CN118683113B - Automatic mold changing method and system based on multi-motor synchronization - Google Patents
Automatic mold changing method and system based on multi-motor synchronization Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/26—Programme control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/02—Dies; Inserts therefor; Mounting thereof; Moulds
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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Abstract
The invention provides an automatic die changing method and system based on multi-motor synchronization, which relate to the technical field of data processing and comprise the steps of acquiring a die changing signal and an operation point through a monitoring device sensor, and moving a carrier to convey the die changing operation table according to the operation point, wherein the mobile carrier calculates a deviation signal of the multi-motor based on a control model established for a motor power system, and sets a fast feedback controller based on the deviation signal and a configuration response pole, so that the multi-motor synchronous coupling response of the mobile carrier is realized by establishing a master-slave relationship of the multi-motor; the die changing operation table reaches an operation point position, and meanwhile, the die positioning sensor acquires die coordinates, and according to the die coordinates, a die changing clamping device in the die changing operation table performs clamping action with the aim of minimizing the operation cost under the operation of the action prediction controller, and clamps and replaces the die, wherein the die changing clamping device performs dynamic behavior modeling based on the clamping action.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to an automatic die changing method and system based on multi-motor synchronization.
Background
In the prior art, a manual die changing mode is usually adopted as a main die changing mode, even if a small amount of automatic die changing equipment exists, a positioning and controlling mechanism is not generally provided, so that an operator needs to spend a great deal of time and physical strength in positioning when operating, otherwise, the die cannot be changed or the die and the equipment can be damaged, the labor intensity of the operator is increased, the die is not easy to be quickly changed, the changing work efficiency is low, and the production work is further influenced;
CN202010059339.4 discloses a quick die changing vehicle, which mainly comprises a vehicle frame, a foot wheel set arranged at the bottom of the vehicle frame, a die platform arranged at the top of the vehicle frame and a driving device, wherein the die platform is provided with a positioning block, the driving device drives the foot wheel set to lift, and then the positioning block is driven to be embedded into a positioning groove of equipment, so that positioning and connection are realized; the cross section of the positioning block is trapezoidal, and inclined planes on two sides can play a role in guiding, so that the position fault tolerance rate during positioning connection is improved; the foot wheel set mainly comprises a top cover, a lifting part, a base, a guide post, a guide sleeve and wheels, the distance between the top cover and the base is adjusted through the extension and contraction of the lifting part, so that ascending and descending actions are realized, and the guide post is mainly used for guaranteeing the stability of the lifting action. By using the invention, the time for positioning and connecting the die changing vehicle and the equipment when the die is changed can be greatly reduced, the labor intensity of staff is reduced, and the production efficiency is further improved;
In summary, providing powerful control calculation for the mold changing device, and accurate positioning is a key point of automatic mold changing.
Disclosure of Invention
The embodiment of the invention provides an automatic die changing method and system based on multi-motor synchronization, which at least can solve part of problems in the prior art.
In a first aspect of an embodiment of the present invention,
The utility model provides an automatic die changing method based on multi-motor synchronization, which comprises the following steps:
acquiring a die changing signal and an operation point position through a monitoring device sensor, and moving a carrier to convey the die changing operation table according to the operation point position, wherein the mobile carrier is based on a control model established for a motor power system, calculates deviation signals of multiple motors by monitoring power parameters of all motors in the motor power system, and sets a fast feedback controller by combining configuration response poles based on the deviation signals, so that the multiple motors of the mobile carrier synchronously couple and respond by establishing a master-slave relationship of the multiple motors;
The die changing operation table reaches the operation point position, and meanwhile, the die positioning sensor acquires die coordinates, and according to the die coordinates, a die changing clamping device in the die changing operation table performs clamping action with minimum operation cost as a target under the operation of the action prediction controller, and clamps and replaces a die, wherein the die changing clamping device performs dynamic behavior modeling based on the clamping action.
In an alternative embodiment of the present invention,
The mobile carrier is based on a control model established for a motor power system, power parameters of motors in the motor power system are monitored, deviation signals of multiple motors are calculated, a quick feedback controller is set based on the deviation signals in combination with configuration response poles, and the multiple motors of the mobile carrier synchronously couple and respond by establishing a master-slave relation of the multiple motors, wherein the multiple motors synchronously couple and respond comprises:
Modeling the motor power system based on motor behavior characteristics and motor electrical characteristics to construct a control model;
based on the control model, monitoring power parameters output by each motor in the motor power system, and calculating a deviation signal according to the power parameters and a preset power parameter target value;
Based on motor dynamics, constructing a motor dynamics model, and setting a fast feedback controller by configuring a response pole according to the motor dynamics model and combining the deviation signal;
The rapid feedback controller designates one motor as a main motor, other motors as auxiliary motors, establishes a master-slave relationship of multiple motors, and realizes master-slave synchronous coupling response.
In an alternative embodiment of the present invention,
Modeling the motor power system based on motor behavior characteristics and motor electrical characteristics, and constructing a control model includes:
based on motor behavior characteristics, behavior modeling is performed, and the formula is as follows:
；
wherein Q represents the total torque generated by the motor power system, J represents the rotational inertia of the motor power system, ω represents the angular velocity, Indicating angular acceleration, b indicating a rotational damping coefficient, Q load indicating a load torque;
based on the electrical characteristics of the motor, electrical modeling is performed, and the formula is as follows:
；
wherein V represents the total voltage, R represents the motor resistance, i represents the current flowing through the motor, L represents the motor inductance, Represents the current change rate, e represents the back emf of the motor, and K e represents the back emf constant.
In an alternative embodiment of the present invention,
Based on motor dynamics, constructing a motor dynamics model, according to the motor dynamics model, combining the deviation signal, setting a fast feedback controller by configuring a response pole comprises:
Setting a first transfer function corresponding to the motor dynamic model based on the motor dynamic model;
setting a corresponding second transfer function for the fast feedback controller based on the deviation signal;
And integrating the first transfer function and the second transfer function, setting corresponding closed-loop control rising time and setting time by taking the fastest response as a target, determining a state feedback gain by configuring a response pole, and configuring a state equation of a fast feedback controller based on the state feedback gain and the response pole.
In an alternative embodiment of the present invention,
The die change clamping device for dynamic behavior modeling based on clamping actions comprises:
Determining a connecting rod and a joint point based on a space structure of the die change clamping device, establishing a coordinate system at the joint point, and establishing a relation between the connecting rod and the joint point through dynamic behavior parameters, wherein the dynamic behavior parameters comprise: link length, link torsion angle, link offset, and joint angle;
based on the coordinate systems adjacent to each other, a local transformation matrix is established, and an integral transformation matrix is established through multiplication of the local transformation matrices, so that dynamic behavior modeling is completed;
the local transformation matrix has the following formula:
；
wherein n represents the ordinal numbers of the coordinate system, the joint point and the connecting rod from the base point, A partial transformation matrix representing an nth coordinate system and an n+1th coordinate system, θ n representing a joint angle of an nth joint point, α n representing a link torsion angle of an nth link, l n representing a link length of the nth link, and d n representing a link offset of the nth link;
the overall transformation matrix is expressed as:
；
Wherein, Representing the overall transformation matrix from the base to the endmost articulation point.
In an alternative embodiment of the present invention,
According to the die coordinates, the die changing clamping device in the die changing operation table performs a clamping action with the aim of minimizing the operation cost under the operation of the action prediction controller, and the die clamping and replacing comprises:
Determining an initial state of the die change clamping device, setting the initial state as a current state, and starting action prediction iteration;
The action prediction controller constructs a control cost function based on a preset prediction time window at a time point corresponding to the current state, aims at minimizing the control cost function, determines a predicted action, an optimized state after the predicted action occurs, records the predicted action, and sets the optimized state as the current state;
and repeating the action prediction iteration until all operations are completed, wherein all the prediction actions form clamping actions of the die changing clamping device, and executing the clamping actions to clamp and replace the die.
In an alternative embodiment of the present invention,
Based on a preset prediction time window, constructing a control cost function, aiming at minimizing the control cost function, and determining a prediction action comprises:
Calculating state deviation, and weighting and calculating the state deviation to obtain predicted deviation cost; calculating the control force cost by combining the weight of the control input through the control input of each time point; the predictive deviation cost and the control force cost are combined, the total cost is calculated in an accumulated mode, a control cost function is constructed, the size of an input vector of the controller is adjusted through the adjustment of the input of the controller, the control cost function is minimized, and the formula is as follows:
；
Wherein F represents the manipulation cost function, k represents the time point, Z represents the total time point number, x k represents the system state vector at the kth time point, x ref represents the desired state vector, T represents the transpose of the vector, W represents the weight matrix of the state deviation, u k represents the controller input vector at the kth time point, and H represents the weight matrix of the controller input vector.
In a second aspect of an embodiment of the present invention,
Provided is an automatic mold changing system based on multi-motor synchronization, comprising:
The device comprises a first unit, a second unit, a third unit, a fourth unit, a fifth unit, a sixth unit, a seventh unit and a fourth unit, wherein the first unit is used for acquiring a die changing signal and an operation point position through a monitoring device sensor, and moving a carrying platform to convey the die changing operation platform according to the operation point position, wherein the moving carrying platform is used for calculating deviation signals of multiple motors through monitoring power parameters of motors in a motor power system based on a control model established for the motor power system, setting a fast feedback controller through combining configuration response poles based on the deviation signals, and enabling the multiple motors of the moving carrying platform to synchronously couple and respond through establishing a master-slave relation of the multiple motors;
and the second unit is used for enabling the die changing operation platform to reach the operation point position, enabling the die positioning sensor to acquire die coordinates, and enabling the die changing clamping device in the die changing operation platform to perform clamping action with the aim of minimizing the operation cost under the operation of the action prediction controller according to the die coordinates, so as to clamp and replace the die, wherein the die changing clamping device performs dynamic behavior modeling based on the clamping action.
In a third aspect of an embodiment of the present invention,
There is provided an electronic device including:
A processor;
a memory for storing processor-executable instructions;
Wherein the processor is configured to invoke the instructions stored in the memory to perform the method described previously.
In a fourth aspect of an embodiment of the present invention,
There is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method as described above.
In the embodiment of the invention, in a multi-motor system, synchronous operation of all motors is ensured, and vibration and mechanical stress caused by inconsistent motor speeds or phase difference are reduced; the response speed of the system to the instruction change can be accelerated by utilizing a response pole and a fast feedback controller which are properly configured, and the efficiency of the die changing operation is improved; the synchronous coupling response of multiple motors can reduce mechanical abrasion, prolong the service life of equipment and reduce maintenance cost by optimizing the motion track of the motors and reducing unnecessary overload, so that the system can be accurately controlled, potential danger in the operation process is reduced, and the safety of the whole die changing process is improved; by accurately constructing the model, the motor behavior can be predicted and controlled more accurately, so that the control precision of the whole system is improved, and the energy use of the motor is optimized; the rapid feedback controller can rapidly respond to the change of the system state, so that the dynamic performance of the system is improved, and the stability of the system in the face of disturbance is improved; the synchronous operation reduces energy waste and mechanical abrasion, improves the efficiency of the whole system, simplifies the complexity of multi-motor coordination control by master-slave synchronization, and ensures that the system is easier to manage and maintain; the overall efficiency of the die changing operation is improved by optimizing the control target; the accurate modeling enables the system to adapt to various different moulds and mould changing requirements, and improves the applicability and flexibility of the system; the operation cost is reduced by optimizing the control strategy, the service life of the equipment is prolonged, and the maintenance cost is reduced; the automatic and optimized control reduces the need for human operation, thereby reducing the risk caused by human error; the motion of each joint and connecting rod of the clamping device can be accurately described by using the transformation matrix construction, so that finer and optimized motion control is realized; by constructing the manipulation cost function, the action is optimized based on the predicted time window at each time point, and a highly optimized and precise operation flow is realized.
Drawings
FIG. 1 is a flow chart of an automatic mold changing method based on multi-motor synchronization according to an embodiment of the invention;
Fig. 2 is a schematic structural diagram of an automatic mold changing system based on multi-motor synchronization according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 is a flow chart of an automatic mold changing method based on multi-motor synchronization according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s101, acquiring a die changing signal and an operation point position through a monitoring device sensor, and conveying the die changing operation table by a mobile carrier according to the operation point position, wherein the mobile carrier is based on a control model established for a motor power system, calculates deviation signals of multiple motors by monitoring power parameters of all motors in the motor power system, and is based on the deviation signals, and a quick feedback controller is arranged by combining configuration response poles, so that the multiple motors of the mobile carrier are synchronously coupled and responded by establishing a master-slave relationship of the multiple motors;
the equipment sensor is specifically a sensor for monitoring the working state of equipment and recording the real-time parameters of the equipment, and the time point of die changing and the current position of the die can be obtained by monitoring the equipment sensor;
the die change signal specifically refers to a signal for informing that a die change process is required;
The operation points specifically refer to specific operation positions which need to be reached when the carrier is moved to replace the die, and in the production process, the specific operation positions are a plurality of preset points and are determined according to the current position of the die;
the power parameters specifically refer to key performance indexes of a motor power system, and reflect the working state and performance of a motor;
The response pole specifically refers to the root of a characteristic equation of the closed-loop system, influences the dynamic response of the system, and determines the stability and rapidity of the system;
In the embodiment, in a multi-motor system, synchronous operation of all motors is ensured, and vibration and mechanical stress caused by inconsistent motor speeds or phase difference are reduced; the response speed of the system to the instruction change can be accelerated by utilizing a response pole and a fast feedback controller which are properly configured, and the efficiency of the die changing operation is improved; the synchronous coupling response of multiple motors can reduce mechanical abrasion, prolong the service life of equipment and reduce maintenance cost by optimizing the motion track of the motors and reducing unnecessary overload, so that the system can be accurately controlled, potential danger in the operation process is reduced, and the safety of the whole die changing process is improved.
In an alternative embodiment, the mobile carrier calculates a deviation signal of multiple motors by monitoring power parameters of each motor in the motor power system based on a control model established for the motor power system, sets a fast feedback controller based on the deviation signal in combination with a configuration response pole, and enables the multiple motors of the mobile carrier to synchronously couple and respond by establishing a master-slave relationship of the multiple motors, wherein the fast feedback controller comprises:
Modeling the motor power system based on motor behavior characteristics and motor electrical characteristics to construct a control model;
based on the control model, monitoring power parameters output by each motor in the motor power system, and calculating a deviation signal according to the power parameters and a preset power parameter target value;
Based on motor dynamics, constructing a motor dynamics model, and setting a fast feedback controller by configuring a response pole according to the motor dynamics model and combining the deviation signal;
The rapid feedback controller designates one motor as a main motor, other motors as auxiliary motors, establishes a master-slave relationship of multiple motors, and realizes master-slave synchronous coupling response.
The motor behavior characteristics specifically refer to performance performances of the motor under different operation conditions, including rotation speed, acceleration, torque, efficiency and the like, and reflect how the motor responds to different control input and load conditions;
the motor electrical characteristics specifically refer to basic electrical parameters of the motor, including resistance, inductance, back electromotive force and the like, and determine the behavior of the motor under electric drive, such as the flow of current, the generated heat and the response speed of the motor;
Analyzing the behavior characteristics and the electrical characteristics of the motor, and establishing a mathematical model for the motor system based on the behavior characteristics and the electrical characteristics, wherein the mathematical model comprises key power parameters such as voltage, current, torque, speed and the like of the motor; the power parameter output by each motor is monitored in real time, and deviation signals are calculated according to the monitored power parameter and a preset parameter target value, such as a desired rotating speed and a desired torque;
Based on motor dynamics, constructing a motor dynamics model, and setting a fast feedback controller by configuring a response pole according to the motor dynamics model and combining the deviation signal;
in a multi-motor system, one motor is designated as a master motor, other motors are designated as slave motors, a control strategy is set, the master motor is responsible for accurately reaching a target position, and the slave motors can be adjusted according to the state and power parameters of the master motor so as to synchronously operate;
In the embodiment, the motor behavior can be predicted and controlled more accurately by accurately constructing the model, so that the control precision of the whole system is improved, the energy use of the motor is optimized, unnecessary energy consumption is reduced, potential faults and anomalies can be predicted and avoided, and the reliability of the system is improved; the rapid feedback controller can rapidly respond to the change of the system state, so that the dynamic performance of the system is improved, and the stability of the system in the face of disturbance is improved; through a master-slave synchronization mechanism, the coordination and the consistent operation of all motors are ensured, the synchronous operation is of great importance in the application of the cooperation of multiple motors, the energy waste and the mechanical abrasion are reduced, the efficiency of the whole system is improved, and the master-slave synchronization simplifies the complexity of the coordination control of the multiple motors, so that the system is easier to manage and maintain.
In an alternative embodiment, modeling the electromechanical system based on the motor behavior characteristics and the motor electrical characteristics, constructing a control model includes:
based on motor behavior characteristics, behavior modeling is performed, and the formula is as follows:
；
wherein Q represents the total torque generated by the motor power system, J represents the rotational inertia of the motor power system, ω represents the angular velocity, Indicating angular acceleration, b indicating a rotational damping coefficient, Q load indicating a load torque;
based on the electrical characteristics of the motor, electrical modeling is performed, and the formula is as follows:
；
wherein V represents the total voltage, R represents the motor resistance, i represents the current flowing through the motor, L represents the motor inductance, Representing the current change rate, e representing the back emf of the motor, K e representing the back emf constant;
In a behavioral modeling formula, a comprehensive calculation method of the total torque of the motor power system is provided, and the comprehensive calculation method comprises three aspects, namely, firstly, the product of the rotational inertia and the angular acceleration of a motor gives the torque generated by acceleration or deceleration of the motor, and the torque represents the moment required by the acceleration rotation or the deceleration rotation of the motor; secondly, the product of the rotational damping coefficient and the current angular velocity of the motor represents the damping torque, which is related to the motor's motion velocity, reflecting the energy loss due to friction or other resistance; finally, external load torque, torque generated by external loads that the motor needs to overcome, such as mechanical resistance or the weight of the driven machine, is also included;
In the electrical modeling formula, the motor voltage is composed of three main factors, wherein the first factor is the blocking effect of the internal resistance of the motor on the current, resulting in voltage loss, and the product of the resistance and the current flowing through the motor gives the voltage drop caused by the resistance; the second factor is the response of the inductance of the motor to the current change, which will produce impedance to the current change, resulting in voltage change, which changes with the current change rate, indicating the resistance of the inductance to rapid current change; the third factor is that when the motor rotates, its motion generates back electromotive force in the motor coil, the back electromotive force is proportional to the rotation speed of the motor, calculated according to a proportionality constant, indicating that the higher the rotation speed of the motor, the larger the back electromotive force generated;
in the back emf formula, a direct relationship between the motor speed and the generated back emf is quantified, which is the product of the motor speed and a proportionality constant that depends on the design and construction of the motor, in particular on the strength of its magnetic field;
In the embodiment, the behavior modeling enables the performance of the motor under different load and speed conditions to be accurately calculated, and the electrical modeling helps to predict and analyze the behavior of the motor under different voltage and current conditions; through the models, a more accurate and efficient motor control strategy can be designed, and the response speed and the response accuracy of the motor are improved.
In an alternative embodiment, based on motor dynamics, a motor dynamics model is constructed, and according to the motor dynamics model, in combination with the deviation signal, setting a fast feedback controller by configuring a response pole includes:
Setting a first transfer function corresponding to the motor dynamic model based on the motor dynamic model;
setting a corresponding second transfer function for the fast feedback controller based on the deviation signal;
The first transfer function and the second transfer function are synthesized, corresponding closed-loop control rising time and setting time are set with the fastest response as a target, a state feedback gain is determined through configuration of a response pole, and a state equation of a fast feedback controller is configured based on the state feedback gain and the response pole;
Analyzing motor dynamics of a motor control system, including characteristics of time constant, delay, frequency response and the like, analyzing the system by using Laplace transformation, and establishing a first transfer function of the system; designing a fast feedback controller comprising proportional gain, integral gain, differential gain and the like, synthesizing gain response, and constructing a second transfer function; combining motor dynamics with a fast feedback controller, establishing a closed-loop function, calculating the pole position of a closed-loop system, selecting a proper pole position according to the performance requirement of the system, and moving the pole to a required position by adjusting the parameters of the fast feedback controller;
The step response or the frequency response of the closed-loop function analysis system is utilized to evaluate the performance index, the controller parameters are adjusted according to the performance analysis result, the pole position is recalculated, and the simulation test and the actual test are carried out to verify the performance of the controller;
In the embodiment, the response speed of the system can be remarkably improved by comprehensively considering the motor dynamics and the controller design and optimizing the rise time and the setting time of the closed-loop control system, so that the system can reach the target state more quickly; the accurate configuration of the response pole and the adjustment of the state feedback gain are beneficial to improving the precision of the control system, reducing steady-state errors and overshoots and improving the overall stability of the system; the proper pole position is selected and the controller parameters are adjusted, so that the control system can adapt to different running conditions and performance requirements, and the adaptability and the flexibility of the system are improved.
S102, enabling the die changing operation table to reach the operation point, enabling a die positioning sensor to obtain die coordinates, and enabling a die changing clamping device in the die changing operation table to perform clamping action with minimum operation cost as a target under the operation of an action prediction controller according to the die coordinates, and clamping and replacing a die, wherein the die changing clamping device performs dynamic behavior modeling based on the clamping action;
The die change clamping device specifically refers to a mechanical device specially designed for clamping and replacing a die, and generally comprises a series of mechanical arms, clamps and a driving system, so that the movement and placement of the die can be accurately positioned and controlled;
The motion prediction controller specifically refers to a control system, which is used for predicting and planning the motion of the mold changing clamping device, taking the motion sequence of the impending motion into consideration, and predicting and planning all the motions with the aim of minimizing the sum of the cost generated by motion deviation and the control cost;
the dynamic behavior specifically refers to the motion characteristics of the mold changing clamping device in the process of executing mold changing action, and comprises the aspects of moving action, offset angle, motion range and the like of the mold changing clamping device;
Moving the die changing operation table to a preset operation position, determining the exact position and direction of the die by using a die positioning sensor, creating a dynamic behavior model for the die changing clamping device, predicting and planning clamping actions, planning and executing actions for clamping the die according to the model by using an action prediction controller, and taking the minimum comprehensive cost as an optimization target by using the controller, executing the clamping actions, withdrawing the die and completing the die changing actions;
in the embodiment, the overall efficiency of the die changing operation is improved by optimizing the control target; the accurate modeling enables the system to adapt to various different moulds and mould changing requirements, and improves the applicability and flexibility of the system; the operation cost is reduced by optimizing the control strategy, the service life of the equipment is prolonged, and the maintenance cost is reduced; automated and optimized control reduces the need for human handling, thereby reducing the risk of human error.
In an alternative embodiment, the die change clamping device performs dynamic behavior modeling based on clamping actions including:
Determining a connecting rod and a joint point based on a space structure of the die change clamping device, establishing a coordinate system at the joint point, and establishing a relation between the connecting rod and the joint point through dynamic behavior parameters, wherein the dynamic behavior parameters comprise: link length, link torsion angle, link offset, and joint angle;
based on the coordinate systems adjacent to each other, a local transformation matrix is established, and an integral transformation matrix is established through multiplication of the local transformation matrices, so that dynamic behavior modeling is completed;
the local transformation matrix has the following formula:
；
wherein n represents the ordinal numbers of the coordinate system, the joint point and the connecting rod from the base point, A partial transformation matrix representing an nth coordinate system and an n+1th coordinate system, θ n representing a joint angle of an nth joint point, α n representing a link torsion angle of an nth link, l n representing a link length of the nth link, and d n representing a link offset of the nth link;
the overall transformation matrix is expressed as:
；
Wherein, Representing the overall transformation matrix from the base to the endmost articulation point.
The dynamic behavior parameters include: the length l n of the connecting rod specifically refers to the distance from the origin of the nth coordinate system to the origin of the (n+1) th coordinate system, and is measured along the z-axis of the nth coordinate system; the link torsion angle α n specifically refers to an angle between the z-axis of the nth coordinate system and the z-axis of the n+1th coordinate system, measured around the x-axis of the nth coordinate system; the link offset d n specifically refers to the distance from the origin of the nth coordinate system to the origin of the n+1th coordinate system, measured along the x-axis of the nth coordinate system; the joint angle θ n specifically refers to an angle between the x-axis of the nth coordinate system and the x-axis of the n+1th coordinate system, measured around the z-axis of the nth coordinate system;
Analyzing the spatial structure of the mold-changing clamping device, identifying all connecting rods and joint points, wherein the connecting rods are all rigid body parts forming the mold-changing clamping device, the joint points are connecting points between the connecting rods, allowing rotation or translation, establishing a local coordinate system at each joint point, determining the origin of each coordinate system, which is usually positioned on the joint point and the direction of a coordinate axis, and describing the geometric relationship between each pair of adjacent connecting rods and the joint point by using dynamic behavior parameters; based on the parameters of each pair of adjacent coordinate systems, establishing a local transformation matrix describing the position and direction transformation from one coordinate system to the other coordinate system; constructing an overall transformation matrix representing the overall dynamic behavior of the entire mechanical structure from the base to the endmost node by multiplying all the local transformation matrices;
In the embodiment, through the application of accurate space structure modeling and dynamic behavior parameters, the accuracy and repeatability of die changing operation can be improved, and a high-quality production process is ensured; the motion of each joint and connecting rod of the clamping device can be accurately described by using the transformation matrix construction, so that finer and optimized motion control is realized; accurate modeling of the mold changing clamping device allows for easier adjustment and improvement to accommodate different production requirements or to accommodate new work environments, improving the degree of automation of the overall system, reducing reliance on manual operation; accurate control and model prediction also improves the safety of the operation process and reduces the risk of accidents due to operational errors or equipment failure.
In an alternative embodiment, according to the die coordinates, the die changing clamping device in the die changing operation table performs a clamping action with the aim of minimizing the operation cost under the operation of the action prediction controller, and the die clamping and replacing comprises:
Determining an initial state of the die change clamping device, setting the initial state as a current state, and starting action prediction iteration;
The action prediction controller constructs a control cost function based on a preset prediction time window at a time point corresponding to the current state, aims at minimizing the control cost function, determines a predicted action, an optimized state after the predicted action occurs, records the predicted action, and sets the optimized state as the current state;
and repeating the action prediction iteration until all operations are completed, wherein all the prediction actions form clamping actions of the die changing clamping device, and executing the clamping actions to clamp and replace the die.
The prediction time window specifically refers to a future time period considered by the action prediction controller during each iteration, and in the time window, the action and the state of the mold changing clamping device are predicted by the controller, and optimization calculation is performed;
The predicted actions specifically refer to a future series of actions calculated by the action prediction controller based on the current state and the control cost function in each iteration process, and the goal of the future series of actions is to minimize the control cost and reach the expected operation goal at the same time;
determining an initial state of the mold change clamping device and setting the initial state as a current state, and starting action prediction based on the current state in each iteration:
Based on a preset future time period and a constructed control cost function, aiming at minimizing the control cost function, determining an optimal predicted action sequence, calculating an optimal state after the predicted actions are executed, recording the calculated predicted actions, and setting the optimized state as a new current state;
Repeating the action prediction iteration until all the control actions are completed;
Executing all the calculated prediction actions to clamp and replace the die;
In the embodiment, by constructing the control cost function, the action is optimized on the basis of the prediction time window at each time point, and the highly optimized and accurate operation flow is realized; along with the continuous updating of the current state and the iteration of the motion prediction, the system can dynamically adapt to the changed conditions and requirements, and the flexibility and the adaptability of the operation are improved; predictive actions aimed at minimizing the handling costs contribute to lower overall costs, thus reducing overall operating costs; the die change operation is rapidly and accurately predicted and executed, and the overall working efficiency and the productivity of the production line are improved.
In an alternative embodiment, constructing a manipulation cost function based on a preset prediction time window, targeting minimizing the manipulation cost function, determining the prediction action includes:
Calculating state deviation, and weighting and calculating the state deviation to obtain predicted deviation cost; calculating the control force cost by combining the weight of the control input through the control input of each time point; the predictive deviation cost and the control force cost are combined, the total cost is calculated in an accumulated mode, a control cost function is constructed, the size of an input vector of the controller is adjusted through the adjustment of the input of the controller, the control cost function is minimized, and the formula is as follows:
；
Wherein F represents the manipulation cost function, k represents the time point, Z represents the total time point number, x k represents the system state vector at the kth time point, x ref represents the desired state vector, T represents the transpose of the vector, W represents the weight matrix of the state deviation, u k represents the controller input vector at the kth time point, and H represents the weight matrix of the controller input vector.
The deviation cost specifically refers to the cost of the difference between the current state and the expected state of the system, and in a control system, the deviation cost reflects the degree of deviation of the system from the target state and the effort or cost required for correcting the deviation back to the target state;
The control force costs refer specifically to the costs incurred to implement the control action, generally including the cost of the control force applied to the system, and the energy consumption, mechanical wear, or other operating costs associated therewith;
The function firstly calculates the accumulated cost of each time point from the current time point to the end of the prediction time window, calculates the deviation between the system state vector and the expected state vector for each time point, weights the deviation through a weight matrix, and calculates the cost of the deviation; calculating a cost of the control input vector, wherein the controller input vector is weighted by a weight matrix to reflect the cost of implementing the control action; finally, all costs are accumulated to form a total control cost function, representing an optimization objective for adjusting the input of the controller and controlling the overall cost to be minimized;
In this embodiment, by taking into account the state bias and the control force costs, the system is better able to accommodate different operating conditions and requirements; by minimizing the control cost function, the system performance and the control cost can be effectively balanced, and the overall control efficiency is improved; optimizing the input vector of the controller is beneficial to improving the precision and speed of the system response, thereby improving the overall system performance; the energy consumption and the running cost of the system can be reduced by balancing the cost of control input; minimizing the control input force helps to reduce wear on the mechanical components and extend the life of the device.
Fig. 2 is a schematic structural diagram of an automatic mold changing system based on multi-motor synchronization according to an embodiment of the present invention, as shown in fig. 2, the system includes:
The device comprises a first unit, a second unit, a third unit, a fourth unit, a fifth unit, a sixth unit, a seventh unit and a fourth unit, wherein the first unit is used for acquiring a die changing signal and an operation point position through a monitoring device sensor, and moving a carrying platform to convey the die changing operation platform according to the operation point position, wherein the moving carrying platform is used for calculating deviation signals of multiple motors through monitoring power parameters of motors in a motor power system based on a control model established for the motor power system, setting a fast feedback controller through combining configuration response poles based on the deviation signals, and enabling the multiple motors of the moving carrying platform to synchronously couple and respond through establishing a master-slave relation of the multiple motors;
and the second unit is used for enabling the die changing operation platform to reach the operation point position, enabling the die positioning sensor to acquire die coordinates, and enabling the die changing clamping device in the die changing operation platform to perform clamping action with the aim of minimizing the operation cost under the operation of the action prediction controller according to the die coordinates, so as to clamp and replace the die, wherein the die changing clamping device performs dynamic behavior modeling based on the clamping action.
In a third aspect of an embodiment of the present invention,
There is provided an electronic device including:
A processor;
a memory for storing processor-executable instructions;
Wherein the processor is configured to invoke the instructions stored in the memory to perform the method described previously.
In a fourth aspect of an embodiment of the present invention,
There is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method as described above.
The present invention may be a method, apparatus, system, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for performing various aspects of the present invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (7)
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| CN112810227A (en) * | 2021-03-04 | 2021-05-18 | 济宁科力光电产业有限责任公司 | Novel servo press control method |
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