CN117478018B - Variable-frequency double-wheel milling machine speed regulation method and system - Google Patents
Variable-frequency double-wheel milling machine speed regulation method and system Download PDFInfo
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Abstract
The invention relates to the technical field of data processing, in particular to a variable-frequency double-wheel milling speed regulation method and system, comprising the following steps: dividing the rotating speed time sequence data sequence into single processing data sequences, obtaining a time length difference set and a rotating speed difference set according to data characteristics in all the single processing data sequences, and determining the abnormality degree of the single processing data sequence by combining the relation between the ordinal value sequence and the total ordinal value sequence. Dividing the single processing data sequence into a plurality of data sequence segments, determining the complexity of the single processing data sequence according to the total rotation speed change of all the data sequence segments, the number of local extreme points in the corresponding rotation speed change sequence and the data value in the rotation speed change set, thereby obtaining a threshold value adjustment coefficient, determining a threshold value, further performing compression processing by using a revolving door algorithm, and obtaining a speed regulation signal by using a PID control algorithm. The invention ensures the accuracy of data and improves the compression efficiency through the self-adaptive threshold value.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a variable-frequency double-wheel milling speed regulation method and system.
Background
The variable-frequency double-wheel milling machine is mechanical equipment for metal processing industry, and has two milling wheels capable of simultaneously performing two axial milling operations, so that the variable-frequency double-wheel milling machine is more efficient, precise and flexible, meets the requirements of different workpiece processing, and improves the production efficiency and the product quality.
In order to realize accurate intelligent control of variable frequency double-wheel milling machine speed regulation, massive equipment operation monitoring data are needed to serve as a support, new data can be continuously generated along with the increase of time, but the capacity of a database cannot be infinitely increased due to the limitation of hardware. Therefore, high-efficiency compression processing is required to be carried out on the acquired data so as to improve the utilization rate of a database and ensure the accuracy of the speed regulation of the follow-up variable-frequency double-wheel milling machine.
The algorithm is a data compression method which is rapid in fitting, high in compression efficiency, controllable in compression precision and simple in algorithm implementation, continuous data are divided into different segments according to time interval changes, and each segment is encoded by using a compact representation form. And when new data is generated, the rotation gate algorithm can only process and compress the newly added data according to the existing compressed data without reprocessing the whole data set.
The existing problems are as follows: the monitored variable-frequency double-wheel milling machine running data have complex fluctuation along with the change of cutting parameters and equipment running stability and the abrasion of a cutter in the workpiece machining process, so that the data in different time periods often need different threshold values for guaranteeing the compression effect, but the threshold value in the traditional revolving door algorithm is constant, when the threshold value is selected to be too large, the compression error is caused to be larger, and when the threshold value is selected to be too small, the compression efficiency is lower.
Disclosure of Invention
The invention provides a variable-frequency double-wheel milling speed regulation method and a variable-frequency double-wheel milling speed regulation system, which are used for solving the existing problems.
The invention relates to a variable-frequency double-wheel milling speed regulation method and a variable-frequency double-wheel milling speed regulation system, which adopt the following technical scheme:
the embodiment of the invention provides a variable-frequency double-wheel milling and turning speed regulating method, which comprises the following steps of:
obtaining a rotating speed time sequence data sequence of the milling machine motor according to feedback of the frequency converter, and dividing the rotating speed time sequence data sequence into a plurality of single processing data sequences; respectively forming a single processing duration set and a single processing rotating speed set according to the data quantity and the data average value in all the single processing data sequences;
respectively obtaining a duration difference set and a rotating speed difference set according to the difference between the data in the single processing duration set and the single processing rotating speed set; determining an ordinal value sequence and a total ordinal value sequence according to ordinal values corresponding to local extremum points in the single processing data sequence;
determining the local abnormality corresponding to each ordinal value in the ordinal value sequence according to the occurrence times and the credibility of each ordinal value in the ordinal value sequence in the total ordinal value sequence; determining the abnormality degree of the single processing data sequence according to the local abnormality and time length difference set corresponding to all ordinal values in the ordinal value sequence and the data value in the rotating speed difference set;
dividing a single processing data sequence into a plurality of data sequence segments, and forming a rotating speed conversion set according to absolute values of differences of data average values in all adjacent data sequence segments; determining a rotating speed change sequence and total rotating speed change according to the difference of all adjacent data in the data sequence section;
determining the complexity degree of the single processing data sequence according to the total rotation speed change of all the data sequence segments, the number of local extreme points in the corresponding rotation speed change sequence and the data value in the rotation speed change set; determining a threshold value adjustment coefficient corresponding to the single processing data sequence according to the complexity degree and the abnormality degree of the single processing data sequence;
according to the threshold value adjustment coefficient corresponding to the single processing data sequence, determining a threshold value corresponding to the single processing data sequence; according to the threshold values corresponding to all the single processing data sequences, a revolving door algorithm is used for compressing the revolving speed time sequence data sequences to obtain compressed revolving speed data; and obtaining a speed regulating signal by using a PID control algorithm according to the compressed rotating speed data.
Further, the time length difference set and the rotation speed difference set are obtained according to the difference between the data in the single processing time length set and the single processing rotation speed set respectively, and the method comprises the following specific steps:
recording the mode in the single processing time length set as the standard single processing time length;
respectively calculating the absolute value of the difference value between each datum in the single processing time length set and the standard single processing time length, and carrying out normalization processing on the absolute value of the difference value between all the data in the single processing time length set and the standard single processing time length by using a minimum maximum normalization method to obtain a time length difference set;
the mode in the single processing rotating speed set is recorded as the standard single processing rotating speed;
and respectively calculating the absolute value of the difference value between each datum in the single machining rotating speed set and the standard single machining rotating speed, and carrying out normalization processing on the absolute value of the difference value between all the data in the single machining rotating speed set and the standard single machining rotating speed by using a minimum maximum normalization method to obtain a rotating speed difference set.
Further, the determining the sequence of ordinal values and the sequence of total ordinal values according to ordinal values corresponding to local extremum points in the single processing data sequence comprises the following specific steps:
obtaining local extremum points in the single processing data sequence by using a first derivative method, and forming an ordinal value sequence according to ordinal values corresponding to all the local extremum points in the single processing data sequence;
and forming a total ordinal value sequence according to ordinal value sequences corresponding to all the single processing data sequences.
Further, according to the number of times of occurrence of each ordinal value in the ordinal value sequence in the total ordinal value sequence and the credibility thereof, determining the local abnormality corresponding to each ordinal value in the ordinal value sequence, including the following specific steps:
taking any one ordinal value in an ordinal value sequence corresponding to a single processing data sequence, and setting the local abnormality corresponding to the ordinal value as a preset local abnormality if the frequency of occurrence of the ordinal value in the total ordinal value sequence is smaller than or equal to a preset frequency threshold;
if the number of times of the ordinal value in the total ordinal value sequence is larger than a preset number threshold, marking the data with the same size as the ordinal value in the total ordinal value sequence as reference data;
the data variance of all the reference data in the rotating speed time sequence data sequence is marked as the credibility of the times of the ordinal value in the total ordinal value sequence;
and determining the local abnormality corresponding to the ordinal value according to the occurrence times of the ordinal value in the total ordinal value sequence and the credibility of the occurrence times of the ordinal value in the total ordinal value sequence.
Further, according to the number of times the ordinal value appears in the total ordinal value sequence and the reliability of the number of times the ordinal value appears in the total ordinal value sequence, determining a specific calculation formula corresponding to the local abnormality corresponding to the ordinal value as follows:
wherein the method comprises the steps ofIs the local abnormality corresponding to the ith ordinal value in the ordinal value sequence corresponding to the single processing data sequence,for the ith ordinal value in the ordinal value sequence corresponding to the single processing data sequence, +.>Is of the size +.>The number of times the ordinal value of (a) appears in the sequence of total ordinal values,/->Is of the size +.>The degree of reliability of the number of occurrences of ordinal values of (a) in the total ordinal value sequence, n being the number of single-processing data sequences divided by the rotational speed time-series data sequence, +.>K is a preset exponential function adjustment value for an exponential function based on a natural constant.
Further, determining the degree of abnormality of the single processing data sequence according to the data values in the local abnormality and time length difference set and the rotating speed difference set corresponding to all ordinal values in the ordinal value sequence, including the following specific steps:
the average value of the data values of the single processing data sequence in the duration difference set and the rotating speed difference set is recorded as the integral abnormality of the single processing data sequence;
and (3) marking the product of the overall abnormality of the single processing data sequence and the average value of the local abnormality corresponding to all ordinal values in the ordinal value sequence corresponding to the single processing data sequence as the abnormality degree of the single processing data sequence.
Further, the determining the rotation speed change sequence and the total rotation speed change according to the difference of all adjacent data in the data sequence segment comprises the following specific steps:
forming a rotating speed change sequence according to absolute values of differences of all adjacent data in the data sequence section;
and recording the average value of all data in the rotating speed change sequence as the total rotating speed change of the data sequence segment.
Further, determining the complexity degree of the single processing data sequence according to the total rotation speed change of all the data sequence segments, the number of local extreme points in the corresponding rotation speed change sequence and the data value in the rotation speed change set; according to the complexity and the abnormality degree of the single processing data sequence, determining a threshold value adjustment coefficient corresponding to the single processing data sequence comprises the following specific steps:
the quotient of each data in the rotating speed transition set corresponding to the single processing data sequence and the sum of all data in the rotating speed transition set is recorded as the weight of each data in the rotating speed transition set;
the sum of products of all data in the rotating speed conversion set and weights of all data in the rotating speed conversion set is recorded as the rotating speed conversion degree of the motor when the workpiece processing part is converted;
recording the normalized value of the number of the local extreme points in the rotating speed change sequence corresponding to the data sequence segment as the weight of the total rotating speed change of the data sequence segment;
determining the motor rotation speed variation difference of each part of the workpiece according to the weight of the total rotation speed variation of all data sequence segments divided by the single processing data sequence and the variance of the total rotation speed variation of all data sequence segments;
determining the complexity of a single processing data sequence according to the motor rotation speed change difference of each part of the workpiece and the motor rotation speed change degree when the workpiece processing part is changed;
and recording a normalized value of the product of the complexity degree of the single processing data sequence and the abnormality degree of the single processing data sequence as a threshold value adjustment coefficient corresponding to the single processing data sequence.
Further, according to the difference of the motor rotation speed change at each part of the workpiece and the degree of the motor rotation speed change when the workpiece processing part is changed, a specific calculation formula corresponding to the complexity degree of the single processing data sequence is determined as follows:
wherein the method comprises the steps ofFor the complexity of the z-th single-processing data sequence, y is the number of data sequence segments divided by the z-th single-processing data sequence, +.>Normalized value of number of local extremal points in rotational speed change sequence corresponding to the t-th data sequence segment divided for the z-th single-process data sequence,/->Total rotational speed variation of the t-th data sequence segment divided for the z-th single-processing data sequence,/->Mean value of the total rotational speed change of all data sequence segments divided for the z-th machining data sequence,/->For each part of the workpieceMotor speed variation difference,/>For the jth data value,/-in the set of rotational speed transitions corresponding to the zth single process data sequence>For the sum of all data values in the rotational speed transition set corresponding to the z-th machining data sequence, respectively>Is a linear normalization function.
The invention also provides a variable-frequency double-wheel milling speed regulation system which comprises a memory and a processor, wherein the processor executes a computer program stored in the memory so as to realize the method.
The technical scheme of the invention has the beneficial effects that:
in the embodiment of the invention, a rotating speed time sequence data sequence is divided into a plurality of single processing data sequences, and a single processing time length set and a single processing rotating speed set are respectively formed according to the data quantity and the data average value in all the single processing data sequences, so that a time length difference set and a rotating speed difference set are obtained. And determining an ordinal value sequence and a total ordinal value sequence according to ordinal values corresponding to local extreme points in the single processing data sequence, and determining the abnormality degree of the single processing data sequence according to the occurrence times and the credibility of each ordinal value in the total ordinal value sequence in the ordinal value sequence, and the data values in the time length difference set and the rotating speed difference set. Considering that the machining complexity of different workpieces is different, namely the complexity of motor rotation speed change corresponding to different workpieces is different, and the machining complexity of different parts of the workpieces is different, a single machining data sequence is divided into a plurality of data sequence segments, a rotation speed change set is formed according to absolute values of differences of data average values in all adjacent data sequence segments, a rotation speed change sequence and total rotation speed change are determined according to differences of all adjacent data in the data sequence segments, the complexity of the single machining data sequence is determined according to the total rotation speed change of all the data sequence segments, the number of local extremum points in the rotation speed change sequence corresponding to the total rotation speed change sequence and the data value in the rotation speed change set, and a threshold value adjustment coefficient corresponding to the single machining data sequence is determined according to the complexity and the abnormality degree of the single machining data sequence, so that the threshold value corresponding to the single machining data sequence is determined, the rotation speed time sequence is compressed by using a rotation gate algorithm, and finally, the speed regulation signal is obtained by using a PID control algorithm. The method comprises the steps of providing a smaller threshold value for a single processing data sequence with complex and abnormal data change, reducing compression errors, guaranteeing accuracy of data after compression, providing a larger threshold value for a single processing data sequence with simple and normal data change, and improving compression efficiency.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the steps of a variable frequency double-wheel milling speed regulation method of the invention.
Detailed Description
In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following detailed description refers to specific implementation, structure, characteristics and effects of a variable frequency double-wheel milling speed regulating method according to the invention, which is provided by combining the accompanying drawings and the preferred embodiment. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The invention provides a specific scheme of a speed regulation method of a variable-frequency double-wheel milling machine, which is specifically described below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a step of a variable frequency dual-wheel milling speed regulation method according to an embodiment of the invention is shown, and the method includes the following steps:
step S001: obtaining a rotating speed time sequence data sequence of the milling machine motor according to feedback of the frequency converter, and dividing the rotating speed time sequence data sequence into a plurality of single processing data sequences; and respectively forming a single processing duration set and a single processing rotating speed set according to the data quantity and the data average value in all the single processing data sequences.
The frequency and voltage of a power supply are changed through a frequency converter to control the rotating speed of a milling and turning motor, so that the embodiment performs data analysis by compressing rotating speed data of the milling and turning motor to generate corresponding speed regulating signals, and accordingly, the speed regulation of the frequency conversion and double-wheel milling and turning motor is completed.
The method comprises the steps of feeding back a frequency converter to obtain a rotating speed time sequence of a milling machine motor, wherein when the frequency conversion double-wheel milling machine is known to process workpieces of the same batch and the same model, processing operation and processing time of each workpiece are similar, and the time point when the processing of a single workpiece is completed is known, so that the rotating speed time sequence of the milling machine motor is divided into a plurality of time sequence data sections according to the time point when the processing of each workpiece is completed as a dividing point, and each time sequence data section is recorded as a single processing data sequence to represent the rotating speed time sequence of the motor for milling one workpiece.
Sequentially calculating the data quantity and the data average value in all the single processing data sequences according to the data acquisition time sequence to respectively obtain a single processing time length setAnd the set of rotational speeds for single machining->Wherein n is the time sequence of the rotating speed of the milling machine motorNumber of divided single process data sequences, +.>And->The data quantity and the data average value in the nth single processing data sequence are respectively.
Step S002: respectively obtaining a duration difference set and a rotating speed difference set according to the difference between the data in the single processing duration set and the single processing rotating speed set; and determining an ordinal value sequence and a total ordinal value sequence according to ordinal values corresponding to the local extreme points in the single processing data sequence.
Since the number of defective workpieces is often small in the workpiece processing process, most single processing data sequences are normal data, so that the single processing time length is integratedMode of (2)>Recording as standard single processing time length, and collecting single processing rotation speed +.>Mode of (2)>The standard single machining speed is recorded. It should be noted that if the single processing time length is set +.>Or a single machining speed set->If there are multiple modes, taking the average value of the multiple modes as +.>Or->。
Respectively calculating a single processing time length setIs associated with->To the sum of the individual processing durations using the minimum maximum criterion>All data and->The absolute value of the difference value of (2) is normalized to [0,1]]Within the interval, a time length difference set is obtained>Wherein->For the set of single processing time length->N-th data of (a)Normalized value of the absolute value of the difference of (c).
Respectively calculating single processing rotation speed setsIs associated with->The absolute value of the difference of (2) is thus determined for the set of single machining speeds using the minimum maximum criterion +.>All data and->Absolute value of difference of (2)Line normalization to [0,1]]Within the interval, a rotation speed difference set is obtained>Wherein->For a single machining speed set->N-th data of (a)Normalized value of the absolute value of the difference of (c). The minimum and maximum normalization method is a well-known technique, and the specific method is not described here.
In the known variable-frequency double-wheel milling machine, the rotating speed change and the processing time length of motors at different parts of a workpiece are different in the process of processing the workpiece, so that the rotating speed difference and the time length difference of the motors during processing the same part of the workpiece with the same batch and the same model are required to be further analyzed between single processing data sequences, and the abnormality degree of each single processing data sequence is determined.
Taking a z-th single processing data sequence as an example, obtaining local extreme points in the single processing data sequence by using a first derivative method, and sequentially counting ordinal values corresponding to each local extreme point in the single processing data sequence to obtain an ordinal value sequenceWherein m is the number of local extreme points in the single-process data sequence, +.>And the ordinal value corresponding to the mth local extreme point in the single processing data sequence is obtained. The first derivative method is a known technique, and the specific method is not described here. It should be noted that, in this embodiment, a workpiece with a relatively complex machining process is selected, and multiple data fluctuations are necessarily present in a single machining data sequence.
According to the mode, the ordinal value sequence corresponding to each single processing data sequence is obtained.
Constructing a total ordinal value sequence according to ordinal value sequences corresponding to all single processing data sequencesWherein q is the sum of the number of local extreme points in all the single-process data sequences, +.>And (3) the ordinal value corresponding to the q-th local extreme point in the local extreme points in all the single processing data sequences. It should be noted that each ordinal value in the ordinal value sequence corresponding to each single processing data sequence is unique, so the total ordinal value sequence +.>The number of the sequence values with the same size is n at most, wherein n is the number of single processing data sequences divided by the rotating speed time sequence data sequence of the milling machine motor.
Step S003: determining the local abnormality corresponding to each ordinal value in the ordinal value sequence according to the occurrence times and the credibility of each ordinal value in the ordinal value sequence in the total ordinal value sequence; and determining the abnormality degree of the single processing data sequence according to the local abnormality and time length difference set corresponding to all ordinal values in the ordinal value sequence and the data value in the rotating speed difference set.
Thus, the degree of abnormality of the z-th single processing data sequence can be knownThe calculation formula of (2) is as follows:
when (when)When (I)>The acquisition mode of (a) is as follows:
when (when)When (I)>The acquisition mode of (a) is as follows:
wherein the method comprises the steps ofDegree of abnormality for the z-th single process data sequence, +.>Ordinal value sequence corresponding to the z-th single-processing data sequence +.>The ith ordinal value of (a), is->Is of the size +.>Ordinal values of (2) in the total ordinal value sequence +.>The number of occurrences of>For a set number of times threshold->Corresponding to the z-th single process data sequenceSequence of sequence numbers->Local abnormality corresponding to the ith ordinal value in +.>For the local abnormality of the setting, +.>Is of the size +.>Ordinal values of (2) in the total ordinal value sequence +.>The number of occurrences of (a)Reliability of->The solving process of (1) is as follows: the size is +.>The ordinal value of (2) corresponds to the total ordinal value sequence +.>The data in (a) are recorded as reference data, and the total ordinal value sequence is calculated +.>The data variance of all reference data corresponding to the rotational speed time sequence of the milling machine motor is +.>. n is the number of single processing data sequences divided by the rotating speed time sequence data sequence of the milling machine motor, m is the number of local extreme points in the z-th single processing data sequence, and +.>For the z-th single-processing data sequence, the set of difference in time length is +.>Data value of->For the z-th machining data sequence, the number of rotational speed difference sets is +.>Is used to determine the value of the data in the data field,in order to base the natural constant of the exponential function, k is the set exponential function adjustment value, in this embodiment +.>，/>，/>The value range of (2) is [0,1]]Then->For the sake of example, other values may be set in other embodiments, and the present example is not limited thereto.
What needs to be described is: under normal conditions, the motor rotation speed data of the workpieces in the same batch and model during processing are similar, so the time length difference is usedAnd rotational speed difference->Mean>The overall anomalies of the z-th single process data sequence are shown. Because the whole abnormality is small, but the motor rotation speed and the time length of the same batch and the same model of workpieces are likely to be different greatly when the same part is processed, the motor is required to be usedThe data difference of each workpiece when the same part is processed is further analyzed. When the size is +.>Ordinal values of (2) in the total ordinal value sequence +.>The number of occurrences->Less than or equal to the set frequency threshold +.>When the machining time of this part of the workpiece is unique, it is necessary to be abnormal, so that the local abnormality of this part is made +.>1. When the size is +.>Ordinal values of (2) in the total ordinal value sequence +.>The number of occurrences->Greater than a set number of times threshold->When (I)>The closer to n, the more normal the processing time of the part of the workpiece is, and further the difference of the motor rotation speed is analyzed, when +.>The smaller the motor rotation speed is, the more similar the motor rotation speed is, the more normal the motor rotation speed is, so the motor rotation speed is normalized by inverse proportion>Is->Adjusting value, a difference between the two normalized values is subtracted to obtain local abnormality of the part>. Local abnormality of each portion of the workpiece for this purpose>Mean>Abnormality with workpiece as a whole->Is the degree of abnormality of the z-th single process data sequence +.>。
Step S004: dividing a single processing data sequence into a plurality of data sequence segments, and forming a rotating speed conversion set according to absolute values of differences of data average values in all adjacent data sequence segments; and determining a rotating speed change sequence and total rotating speed change according to the difference of all adjacent data in the data sequence section.
The known processing complexity of different workpieces is different, namely the complexity of motor rotation speed change corresponding to different workpieces is different, and when the workpiece processing requirement is higher and the difficulty is higher, more accurate data support is needed to carry out speed regulation treatment. And the complexity of machining different parts of the workpiece is different, so that the complexity of motor rotation speed change in the workpiece machining process needs to be analyzed, and the threshold value corresponding to each data sequence segment is determined.
And dividing the z-th single machining data sequence into a plurality of data sequence segments by taking local extreme points in the z-th single machining data sequence as dividing points, wherein each data sequence segment represents motor rotation speed data during machining of each part of the workpiece.
Taking one data sequence segment in the z-th single processing data sequence as an example, sequentially calculatingThe absolute value of the difference value of two adjacent data in the data sequence section is used for obtaining a rotating speed change sequenceWherein x is the data amount in the data sequence segment, ">The absolute value of the difference of the x-1 data is subtracted from the x-th data within the data sequence segment. The rotational speed variation sequence +.>Data mean>The total rotational speed change of the data sequence segment is noted. Obtaining a rotating speed change sequence by using a first derivative method>The number of local extreme points in the data sequence segment is described as the continuous rising or falling trend of the data, but various state transitions can exist under the same trend, namely the rotation speed change sequence +.>There are incremental and decremental states, and the more complex the data changes when the number of transitions of the incremental and decremental states is greater. And when the rotational speed change sequence +.>When the number of data in (a) is less than three, the rotation speed change sequence +.>If there are no local extremum points, the number of the local extremum points is zero.
According to the mode, the number of local extreme points and the total rotation speed change in the rotation speed change sequence corresponding to each data sequence segment divided by the z-th single processing data sequence are obtained. And carrying out normalization processing on the number of local extremum points in the rotating speed change sequence corresponding to all data sequence segments divided by the z-th single processing data sequence by using a minimum maximum normalization method until the number of the local extremum points is within a [0,1] interval, and obtaining a normalized value of the number of the local extremum points in the rotating speed change sequence corresponding to each data sequence segment divided by the z-th single processing data sequence.
Counting the data average value of each data sequence segment divided by the z-th single processing data sequence, and sequentially calculating the absolute value of the difference between the data average values of two adjacent data sequence segments to obtain a rotating speed transition setWherein y is the number of data sequence segments of the z-th single-process data sequence division,/->The absolute value of the difference between the data means in the y-1 th and y-th data sequence segments divided for the z-th single process data sequence.
Step S005: determining the complexity degree of the single processing data sequence according to the total rotation speed change of all the data sequence segments, the number of local extreme points in the corresponding rotation speed change sequence and the data value in the rotation speed change set; and determining a threshold value adjustment coefficient corresponding to the single processing data sequence according to the complexity degree and the abnormality degree of the single processing data sequence.
From this, the threshold adjustment coefficient corresponding to the z-th single-process data sequence can be knownThe calculation formula of (2) is as follows:
wherein the method comprises the steps ofAdjusting a coefficient for a threshold value corresponding to the z-th single-processing data sequence, < >>Degree of abnormality for the z-th single process data sequence, +.>For the complexity of the z-th single-processing data sequence, y is the number of data sequence segments divided by the z-th single-processing data sequence, +.>Normalized value of number of local extremal points in rotational speed change sequence corresponding to the t-th data sequence segment divided for the z-th single-process data sequence,/->Total rotational speed variation of the t-th data sequence segment divided for the z-th single-processing data sequence,/->Mean value of the total rotational speed change of all data sequence segments divided for the z-th machining data sequence,/->The set of rotational speed transitions corresponding to the z-th machining data sequence +.>J data values of (a)>The set of rotational speed transitions corresponding to the z-th machining data sequence +.>The sum of all data values in the database. />Normalizing the data values to [0,1] as a linear normalization function]Within the interval.
What needs to be described is: in the workpiece machining process, the motor can maintain relatively stable rotating speed at the same position for machining, and the rotating speed of the motor can be adjusted for different positions. So when it isThe larger the workpiece is, the larger the motor rotation speed is changed from one part to the other part in the workpiece processing process, namely the processing requirements of the two parts are different greatly, the more complex the workpiece processing is, thus the normalization is +.>Is->Weight of (2), weighted average->The motor rotation speed conversion degree is the conversion degree of the workpiece processing part. Then analyzing the similarity of the motor rotation speed change when processing different parts, namely the total rotation speed change corresponding to each part of the workpiece>The greater the difference between the two, the more complex the work piece processing, and the further analysis of the state of motor speed change during the same part processing, namely +.>The larger the site is, the more important the site is, thus in +.>Obtaining the total rotation speed change corresponding to each part of the workpiece as the weight>Weighted variance of (2)For the variation of the motor speed at each part of the workpiece, normalized +.>Is thatThe product of the two is the complexity of the z-th single-pass data sequence. The more complex and abnormal the data in the single process data sequence, the more important it is, the more the accuracy of the compressed data needs to be ensured, therefore +.>And->The normalized value of the product of (2) is the threshold adjustment coefficient corresponding to the z-th single processing data sequence.
Step S006: according to the threshold value adjustment coefficient corresponding to the single processing data sequence, determining a threshold value corresponding to the single processing data sequence; according to the threshold values corresponding to all the single processing data sequences, a revolving door algorithm is used for compressing the revolving speed time sequence data sequences to obtain compressed revolving speed data; and obtaining a speed regulating signal by using a PID control algorithm according to the compressed rotating speed data.
The threshold value is set to be in the range of [5,10 ]]In the description of this example, other values may be set in other embodiments, and the present example is not limited thereto. The threshold value corresponding to the z-th single processing data sequenceThe calculation formula of (2) is as follows:
wherein the method comprises the steps ofThreshold value corresponding to the z-th single processed data sequence,/->And adjusting the coefficient for the threshold value corresponding to the z-th single processing data sequence.
What needs to be described is:the larger the data in the z-th single processing data sequence is, the more complicated and the more abnormal the data is, the more important the data is, and the accuracy of the compressed data needs to be ensured, so that a smaller threshold value is needed, and the data loss is reduced.
According to the mode, the threshold value corresponding to each single processing data sequence divided by the rotating speed time sequence data sequence of the milling machine motor is obtained.
And respectively carrying out compression processing on each single processing data sequence by using a revolving door algorithm according to a threshold value corresponding to each single processing data sequence divided by the revolving speed time sequence data sequence of the milling machine motor, thereby completing the compression processing of the revolving speed time sequence data sequence of the milling machine motor and obtaining compressed revolving speed data.
The compressed rotating speed data is transmitted to a control system, a PID control algorithm is used for calculating a required speed regulating signal, the speed regulating signal is transmitted to a frequency converter, and the frequency and the voltage of a power supply are changed by the frequency converter according to the speed regulating signal, so that the rotating speed of a milling motor is controlled, and the speed regulating treatment of the variable-frequency double-wheel milling motor is finished. The revolving door algorithm and the PID control algorithm are known in the art, and the specific method is not described herein.
The present invention has been completed.
In summary, in the embodiment of the present invention, the rotation speed time sequence data is divided into a plurality of single processing data sequences, and a single processing time duration set and a single processing rotation speed set are respectively formed according to the data quantity and the data average value in all the single processing data sequences, so as to obtain a time duration difference set and a rotation speed difference set. And determining an ordinal value sequence and a total ordinal value sequence according to ordinal values corresponding to local extreme points in the single processing data sequence, and determining the abnormality degree of the single processing data sequence according to the occurrence times and the credibility of each ordinal value in the total ordinal value sequence in the ordinal value sequence, and the data values in the time length difference set and the rotating speed difference set. Dividing the single processing data sequence into a plurality of data sequence segments, forming a rotating speed transition set according to the absolute value of the difference of the data average values in all adjacent data sequence segments, determining a rotating speed change sequence and a total rotating speed change according to the difference of all adjacent data in the data sequence segments, determining the complexity of the single processing data sequence according to the total rotating speed change of all the data sequence segments, the number of local extremum points in the corresponding rotating speed change sequence and the data value in the rotating speed transition set, determining the threshold value adjustment coefficient corresponding to the single processing data sequence according to the complexity and the abnormality degree of the single processing data sequence, determining the threshold value corresponding to the single processing data sequence, compressing the rotating speed time sequence by using a revolving door algorithm, obtaining compressed rotating speed data, and finally obtaining a speed regulating signal by using a PID control algorithm. The method comprises the steps of providing a smaller threshold value for a single processing data sequence with complex and abnormal data change, reducing compression errors, guaranteeing accuracy of data after compression, providing a larger threshold value for a single processing data sequence with simple and normal data change, and improving compression efficiency.
The invention also provides a variable-frequency double-wheel milling speed regulating system, which comprises a memory and a processor, wherein the processor executes a computer program stored in the memory so as to realize the variable-frequency double-wheel milling speed regulating method.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. The variable-frequency double-wheel milling machine speed regulation method is characterized by comprising the following steps of:
obtaining a rotating speed time sequence data sequence of the milling machine motor according to feedback of the frequency converter, and dividing the rotating speed time sequence data sequence into a plurality of single processing data sequences; respectively forming a single processing duration set and a single processing rotating speed set according to the data quantity and the data average value in all the single processing data sequences;
respectively obtaining a duration difference set and a rotating speed difference set according to the difference between the data in the single processing duration set and the single processing rotating speed set; determining an ordinal value sequence and a total ordinal value sequence according to ordinal values corresponding to local extremum points in the single processing data sequence;
determining the local abnormality corresponding to each ordinal value in the ordinal value sequence according to the occurrence times and the credibility of each ordinal value in the ordinal value sequence in the total ordinal value sequence; determining the abnormality degree of the single processing data sequence according to the local abnormality and time length difference set corresponding to all ordinal values in the ordinal value sequence and the data value in the rotating speed difference set;
dividing a single processing data sequence into a plurality of data sequence segments, and forming a rotating speed conversion set according to absolute values of differences of data average values in all adjacent data sequence segments; determining a rotating speed change sequence and total rotating speed change according to the difference of all adjacent data in the data sequence section;
determining the complexity degree of the single processing data sequence according to the total rotation speed change of all the data sequence segments, the number of local extreme points in the corresponding rotation speed change sequence and the data value in the rotation speed change set; determining a threshold value adjustment coefficient corresponding to the single processing data sequence according to the complexity degree and the abnormality degree of the single processing data sequence;
according to the threshold value adjustment coefficient corresponding to the single processing data sequence, determining a threshold value corresponding to the single processing data sequence; according to the threshold values corresponding to all the single processing data sequences, a revolving door algorithm is used for compressing the revolving speed time sequence data sequences to obtain compressed revolving speed data; and obtaining a speed regulating signal by using a PID control algorithm according to the compressed rotating speed data.
2. The variable-frequency double-wheel milling speed regulation method according to claim 1, wherein the obtaining the duration difference set and the rotation speed difference set according to the difference between the data in the single-time processing duration set and the single-time processing rotation speed set respectively comprises the following specific steps:
recording the mode in the single processing time length set as the standard single processing time length;
respectively calculating the absolute value of the difference value between each datum in the single processing time length set and the standard single processing time length, and carrying out normalization processing on the absolute value of the difference value between all the data in the single processing time length set and the standard single processing time length by using a minimum maximum normalization method to obtain a time length difference set;
the mode in the single processing rotating speed set is recorded as the standard single processing rotating speed;
and respectively calculating the absolute value of the difference value between each datum in the single machining rotating speed set and the standard single machining rotating speed, and carrying out normalization processing on the absolute value of the difference value between all the data in the single machining rotating speed set and the standard single machining rotating speed by using a minimum maximum normalization method to obtain a rotating speed difference set.
3. The method for speed regulation of variable frequency double-wheel milling machine according to claim 1, wherein the determining the sequence of ordinal values and the sequence of total ordinal values according to ordinal values corresponding to local extremum points in the single processing data sequence comprises the following specific steps:
obtaining local extremum points in the single processing data sequence by using a first derivative method, and forming an ordinal value sequence according to ordinal values corresponding to all the local extremum points in the single processing data sequence;
and forming a total ordinal value sequence according to ordinal value sequences corresponding to all the single processing data sequences.
4. The method for speed regulation of variable frequency double-wheel milling machine according to claim 1, wherein the determining the local abnormality corresponding to each ordinal value in the ordinal value sequence according to the number of times each ordinal value in the sequence of ordinal values appears in the total ordinal value sequence and the reliability thereof comprises the following specific steps:
taking any one ordinal value in an ordinal value sequence corresponding to a single processing data sequence, and setting the local abnormality corresponding to the ordinal value as a preset local abnormality if the frequency of occurrence of the ordinal value in the total ordinal value sequence is smaller than or equal to a preset frequency threshold;
if the number of times of the ordinal value in the total ordinal value sequence is larger than a preset number threshold, marking the data with the same size as the ordinal value in the total ordinal value sequence as reference data;
the data variance of all the reference data in the rotating speed time sequence data sequence is marked as the credibility of the times of the ordinal value in the total ordinal value sequence;
and determining the local abnormality corresponding to the ordinal value according to the occurrence times of the ordinal value in the total ordinal value sequence and the credibility of the occurrence times of the ordinal value in the total ordinal value sequence.
5. The method for speed regulation of variable frequency double-wheel milling machine according to claim 4, wherein the specific calculation formula corresponding to the local abnormality corresponding to the ordinal value is determined according to the number of times the ordinal value appears in the total ordinal value sequence and the reliability of the number of times the ordinal value appears in the total ordinal value sequence, and is as follows:
wherein the method comprises the steps ofIs the local abnormality corresponding to the ith ordinal value in the ordinal value sequence corresponding to the single processing data sequence,/I>For the ith ordinal value in the ordinal value sequence corresponding to the single processing data sequence, +.>Is of the size +.>The number of times the ordinal value of (a) appears in the sequence of total ordinal values,/->Is of the size +.>The degree of reliability of the number of occurrences of ordinal values of (a) in the total ordinal value sequence, n being the number of single-processing data sequences divided by the rotational speed time-series data sequence, +.>K is a preset exponential function adjustment value for an exponential function based on a natural constant.
6. The variable frequency double-wheel milling speed regulation method according to claim 1, wherein the determining the degree of abnormality of the single-machining data sequence according to the data values in the local abnormality and time length difference set and the rotating speed difference set corresponding to all ordinal values in the ordinal value sequence comprises the following specific steps:
the average value of the data values of the single processing data sequence in the duration difference set and the rotating speed difference set is recorded as the integral abnormality of the single processing data sequence;
and (3) marking the product of the overall abnormality of the single processing data sequence and the average value of the local abnormality corresponding to all ordinal values in the ordinal value sequence corresponding to the single processing data sequence as the abnormality degree of the single processing data sequence.
7. The method for speed regulation of variable frequency double-wheel milling machine according to claim 1, wherein the steps of determining the rotation speed change sequence and the total rotation speed change according to the difference of all adjacent data in the data sequence segment comprise the following specific steps:
forming a rotating speed change sequence according to absolute values of differences of all adjacent data in the data sequence section;
and recording the average value of all data in the rotating speed change sequence as the total rotating speed change of the data sequence segment.
8. The variable-frequency double-wheel milling speed regulation method according to claim 1, wherein the complexity degree of a single-machining data sequence is determined according to the total rotation speed change of all the data sequence segments, the number of local extreme points in the corresponding rotation speed change sequence and the data value in the rotation speed change set; according to the complexity and the abnormality degree of the single processing data sequence, determining a threshold value adjustment coefficient corresponding to the single processing data sequence comprises the following specific steps:
the quotient of each data in the rotating speed transition set corresponding to the single processing data sequence and the sum of all data in the rotating speed transition set is recorded as the weight of each data in the rotating speed transition set;
the sum of products of all data in the rotating speed conversion set and weights of all data in the rotating speed conversion set is recorded as the rotating speed conversion degree of the motor when the workpiece processing part is converted;
recording the normalized value of the number of the local extreme points in the rotating speed change sequence corresponding to the data sequence segment as the weight of the total rotating speed change of the data sequence segment;
determining the motor rotation speed variation difference of each part of the workpiece according to the weight of the total rotation speed variation of all data sequence segments divided by the single processing data sequence and the variance of the total rotation speed variation of all data sequence segments;
determining the complexity of a single processing data sequence according to the motor rotation speed change difference of each part of the workpiece and the motor rotation speed change degree when the workpiece processing part is changed;
and recording a normalized value of the product of the complexity degree of the single processing data sequence and the abnormality degree of the single processing data sequence as a threshold value adjustment coefficient corresponding to the single processing data sequence.
9. The variable-frequency double-wheel milling speed regulation method of claim 8, wherein the specific calculation formula corresponding to the complexity of the single machining data sequence is determined according to the motor rotation speed change difference of each part of the workpiece and the motor rotation speed change degree when the machining part of the workpiece is changed, and is as follows:
wherein the method comprises the steps ofFor the complexity of the z-th single-processing data sequence, y is the number of data sequence segments divided by the z-th single-processing data sequence, +.>Normalized value of number of local extremal points in rotational speed change sequence corresponding to the t-th data sequence segment divided for the z-th single-process data sequence,/->Total rotational speed variation of the t-th data sequence segment divided for the z-th single-processing data sequence,/->The average of the total rotational speed variation for all data sequence segments divided for the z-th single process data sequence,for the difference of motor rotation speed variation of each part of the workpiece, < + >>For the jth data value,/-in the set of rotational speed transitions corresponding to the zth single process data sequence>For the sum of all data values in the rotational speed transition set corresponding to the z-th machining data sequence, respectively>Is a linear normalization function.
10. A variable frequency dual wheel mill speed regulation system, the system comprising a memory and a processor, wherein the processor executes a computer program stored in the memory to implement the method according to any one of claims 1-9.
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