die forging based on vibration suppression technology. The equipment control system integrates online acquisition of modal parameters and generation of multimodal input shaping commands, enabling the equipment to automatically adjust the motion command curve according to the current actual modal characteristics and actively counteract the residual vibration of the slider and feeding mechanism, thereby achieving extremely high positioning accuracy and part quality under high-speed continuous stamping.

[0007] To achieve the above objectives, on the one hand, the present invention provides a multi-station progressive stamping equipment for high-precision automotive metal parts forging based on vibration suppression technology, including a press body, a servo drive unit and a control unit. The press body is provided with multiple stations and a feeding mechanism, and also includes a modal parameter acquisition unit for acquiring modal parameters of at least one vibration mode of the press body under the current stamping conditions. The shaping control unit is communicatively connected to the modal parameter acquisition unit, and is used to construct an input shaper based on the modal parameters, and to perform a convolution operation between the predetermined standard motion trajectory and the input shaper to generate a shaping motion trajectory; The execution unit is communicatively connected to the shaping control unit and is used to control the servo drive unit to drive the execution mechanism of the press body according to the shaping motion trajectory, so as to suppress the residual vibration of the execution mechanism during the start-up and shutdown process.

[0008] As a further improvement to this technical solution, the modal parameter acquisition unit includes an excitation module for applying excitation signals to the moving parts of the press body; The sensing module is used to collect the vibration response signal generated by the moving part in response to the excitation signal; The identification module is used to identify the modal parameters of the at least one vibration mode based on the vibration response signal, the modal parameters including natural frequency and damping ratio.

[0009] As a further improvement to this technical solution, the modal parameter acquisition unit includes a database storing historical modal parameter data and a matching module. The matching module obtains the corresponding modal parameters by matching the characteristic parameters of the current stamping conditions in the database.

[0010] As a further improvement to this technical solution, the input shaper consists of a series of pulse sequences, and is at least one of a ZV shaper, a ZVD shaper, or an EI shaper.

[0011] As a further improvement to this technical solution, the shaping control unit includes a multimodal synthesis module, which is used to convolve and synthesize multiple sub-input shapers corresponding to each vibration mode into a composite input shaper when the modal parameter acquisition unit acquires modal parameters of multiple vibration modes.

[0012] As a further improvement to this technical solution, the actuator includes a slider and / or a feeding mechanism, and the shaping motion trajectory includes the slider motion trajectory and / or the feeding mechanism motion trajectory.

[0013] As a further improvement to this technical solution, a feedback correction module is also included, which is used to obtain the actual motion state of the actuator and to perform feedback correction on the shaping motion trajectory based on the deviation between the actual motion state and the shaping motion trajectory.

[0014] On the other hand, the present invention provides a processing technology for a multi-station progressive stamping equipment for high-precision automotive metal part die forgings based on vibration damping technology, comprising the following steps: S1. Obtain the modal parameters of at least one vibration mode of the press body under the current stamping conditions; S2. Construct an input shaper based on the modal parameters; S3. Perform a convolution operation between the predetermined standard motion trajectory and the input shaper to generate a shaped motion trajectory; S4. Drive the actuator of the press body according to the shaping motion trajectory to suppress the residual vibration of the actuator during the start-up and / or stop process, and complete the multi-station progressive stamping.

[0015] As a further improvement to this technical solution, step S1 includes: S11. Apply an excitation signal to the moving parts of the press body; S12. Acquire the vibration response signal generated by the moving part in response to the excitation signal; S13. Identify the modal parameters of the at least one vibration mode based on the vibration response signal, wherein the modal parameters include the natural frequency and the damping ratio.

[0016] As a further improvement to this technical solution, step S4 also includes: S41. During the operation of the actuator, the actual motion state of the actuator is obtained; S42. Based on the deviation between the actual motion state and the shaping motion trajectory, feedback correction is performed on the subsequent shaping motion trajectory.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This high-precision automotive metal part die forging equipment and its process based on vibration suppression technology acquires modal parameters under the current stamping conditions through a modal parameter acquisition unit, and constructs an online input shaper to shape the motion command accordingly, which can effectively suppress residual vibration when the actuator starts and stops; by setting an online modal parameter acquisition method of excitation-response-identification, it can adapt to the changes in system dynamic characteristics under different dies and different stamping speeds, significantly improving the forming accuracy and surface quality of the stamped parts.

[0018] 2. This high-precision automotive metal part die forging equipment and its process based on vibration suppression technology combines multiple sub-input shapers into a composite input shaper through a multi-modal synthesis module. This enables simultaneous vibration suppression of the slider and feeding mechanism, achieving coordinated vibration suppression of multiple actuators. It is suitable for systems with complex dynamic characteristics, such as multi-station progressive stamping equipment.

[0019] 3. The multi-station progressive stamping equipment and process for high-precision automotive metal parts die forging based on vibration suppression technology can compensate for model errors and external disturbances by real-time correction of the forming motion trajectory through a feedback correction module, thereby further improving the robustness of vibration suppression. Attached Figure Description

[0020] The accompanying drawings described herein are for illustrative purposes only.

[0021] Figure 1 This is a block diagram illustrating the control principle of the control unit of the present invention; Figure 2 This is a schematic diagram of the input shaper principle of the present invention; Figure 3 This is a schematic diagram of the control flow of a multi-axis simultaneous vibration suppression embodiment of the present invention. Detailed Implementation

[0022] Under the guidance of this invention, any possible variations of this invention should be considered within the scope of this invention.

[0023] Please see Figures 1-3 As shown, the present invention provides a multi-station progressive stamping equipment for high-precision automotive metal parts forging based on vibration suppression technology, including a press body, a servo drive unit, and a control unit. The press body is provided with multiple stations and a feeding mechanism, and also includes a modal parameter acquisition unit, a forming control unit, an execution unit, and a feedback correction module. The feedback correction module is used to acquire the actual motion state of the execution mechanism and to perform feedback correction on the forming motion trajectory based on the deviation between the actual motion state and the forming motion trajectory.

[0024] Specifically, the modal parameter acquisition unit is used to acquire the modal parameters of at least one vibration mode of the press body under the current stamping conditions; The modal parameter acquisition unit includes an excitation module, which is used to apply excitation signals to the moving parts of the press body; The sensing module is used to collect the vibration response signal generated by the moving parts in response to the excitation signal; The identification module is used to identify the modal parameters of at least one vibration mode based on the vibration response signal. The modal parameters include the natural frequency and the damping ratio. A database storing historical modal parameter data and a matching module are included. The matching module retrieves the corresponding modal parameters from the database based on the characteristic parameters of the current stamping conditions.

[0025] Specifically, the shaping control unit is communicatively connected to the modal parameter acquisition unit, which is used to construct an input shaper based on the modal parameters, and to perform a convolution operation between the predetermined standard motion trajectory and the input shaper to generate a shaping motion trajectory; The input shaper consists of a series of pulse sequences and is at least one of a ZV shaper, a ZVD shaper, or an EI shaper. The shaping control unit includes a multi-modal synthesis module, which, when the modal parameter acquisition unit acquires modal parameters of multiple vibration modes, convolves and synthesizes multiple sub-input shapers corresponding to each vibration mode into a composite input shaper.

[0026] Specifically, the execution unit is communicatively connected to the shaping control unit and is used to control the servo drive unit to drive the actuator of the press body according to the shaping motion trajectory, so as to suppress residual vibration of the actuator during the start-up and shutdown process. The actuator includes a slider and / or a feeding mechanism, and the shaping motion trajectory includes the slider motion trajectory and / or the feeding mechanism motion trajectory.

[0027] The processing technology of the multi-station progressive stamping equipment for high-precision automotive metal component die forgings based on vibration damping technology of the present invention includes the following steps: S1. Obtain the modal parameters of at least one vibration mode of the press body under the current stamping conditions; S11. Apply an excitation signal to the moving parts of the press body; S12. Acquire the vibration response signal generated by the moving parts in response to the excitation signal; S13. Identify the modal parameters of at least one vibration mode based on the vibration response signal. The modal parameters include the natural frequency and the damping ratio. S2. Construct an input shaper based on modal parameters; S3. Perform a convolution operation between the predetermined standard motion trajectory and the input shaper to generate a shaped motion trajectory; S4. Drive the actuator of the press body according to the forming motion trajectory to suppress the residual vibration of the actuator during the start-up and / or stop process, and complete the multi-station progressive stamping. S41. During the operation of the actuator, obtain the actual motion state of the actuator; S42. Based on the deviation between the actual motion state and the shaping motion trajectory, feedback correction is performed on the subsequent shaping motion trajectory.

[0028] Specifically, accelerometers or laser displacement sensors are installed at key locations such as the press body slide, upper die holder, and end effector of the feeding robot. After each die change or adjustment of the stamping stroke, the modal parameters of the system—natural frequency and damping ratio—are automatically acquired through short-term excitation, such as small-stroke tapping or step commands, and stored in the process parameter—vibration characteristic database.

[0029] Multimodal input shaper generation module: Based on the identified multiple modal frequencies, such as the first-order bending mode of the slider and the pitch mode of the feed arm, design zero-vibration (ZV), zero-vibration differential (ZVD), or extremely insensitive (EI) shapers. For multiple modes, a total input shaper is generated using a convolution synthesis method.

[0030] Online motion curve shaping module: In the servo controller or upper industrial control computer, the original process command, such as the slider rising 50mm from rest and then falling, generates a standard displacement / velocity curve, which is then convolved with the above-mentioned total input shaper to generate a shaped motion command in real time, which is then sent to the servo motor to drive the crank connecting rod or multi-link mechanism.

[0031] Vibration suppression effect verification and self-correction module: Real-time monitoring of residual vibration amplitude during stamping process. If the amplitude exceeds the limit, the parameters of the shaper are adjusted, such as fine-tuning the damping ratio, to achieve adaptive vibration suppression.

[0032] The above processing technology can be summarized as follows: identifying or obtaining modal parameters → generating an input shaper → instructing shaping → executing stamping and feeding.

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0034] Example 1: Equipment, input shaper construction, and motion command shaping; The multi-station progressive stamping equipment employs a 3500-ton multi-link multi-station press equipped with a three-axis servo feeding mechanism. The press slide is driven by a first servo motor via a crank-connecting rod mechanism, while the feeding robot is driven by a second and third servo motor for lateral movement and lifting. Three-axis accelerometers (e.g., PCB 356A16) are mounted on the upper surface of the slide and the end of the feeding robot, respectively, and connected to a real-time controller such as a Beckhoff CX2040, forming the hardware foundation for modal parameter acquisition.

[0035] Before the equipment is put into operation, a database of mold-operating conditions-modal parameters is established. For several commonly used molds, under typical stamping strokes and cycle times, the vertical first-order bending modal frequency and damping ratio of the slider, and the horizontal first-order modal frequency and damping ratio of the feed arm are measured using the speed ramp excitation method and stored in the database.

[0036] After changing the mold, the operator selects the mold number on the HMI, and the control system retrieves the corresponding modal parameters from the database. The input shaper generation module first designs a zero-vibration differential shaper for each mode. The pulse amplitude of the ZVD shaper... and duration of action Determined by the following standard formula: ; ; ; , , ; Among them, attenuation coefficient and damped natural angular frequency Defined as: , ; in, Expressed as the natural frequency of a mode, in Hertz; The damping ratio is expressed as a modal and is dimensionless. It is expressed as the undamped natural angular frequency, with units of radians per second; It is expressed as the damped natural angular frequency, with units of radians per second; Expressed as the amplitude attenuation coefficient, derived from the damping ratio Decide; , , The amplitudes of the first, second, and third pulses of the ZVD shaper are shown in sequence. , , The duration of each pulse is shown in seconds.

[0037] Calculate using the standard formula and substituting the current modal parameters. The slider frequency corresponding to the mold used in this calculation is... =15.2Hz, damping ratio =0.018.

[0038] Slider mode: ≈95.43 radians / second ≈0.945.

[0039] Obtain the pulse sequence of the slider ZVD shaper: =0.284, =0.503, =0.213, duration of action =0ms, =32.9ms, =65.8ms.

[0040] Feeding mechanism mode: Horizontal frequency of the feeding mechanism =8.5Hz, damping ratio =0.025, similarly we get ≈53.38 radians / second ≈0.924.

[0041] Shaper pulse sequence: =0.265, =0.508, =0.227, time =0ms, =58.9ms, =117.8ms. Convolving the two together to form a multimodal input shaper, we obtain a new sequence with 4 pulses, the amplitude of which can be obtained by discrete convolution.

[0042] The forming control unit pre-sets a standard trapezoidal speed curve for the slider based on the stamping cycle process: 100ms rise, 50ms pause, and 100ms fall. This speed curve is numerically convolved with the aforementioned multimodal input forming device to generate a shaped speed command. This command includes a slight pre-programmed reverse motion in the start and stop segments, which precisely counteracts residual vibration. The servo drive system controls the first servo motor according to this command, while the standard lateral movement curve of the feeding mechanism is also convolved through the same multimodal forming device to drive the second servo motor. In actual operation, the peak residual vibration after the slider reaches the top dead center decreases from 0.15mm to less than 0.02mm, the feeding positioning accuracy improves from ±0.08mm to ±0.02mm, and the hole spacing tolerance of the stamped part stabilizes at ±0.03mm, meeting the precision standards for die forgings.

[0043] Example 2: Special scenario of simultaneous vibration suppression on multiple axes; In multi-station stamping, to improve cycle time, the slide return and the robotic arm feeding lateral movement often occur simultaneously. At this time, the two types of vibrations couple, exacerbating resonance. This embodiment discloses a method for simultaneous multi-axis vibration suppression.

[0044] Reference Figure 3 When the control system plans synchronous actions, the modal parameter acquisition module updates parameters in real time through online excitation identification: when the slider is running at low speed under no-load, the control unit sends a 10ms speed step command, and simultaneously collects the vibration response of the slider and the robot arm, using fast Fourier transform to identify the current modal frequency: slider =15.0Hz, damping ratio =0.020; Horizontal movement of the robotic arm =8.2Hz, damping ratio =0.030. The input shaper generation module adopts the same method as in Example 1, designing its own ZVD shaper, and then convolving them into a multimodal shaper. Then, the shaping control unit convolves the standard return displacement curve of the slider with the multimodal shaper to generate slider shaping instructions; it also convolves the standard displacement curve of the robot arm's lateral movement with this multimodal shaper to obtain robot arm shaping instructions.

[0045] These two shaping commands are synchronously sent to the first and second servo motors within the same control cycle via the EtherCAT bus. Because the shaper considers both modal frequencies simultaneously, it can cancel vibrations in both directions separately, and will not generate new excitations due to coupling. Comparative experiments show that without simultaneous vibration suppression, the end-effector vibration amplitude reaches 0.25mm when the slider and robot move simultaneously, resulting in a high probability of feed deviation. With the scheme described in this embodiment, the vibration amplitude is less than 0.03mm, the cycle time can be stabilized at 25 times / minute, and the product consistency is excellent.

[0046] For further simplification, the slider and the robot can be shaped using their respective single-mode input shapers and then executed synchronously. This can also effectively suppress their respective vibrations, but the multi-mode synthesis shaper suppresses the coupling components more thoroughly.

[0047] Example 3: Feedback Adaptive Correction; The feedback correction module in the control unit continuously monitors the vibration sensor signal and calculates the residual vibration peak value. When this value exceeds a set threshold, such as 0.04 mm, it indicates that the modal parameters have drifted due to temperature, mold wear, etc. The module automatically adjusts the damping ratio parameter in the shaper in small steps and observes the vibration suppression effect in subsequent cycles until the vibration recovers below the threshold. This self-correcting mechanism allows the equipment to maintain high accuracy during long-term operation without manual intervention.

[0048] The above embodiments fully illustrate that the present invention deeply integrates input shaping technology with multi-station progressive stamping. Through adaptive acquisition of modal parameters, synthesis of multi-modal shapers, and multi-axis synchronous command shaping, it has achieved practical application and simultaneous multi-axis vibration suppression on this type of equipment for the first time, significantly improving equipment performance and stamping quality, and enabling progressive stamping parts to reach the precision level of die forgings.

[0049] Example 4: Database-matched modal parameter acquisition; This embodiment details the specific implementation method for obtaining modal parameters using database matching.

[0050] For multi-station progressive stamping equipment of the same model, long-term use involves various combinations of dies and stamping process parameters, such as stamping speed and stamping stroke. Performing online identification every time a die is changed or process parameters are adjusted would consume production time and affect production efficiency. Therefore, this embodiment provides a modal parameter acquisition method based on database matching.

[0051] The modal parameter acquisition unit includes a database and a matching module. The database stores historical modal parameter data. Each data record includes: mold identification, stamping speed, stamping stroke, and other working condition characteristic parameters, as well as the corresponding modal parameters, natural frequencies, and damping ratios of each vibration mode. The data in the database comes from the accumulated data after each online identification.

[0052] After the equipment completes mold installation or process parameter adjustment, the matching module performs a matching query in the database based on the characteristic parameters of the current stamping conditions, such as the current mold identifier, the set stamping speed, and the stamping stroke. If a historical record of the same or similar working conditions is found, the corresponding modal parameters are directly retrieved for use by the forming control unit.

[0053] If no modal parameters for the current operating condition are found in the database, the online identification process described in Example 2 is initiated, and the identified modal parameters are associated with the characteristic parameters of the current operating condition and stored in the database for direct retrieval in subsequent identical operating conditions. Through this database matching method, the preparation time after mold replacement or process adjustment can be significantly shortened, thereby improving production efficiency, while ensuring the accuracy of the modal parameters.

[0054] It should be noted that the terms "fixed connection" and "fixed installation" in this invention should be interpreted broadly, and can be achieved using conventional fixing methods such as bolt connection, welding, bonding, or integral molding that are compatible with each other. The specific connection relationship between the components is based on the ability to achieve the function of this invention. The above are existing technologies and will not be elaborated further here. The above embodiments are only for illustrating the technical concept and features of this invention, and their purpose is to enable those skilled in the art to understand the content of this invention and implement it accordingly. They should not be used to limit the scope of protection of this invention. All equivalent changes or modifications made according to the spirit and essence of this invention should be covered within the scope of protection of this invention.

Claims

1. A multi-station progressive stamping equipment for high-precision automotive metal component forgings based on vibration damping technology, comprising a press body, a servo drive unit, and a control unit, wherein the press body is provided with multiple stations and a feeding mechanism, characterized in that: It also includes a modal parameter acquisition unit, used to acquire modal parameters of at least one vibration mode of the press body under the current stamping conditions; The shaping control unit is communicatively connected to the modal parameter acquisition unit, and is used to construct an input shaper based on the modal parameters, and to perform a convolution operation between the predetermined standard motion trajectory and the input shaper to generate a shaping motion trajectory; The execution unit is communicatively connected to the shaping control unit and is used to control the servo drive unit to drive the execution mechanism of the press body according to the shaping motion trajectory, so as to suppress the residual vibration of the execution mechanism during the start-up and shutdown process.

2. The multi-station progressive stamping equipment for high-precision automotive metal component forgings based on vibration suppression technology according to claim 1, characterized in that: The modal parameter acquisition unit includes an excitation module, which is used to apply excitation signals to the moving parts of the press body; The sensing module is used to collect the vibration response signal generated by the moving part in response to the excitation signal; The identification module is used to identify the modal parameters of the at least one vibration mode based on the vibration response signal, the modal parameters including natural frequency and damping ratio.

3. The multi-station progressive stamping equipment for high-precision automotive metal component forgings based on vibration suppression technology according to claim 2, characterized in that: The modal parameter acquisition unit includes a database storing historical modal parameter data and a matching module. The matching module obtains the corresponding modal parameters by matching the characteristic parameters of the current stamping conditions in the database.

4. The multi-station progressive stamping equipment for high-precision automotive metal part forgings based on vibration suppression technology according to claim 3, characterized in that: The input shaper consists of a series of pulse sequences and is at least one of a ZV shaper, a ZVD shaper, or an EI shaper.

5. The multi-station progressive stamping equipment for high-precision automotive metal part forgings based on vibration damping technology according to claim 4, characterized in that: The shaping control unit includes a multimodal synthesis module, which is used to convolve and synthesize multiple sub-input shapers corresponding to each vibration mode into a composite input shaper when the modal parameter acquisition unit acquires modal parameters of multiple vibration modes.

6. The multi-station progressive stamping equipment for high-precision automotive metal part forgings based on vibration suppression technology according to claim 5, characterized in that: The actuator includes a slider and / or a feeding mechanism, and the shaping motion trajectory includes the slider motion trajectory and / or the feeding mechanism motion trajectory.

7. The multi-station progressive stamping equipment for high-precision automotive metal part forgings based on vibration suppression technology according to claim 6, characterized in that: It also includes a feedback correction module, which is used to obtain the actual motion state of the actuator and to perform feedback correction on the shaping motion trajectory based on the deviation between the actual motion state and the shaping motion trajectory.

8. A processing technology for a multi-station progressive stamping equipment for high-precision automotive metal forgings based on vibration suppression technology, using the multi-station progressive stamping equipment for high-precision automotive metal forgings based on vibration suppression technology as described in claim 7, characterized in that... Includes the following steps: S1. Obtain the modal parameters of at least one vibration mode of the press body under the current stamping conditions; S2. Construct an input shaper based on the modal parameters; S3. Perform a convolution operation between the predetermined standard motion trajectory and the input shaper to generate a shaped motion trajectory; S4. Drive the actuator of the press body according to the shaping motion trajectory to suppress the residual vibration of the actuator during the start-up and / or stop process, and complete the multi-station progressive stamping.

9. The processing technology of the multi-station progressive stamping equipment for high-precision automotive metal part die forgings based on vibration suppression technology according to claim 8, characterized in that, Step S1 includes: S11. Apply an excitation signal to the moving parts of the press body; S12. Acquire the vibration response signal generated by the moving part in response to the excitation signal; S13. Identify the modal parameters of the at least one vibration mode based on the vibration response signal, wherein the modal parameters include the natural frequency and the damping ratio.

10. The processing technology of the multi-station progressive stamping equipment for high-precision automotive metal part die forgings based on vibration suppression technology according to claim 9, characterized in that: The S4 step also includes: S41. During the operation of the actuator, the actual motion state of the actuator is obtained; S42. Based on the deviation between the actual motion state and the shaping motion trajectory, feedback correction is performed on the subsequent shaping motion trajectory.

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