CN116871748A - Temperature compensation device and method for force control system - Google Patents
Temperature compensation device and method for force control system Download PDFInfo
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Abstract
The invention relates to a temperature compensation device and a method of a force control system, wherein the force control system comprises a pressure value input module, a main control module, a voice coil motor and a pressure output mechanism, wherein a preset temperature and a reference voice coil current calculation function are stored in the main control module, and the reference voice coil current is calculated according to an input target welding pressure and is sent to the voice coil motor. The temperature compensation device comprises a temperature acquisition module, a configuration file database and a compensation control module; the configuration file database is stored with Lagrangian interpolation polynomial functions reflecting the mapping relation between the welding pressure and the temperature of the voice coil motor and the current of the voice coil; and the compensation control module calls a configuration file database to calculate the target voice coil current according to the received current temperature and the target welding pressure, acquires the reference voice coil current, and makes an absolute difference value to obtain a temperature compensation current, and sends the temperature compensation current to the voice coil motor for compensation. The invention can improve the fluctuation range of the output welding pressure along with the change of the ambient temperature, and improve the output stability and the output precision.
Description
Technical Field
The invention belongs to the technical field of bonding machines, and relates to a temperature compensation device and a temperature compensation method for a force control system.
Background
The bonding machine bonding wire is commonly called as 'hot-pressing ultrasonic welding', and the core component of the bonding machine bonding wire is a force control system for outputting welding pressure, and comprises a pressure value input module, a main control module, a voice coil motor and a pressure output mechanism which consists of a parallelogram mechanism, a transducer and a chopper which are sequentially connected, wherein the force control system outputs pressure at a certain working temperature, so that bonding reaction occurs on a welding surface of the bonding wire, and further, electric interconnection between a chip and a substrate is realized. For the welding performance of the bonding machine, the stability of the force control system is particularly important. Because the bonding force directly influences the appearance of the welding spot, the welding spot is larger, and the adjacent welding wires are mistakenly touched, so that the risk of chip short circuit is caused. The smaller the welding spot is, the harder to ensure the tensile strength of the welding wire. The welding is stable, the welding spots are consistent, the bonding strength is high, and the bonding strength is always used as the most basic and indispensable acceptance index of the bonding machine.
For force control systems, how the stability of the output force directly affects the quality of the bond. The voice coil motor is used as a core component of the force control system, and mainly ensures that the constant force output can be maintained when the parallelogram is subjected to displacement change. Typically, the voice coil force coefficient is a fixed constant value. Therefore, in the prior art, the force control system can determine a voice coil current calculation function reflecting the mapping relation between the welding pressure and the voice coil current by solving constant terms such as voice coil force coefficient at a certain preset temperature. A main control template in the force control system can calculate the voice coil current according to the input target welding pressure through the calculation function and send the voice coil current to the voice coil motor, so that the output of the welding pressure is realized. However, when the temperature increases or decreases, the force coefficient of the voice coil will change, and at this time, the output force of the voice coil motor will deviate from the preset value, resulting in an error output force of the parallelogram mechanism, and the welding pressure cannot reach the target value, so that it is difficult to ensure the welding accuracy.
Disclosure of Invention
The invention aims to solve the technical problem and provide a temperature compensation device and a temperature compensation method for a force control system, which can effectively improve the fluctuation range of output welding pressure along with the change of environmental temperature and obviously improve the output stability and welding precision of the force control system.
The technical scheme of the invention is as follows:
the utility model provides a force control system temperature compensating device, force control system is used for exporting welding pressure, including pressure value input module, main control module, voice coil motor, the pressure output mechanism that connects gradually, main control module stores the reference voice coil current calculation function that reflects welding pressure and voice coil current mapping relation under the temperature of predetermineeing and this predetermineeing for calculate reference voice coil current and send for voice coil motor according to the target welding pressure of pressure value input module input, its characterized in that: the temperature compensation device comprises a temperature acquisition module, a configuration file database and a compensation control module;
the temperature acquisition module is arranged in the voice coil motor and is used for acquiring the current temperature of the voice coil motor and sending the current temperature to the compensation control module;
the configuration file database stores Lagrange interpolation polynomial functions reflecting the mapping relation between welding pressure and voice coil motor temperature and voice coil current;
the compensation control module is connected with the temperature acquisition module, the pressure value input module, the configuration file database, the voice coil motor and the main control module, calls the configuration file database to calculate corresponding target voice coil current according to the received current temperature and the target welding pressure, acquires the reference voice coil current calculated by the main control module, calculates the absolute difference value of the target voice coil current and the reference voice coil current as temperature compensation current, and sends the temperature compensation current to the voice coil motor for compensation; if the current temperature is higher than the preset temperature, the voice coil current of the voice coil motor is compensated in the forward direction; otherwise, negative compensation is performed.
Further, in the temperature compensation device of the force control system, the temperature acquisition module is a temperature sensor and is arranged in the rotor of the voice coil motor.
The invention also provides a temperature compensation method of the force control system, which is characterized in that: the method comprises the following steps:
s1, constructing a configuration file database for storing Lagrange interpolation polynomial functions reflecting the mapping relation between welding pressure and voice coil motor temperature and voice coil current;
s2, the pressure value input module sends the input target welding pressure to the main control module and the compensation control module, and the temperature acquisition module acquires the current temperature of the voice coil motor and sends the current temperature to the compensation control module;
step S3, the main control module calculates a reference voice coil current according to the received target welding pressure by using a stored reference voice coil current calculation function reflecting the mapping relation between the welding pressure and the voice coil current at a preset temperature, and sends the reference voice coil current to the voice coil motor;
s4, the compensation control module calls a configuration file database to calculate corresponding target voice coil current according to the received current temperature and target welding pressure, obtains the reference voice coil current calculated by the main control module, and calculates the absolute difference value of the target voice coil current and the reference voice coil current as temperature compensation current;
s5, the compensation control module acquires preset temperature stored by the main control module, judges whether the current temperature is higher than the preset temperature, and if so, sends temperature compensation current to the voice coil motor for forward compensation; otherwise, negative compensation is performed.
Further, in the temperature compensation method of the force control system, two Lagrange interpolation polynomial functions respectively reflecting a heating stage and a cooling stage are stored in the configuration file database; in step S4, before the compensation control module calls the configuration file database, the compensation control module determines whether the temperature is in a heating stage or a cooling stage according to the current temperature change trend, so as to correspondingly call different lagrangian interpolation polynomial functions.
Further, in the temperature compensation method of the force control system of the present invention, the step S1 includes the following sub-steps:
step S101: setting in a standard test environment, collecting a plurality of groups of welding pressure and voice coil current at the same voice coil motor temperature, and fitting a curve through a least square method to obtain a fitting curve equation of the welding pressure and the voice coil current;
step S102: repeatedly changing the temperature of the voice coil motor for a plurality of times, and repeating the step S101 to obtain a plurality of fitting curve equations;
step S103: fitting the fitting curve equation by using a Lagrange multiplier method, constructing and storing a Lagrange interpolation polynomial function for reflecting the mapping relation between welding pressure, voice coil current and voice coil motor temperature, and obtaining a configuration file database.
Further, in the temperature compensation method of the force control system of the present invention, the fitted curve equation is as followsWherein F represents welding pressure, u represents voice coil current, a is a coefficient term, b is a constant term, and n represents the number of times of temperature change of the voice coil motor; the resulting Lagrangian interpolation polynomial function isWhere v represents the voice coil motor temperature.
Further, in the temperature compensation method of the force control system, before step S4, the method further includes a step of judging whether an abnormal jump phenomenon occurs in the current temperature by the compensation control module, if so, step S4 is not executed, and alarm information is sent out.
The beneficial effects of the invention are as follows:
1. the invention has simple structural design, low hardware design cost, convenient equipment iteration upgrade and low later maintenance cost without structural modification on the existing force control system.
2. The invention can realize real-time correction of the output force of the force control system, eliminates the phenomenon of larger output force deviation when equipment is cooled and heated, and can save a warming-up link and improve the yield when the client uses the equipment.
3. The invention can ensure that the output welding pressure of the force control system is not influenced by the change of bonding temperature, can be continuously and constantly in a high-precision range, and obviously improves the fluctuation range of the output welding pressure along with the change of the environmental temperature: through multi-machine statistics, the fluctuation range of output force is reduced to 1/4 of the original output force, and when different types of products are welded at different bonding temperatures, technological staff can not need to frequently adjust parameters such as welding pressure.
Drawings
Fig. 1 is a schematic structural diagram of a force control system according to the present invention.
Fig. 2 is a schematic block diagram of the structure of the present invention.
Description of the embodiments
The invention will now be further described with reference to the accompanying drawings:
referring to fig. 1 and 2, the present embodiment provides a temperature compensation device of a force control system, where the force control system is configured to output welding pressure, and includes a pressure value input module 1, a main control module 2, a voice coil motor 3, and a pressure output mechanism that are sequentially connected, where in this embodiment, the pressure output mechanism includes a parallelogram mechanism 4, a transducer 5, and a chopper 6 that are sequentially connected. When the force control system performs force calibration, a least square method is adopted to construct a reference voice coil current calculation function reflecting the mapping relation between welding pressure and voice coil current, and meanwhile, the preset temperature during force calibration is recorded. The main control module 2 stores the preset temperature and the reference voice coil current calculation function, and is used for calculating the reference voice coil current according to the target welding pressure input by the pressure value input module 1 and sending the reference voice coil current to the voice coil motor 3.
The temperature compensation device comprises a temperature acquisition module 7, a configuration file database 8 and a compensation control module 9.
The temperature acquisition module 7 is arranged in the voice coil motor 3 and is used for acquiring the current temperature of the voice coil motor 3 and sending the current temperature to the compensation control module 9. Specifically, the temperature acquisition module 7 is a temperature sensor and is disposed in the mover 302 of the voice coil motor 3. This is because the stator 301 of the voice coil motor 3 is partially a magnet, the mover 302 is partially a coil, and the working temperature of the mover 302 is greatly changed, which greatly affects the voice coil force coefficient. The gap between the sensor and the mounting hole is eliminated by filling the heat-conducting silicone grease during the mounting of the sensor, so that the phenomenon that the redundant air blocks heat transmission to cause the error of the temperature detection of the sensor is avoided.
The configuration file database 8 stores lagrangian interpolation polynomial functions reflecting the mapping relation between the welding pressure and the temperature of the voice coil motor 3 and the voice coil current.
The compensation control module 9 is connected with the temperature acquisition module 7, the pressure value input module 1, the configuration file database 8, the voice coil motor 3 and the main control module 2, calls the configuration file database 8 to calculate corresponding target voice coil current according to the received current temperature and the target welding pressure, acquires the reference voice coil current calculated by the main control module 2, calculates the absolute difference value of the target voice coil current and the reference voice coil current as temperature compensation current, and sends the absolute difference value to the voice coil motor 3 for compensation; if the current temperature is higher than the preset temperature, the voice coil current of the voice coil motor 3 is compensated in the forward direction; otherwise, negative compensation is performed. This is because when the temperature increases, the resistance of the coil of the voice coil motor 3 becomes large, the voice coil force coefficient becomes small, and the output force becomes small; conversely, when the temperature is lower, the output force is larger. The basic principle of temperature compensation is therefore: when the ambient temperature is higher than the preset temperature, forward compensation is performed; and when the ambient temperature is lower than the preset temperature, negative compensation is performed. The temperature compensation current value and the reference voice coil current are sent to the voice coil motor together, so that a compensated output force is obtained.
Based on the above-mentioned force control system temperature compensation device, the present embodiment also discloses a temperature compensation method, including the following steps:
s1, constructing a configuration file database for storing Lagrange interpolation polynomial functions reflecting the mapping relation between welding pressure and the temperature of the voice coil motor 3 and voice coil current;
step S2, the pressure value input module 1 sends the input target welding pressure to the main control module 2 and the compensation control module 9, and the temperature acquisition module 7 acquires the current temperature of the voice coil motor 3 and sends the current temperature to the compensation control module 9;
step S3, the main control module 2 calculates a reference voice coil current according to the received target welding pressure by using a stored reference voice coil current calculation function reflecting the mapping relation between the welding pressure and the voice coil current at a preset temperature, and sends the reference voice coil current to the voice coil motor 3;
step S4, the compensation control module 9 calls the configuration file database 8 to calculate the corresponding target voice coil current according to the received current temperature and the target welding pressure, obtains the reference voice coil current calculated by the main control module 2, and calculates the absolute difference value of the target voice coil current and the reference voice coil current as the temperature compensation current;
step S5, the compensation control module 9 acquires the preset temperature stored in the main control module 2, judges whether the current temperature is higher than the preset temperature, and if yes, sends the temperature compensation current to the voice coil motor 3 for forward compensation; otherwise, negative compensation is performed.
In this embodiment, step S1 includes the following substeps.
Step S101: and (3) under the same temperature of the voice coil motor 3, acquiring a plurality of groups of welding pressure and voice coil current, and fitting a curve through a least square method to obtain a fitting curve equation of the welding pressure and the voice coil current.
Step S102: repeatedly changing the temperature of the voice coil motor 3 for a plurality of times, and repeating the step S101 to obtain a plurality of fitting curve equations; wherein the fitting curve equation isWhere F represents the soldering pressure, u represents the voice coil current, a is a coefficient term, b is a constant term, and n represents the number of temperature changes of the voice coil motor 3.
For example, 9 repeated temperature changes are performed, and in order to reduce the data, the decimal points of the test temperatures are divided into integers, and the test temperatures are respectively: v 1 =28℃、v 2 =29℃……v 8 =37℃、v 9 =38 ℃; finally, the fitting curve equation between the welding pressure and the voice coil current at 9 different temperatures is obtained:
step S103: fitting the fitting curve equation by using a Lagrange multiplier method, constructing and storing a Lagrange interpolation polynomial function for reflecting the mapping relation between welding pressure, voice coil current and voice coil motor 3 temperature, and obtaining a configuration file database. The resulting Lagrangian interpolation polynomial function isWhere v denotes the voice coil motor 3 temperature.
Specifically, according to the above 9 fitting curve equations, the following Lagrangian base polynomial can be obtained:
substituting the above formula, the Lagrange interpolation polynomial function can be obtained:。
the configuration file database 8 is mainly formed by testing a large amount of data in the early stage, and of course, the test collection of the data is only tested under the common environmental temperature of the machine, and the same is true for the similar environmental temperature compensation in other stages; moreover, as the interval of the acquisition temperature is smaller, the data of the configuration file database 8 is more abundant, and the final compensation effect is better.
By comparing the test data of the heating stage and the cooling stage, the following is found: the welding pressure increases with decreasing temperature at a slower rate than with increasing temperature. In other words, in the cooling process, the change slope of the welding pressure along with the temperature is smaller, and hysteresis is provided. Therefore, in order to solve this problem, the profile database 8 includes two processes of temperature rise and temperature decrease, and compensation is performed separately, so that a more ideal compensation effect can be obtained. For this reason, two lagrangian interpolation polynomial functions respectively reflecting the temperature rising stage and the temperature lowering stage are stored in the configuration file database 8 in this embodiment; in step S4, before the compensation control module 9 calls the configuration file database 8, the compensation control module 9 determines whether the temperature is in a temperature increasing stage or a temperature decreasing stage according to the current temperature change trend, so as to correspondingly call different lagrangian interpolation polynomial functions.
In addition, the method further comprises a step of judging whether the current temperature has abnormal jump phenomenon by the compensation control module 9 before the step S4, if so, the step S4 is not executed, and alarm information is sent out. Through the step, the force control system can be protected, when the environment temperature is abnormal, the temperature compensation is timely closed, and alarm information is sent out, so that unnecessary loss caused by the error compensation is avoided.
By additionally arranging the temperature compensation device on the original force control system, the equipment is not required to be changed greatly, the hardware is updated and maintained at low cost, the real-time correction function is realized, and the phenomenon of larger output force deviation when the equipment is cooled and heated is eliminated; the force output is not affected by the change of bonding temperature, the welding pressure can be continuously and constantly in a high-precision range, the fluctuation range of the output welding pressure along with the change of the ambient temperature is obviously improved, and the phenomenon that the welding parameters are frequently adjusted by technicians is avoided. Through multi-machine statistics, the fluctuation range of output force can be reduced to 1/4 of the original output force, so that the stability and the precision of a force control system are greatly improved, and the welding quality of a bonding machine is remarkably improved.
The specific embodiments described herein are merely illustrative of the principles and functions of the present invention, and are not meant to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (7)
1. The utility model provides a force control system temperature compensating device, force control system is used for exporting welding pressure, including pressure value input module, main control module, voice coil motor, the pressure output mechanism that connects gradually, main control module stores the reference voice coil current calculation function that reflects welding pressure and voice coil current mapping relation under the temperature of predetermineeing and this predetermineeing for calculate reference voice coil current and send for voice coil motor according to the target welding pressure of pressure value input module input, its characterized in that: the temperature compensation device comprises a temperature acquisition module, a configuration file database and a compensation control module;
the temperature acquisition module is arranged in the voice coil motor and is used for acquiring the current temperature of the voice coil motor and sending the current temperature to the compensation control module;
the configuration file database stores Lagrange interpolation polynomial functions reflecting the mapping relation between welding pressure and voice coil motor temperature and voice coil current;
the compensation control module is connected with the temperature acquisition module, the pressure value input module, the configuration file database, the voice coil motor and the main control module, calls the configuration file database to calculate corresponding target voice coil current according to the received current temperature and the target welding pressure, acquires the reference voice coil current calculated by the main control module, calculates the absolute difference value of the target voice coil current and the reference voice coil current as temperature compensation current, and sends the temperature compensation current to the voice coil motor for compensation; if the current temperature is higher than the preset temperature, the voice coil current of the voice coil motor is compensated in the forward direction; otherwise, negative compensation is performed.
2. The force control system temperature compensation device of claim 1, wherein: the temperature acquisition module is a temperature sensor and is arranged in the voice coil motor rotor.
3. A temperature compensation method of a force control system is characterized in that: the method comprises the following steps:
s1, constructing a configuration file database for storing Lagrange interpolation polynomial functions reflecting the mapping relation between welding pressure and voice coil motor temperature and voice coil current;
s2, the pressure value input module sends the input target welding pressure to the main control module and the compensation control module, and the temperature acquisition module acquires the current temperature of the voice coil motor and sends the current temperature to the compensation control module;
step S3, the main control module calculates a reference voice coil current according to the received target welding pressure by using a stored reference voice coil current calculation function reflecting the mapping relation between the welding pressure and the voice coil current at a preset temperature, and sends the reference voice coil current to the voice coil motor;
s4, the compensation control module calls a configuration file database to calculate corresponding target voice coil current according to the received current temperature and target welding pressure, obtains the reference voice coil current calculated by the main control module, and calculates the absolute difference value of the target voice coil current and the reference voice coil current as temperature compensation current;
s5, the compensation control module acquires preset temperature stored by the main control module, judges whether the current temperature is higher than the preset temperature, and if so, sends temperature compensation current to the voice coil motor for forward compensation; otherwise, negative compensation is performed.
4. A method of temperature compensation of a force control system according to claim 3, wherein: two Lagrange interpolation polynomial functions respectively reflecting a heating stage and a cooling stage are stored in the configuration file database; in step S4, before the compensation control module calls the configuration file database, the compensation control module determines whether the temperature is in a heating stage or a cooling stage according to the current temperature change trend, so as to correspondingly call different lagrangian interpolation polynomial functions.
5. A method of temperature compensation of a force control system according to claim 3 or 4, characterized in that: step S1 comprises the following sub-steps:
step S101: setting in a standard test environment, collecting a plurality of groups of welding pressure and voice coil current at the same voice coil motor temperature, and fitting a curve through a least square method to obtain a fitting curve equation of the welding pressure and the voice coil current;
step S102: repeatedly changing the temperature of the voice coil motor for a plurality of times, and repeating the step S101 to obtain a plurality of fitting curve equations;
step S103: fitting the fitting curve equation by using a Lagrange multiplier method, constructing and storing a Lagrange interpolation polynomial function for reflecting the mapping relation between welding pressure, voice coil current and voice coil motor temperature, and obtaining a configuration file database.
6. The method of temperature compensation for a force control system of claim 5, wherein: the fitting curve equation isWherein F represents welding pressure, u represents voice coil current, a is a coefficient term, b is a constant term, and n represents the number of times of temperature change of the voice coil motor; the Lagrangian interpolation polynomial function thus obtained is +.>Where v represents the voice coil motor temperature.
7. A method of temperature compensation of a force control system according to claim 3 or 4, characterized in that: the method further comprises the step that the compensation control module judges whether the current temperature has abnormal jump phenomenon or not before the step S4, if so, the step S4 is not executed, and alarm information is sent out.
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| CN105590874A (en) * | 2015-12-18 | 2016-05-18 | 中国电子科技集团公司第二研究所 | Operating method of micro force output mechanism for wedge bonding of lead wire |
| CN105598613A (en) * | 2015-12-18 | 2016-05-25 | 中国电子科技集团公司第二研究所 | Full-automatic wire bonder welding head |
| CN115963752A (en) * | 2022-12-16 | 2023-04-14 | 苏州索亚机器人技术有限公司 | Voice coil motor position servo control system based on deep learning and training method of mathematical model |
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