TWI559108B - Correction control method, controller and correction control system - Google Patents

Description

Correction control method, controller and correction control system

The invention relates to the field of detection control technology, in particular to a correction control method, a controller and a correction control system.

Correction control is an important technology in process control. It is applied in many coil processing industries such as packaging, printing, labeling, garment, metal processing, etc. The coils involved include plastic, cable, paper, textile and so on. Type of material. The processing of the web, including the processing of the web itself, such as spraying, printing, die cutting, laminating, may also include processing the web into finished products, such as into bags.

Specifically, during the processing of the coil, the coil needs to be moved in a fixed track to complete a series of processing processes. If the web is deflected during the transfer, that is, the edge of the web does not run neatly in the track, This will cause errors in subsequent steps, resulting in material waste or downtime adjustments. Therefore, a correction control method is needed to adjust the position of the deflecting web to ensure the normal processing of the coil.

It should be noted that the patent application file with the application number CN201310625155.X discloses a method for providing AD acquisition accuracy based on the least squares method. The method has the following distinguishing features from the technical solution provided by the present invention:

1. The patent preamble calculates the zero offset by fitting the input voltage to the output voltage curve, and the technical solution provided by the present invention directly uses the relationship between the position and the voltage to calculate the error.

2. The technical solution provided by the present invention is directed to a specific field, that is, applied in the field of correction control of a bag making machine.

In view of this, the present invention provides a rectification control method, a controller, and a rectification control system for adjusting the position of the deflecting web, thereby ensuring the normal processing of the coil. To achieve the above object, the present invention provides the following technical features: A correction control method is applied to a linear equation of a fitting curve, the method comprising: acquiring an actual position value of a coil collected by a position sensor; and acquiring an actual value of the voltage generated by the A/D conversion board according to the actual position value; Substituting the actual position value into the linear equation of the fitting curve to obtain a voltage predicted value corresponding to the actual position value; when the actual value of the voltage is different from the predicted value of the voltage, determining the actual position according to the actual value of the voltage and the predicted value of the voltage The position correction value corresponding to the value; and the trigger servo driver drives the motor according to the position correction value to perform the deviation correction control on the coil.

The above method preferably further includes: presetting a linear equation of the fitting curve, comprising the steps of: acquiring a plurality of position values acquired by the position sensor within a preset time period {S1, S2, S3, ..., Sn} Obtaining a plurality of voltage values {U1, U2, U3, ... Un} generated by the A/D conversion board according to each of the position values respectively; generating a relationship between the desired, position value, and the voltage value according to the least squares method (1) ):

Where E is the expectation, S _i is the position, U _i is the voltage, k is the first coefficient, and b is the second coefficient; according to the following formula (2), the first coefficient and the first coefficient in the formula (1) The two coefficients are obtained by partial derivative, and the equation (3) is obtained:

According to the formula (3), the equation (4) for determining the first coefficient k and the second coefficient b is obtained:

And substituting the obtained respective voltage values and the generated respective position values into the equation (4) to obtain a value of the first coefficient and a value of the second coefficient; and obtaining the value of the first coefficient and the value of the second coefficient, Determine the linear equation of the fitted curve as equation (5): U = k S + b (5).

In the above method, preferably, determining the position correction value corresponding to the actual position value according to the actual voltage value and the voltage prediction value, comprising: subtracting the voltage actual value from the voltage prediction value, and obtaining the actual position value corresponding to the current position value Position correction value.

In the above method, preferably, before the trigger servo driver drives the motor according to the position correction value to perform the deviation correction control on the coil, the method further includes: determining whether the position correction value exceeds a preset error threshold; if yes, triggering the servo driver according to The positional correction value drives the motor to perform a deskew control of the web.

The present invention also provides a controller for applying a linear equation of a fitting curve, the controller comprising: an actual position value acquiring unit for acquiring an actual position value of the coil collected by the position sensor; and a voltage actual value generating unit, And an actual value of the voltage generated by the A/D conversion board according to the actual position value; the voltage prediction value obtaining unit is configured to substitute the actual position value into the linear equation of the fitting curve to obtain a voltage prediction value corresponding to the actual position value. a position correction value determining unit, configured to determine a position correction value corresponding to the actual position value according to the actual value of the voltage and the voltage prediction value when the actual value of the voltage is different from the voltage prediction value; and the position correction unit, The trigger servo drive drives the motor according to the position correction value to perform the deviation correction control on the coil.

The controller of the foregoing, further comprising a fitting curve linear equation presetting unit, configured to preset a linear equation of the fitting curve; wherein the fitting curve linear equation presetting unit comprises: a position value acquiring subunit, configured to acquire the a plurality of position values {S1, S2, S3, ..., Sn} collected by the position sensor during a preset time period; and a voltage value generating subunit for acquiring the A/D conversion board respectively generated according to each of the position values A plurality of voltage values {U1, U2, U3, ... Un}; a relational generation subunit for generating a relationship (1) between a desired, a position value, and a voltage value according to a least squares method:

Where E is the expectation, S _i is the position, U _i is the voltage, k is the first coefficient, b is the second coefficient, and the coefficient solving subunit is used to respectively formula (1) according to the following formula (2) The first coefficient and the second coefficient are obtained by partial derivation, and equation (3) is obtained:

a coefficient determining subunit for obtaining a formula (4) for determining the first coefficient k and the second coefficient b according to the formula (3):

And a coefficient value obtaining subunit, configured to substitute the obtained respective voltage values and the generated respective position values into the equation (4) to obtain a value of the first coefficient and a value of the second coefficient; the linear equation determines the subunit, The linear equation of the fitting curve is determined by the value of the first coefficient and the value of the second coefficient to be obtained by the equation (5): U= k S+ b (5).

Preferably, the position correction value determining unit subtracts the voltage actual value from the voltage prediction value to obtain a position correction value corresponding to the actual position value.

The controller preferably further includes: an error determining unit, configured to determine whether the position correction value exceeds a preset error threshold before the trigger servo driver drives the motor according to the position correction value, and if so, trigger the position correction unit.

The invention also provides a correction control system, comprising: a position sensor for collecting the position value of the coil; and an A/D conversion board connected to the position sensor for converting the position value into a corresponding value The controller of any one of claims 5 to 8 is connected to the A/D conversion board for substituting the position value into the linear equation of the fitting curve to obtain the position Value corresponding to the voltage predicted value, when the converted voltage value and the When the voltage prediction values are different, the position correction value corresponding to the position value is determined to trigger the servo driver; and the servo driver is configured to drive the motor according to the position correction value to perform the deviation correction control on the coil.

The above system, preferably, the controller in the corrective control system is also used to control the web processing system to process the web.

It can be seen from the above technical solution that the correction control method, the controller and the rectification control system provided by the present invention are applied to a preset linear equation of a fitting curve, and the linear equation of the fitting curve represents the correspondence between the position value and the voltage value, and obtains The position sensor collects the actual position value of the coil, and obtains the actual value of the voltage generated by the A/D conversion board according to the actual position value, and substitutes the actual position value into the linear equation of the fitting curve to obtain the corresponding actual position value. The voltage prediction value, when the actual voltage value is different from the voltage prediction value, determining a position correction value corresponding to the actual position value according to the actual value of the voltage and the voltage prediction value, thereby triggering the servo driver to drive according to the position correction value The motor, thereby achieving the corrective control of the coil.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only Embodiments of the invention, for those of ordinary skill in the art, may obtain other figures from the drawings provided without undue progressive work.

100‧‧‧ Actual position value acquisition unit

200‧‧‧Voltage actual value generating unit

300‧‧‧Voltage prediction value acquisition unit

400‧‧‧ Position Correction Value Determination Unit

500‧‧‧ Position Correction Unit

600‧‧‧Fitting curve linear equation preset unit

601‧‧‧ position value acquisition subunit

602‧‧‧Voltage value generation subunit

603‧‧‧ Relational generation subunit

604‧‧‧ coefficient solving subunit

605‧‧‧ coefficient determination subunit

606‧‧‧ coefficient value acquisition subunit

607‧‧‧Linear equation determination subunit

S101-S105, S201-S205‧‧‧ steps

FIG. 1 is a structural block diagram of a correction control system according to an embodiment of the present invention; 2 is a flowchart of a method for correcting a deviation correction according to an embodiment of the present invention; FIG. 3 is a diagram showing an example of a linear equation of a fitting curve according to an embodiment of the present invention; and FIG. 4 is a method for controlling a deviation correction according to an embodiment of the present invention. A flowchart of a linear equation of a fitting curve is preset; FIG. 5 is a structural block diagram of a controller according to an embodiment of the present invention; and FIG. 6 is a structural block of a preset unit of a linear equation of a curve in a controller according to an embodiment of the present invention. FIG. 7 is a structural block diagram of a bag making system according to an embodiment of the present invention; and FIG. 8 is a structural block diagram of a conventional bag making system according to an embodiment of the present invention.

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the scope of the invention are within the scope of the invention.

The rectification control method provided by the embodiment of the invention is applied to a rectification control system, which can be referred to FIG. 1 , as shown in FIG. 1 , including a position sensor, an A/D conversion board, a controller, and a servo driver. ,motor. The controller is used to implement the correction control method provided by the embodiment of the present invention. The method, see Fig. 2, shows a specific flow of the method for correcting the deviation, the method is applied to a preset linear equation of the fitting curve, and the linear equation of the fitting curve represents the correspondence between the position value and the voltage value, specifically, The method includes the following steps:

Step S101: Acquire an actual position value of the coil collected by the position sensor.

Wherein, as shown in FIG. 1, when the coil is moving, the position sensor can preset the sampling frequency to acquire the position of the coil, and optionally, the position is the web boundary.

Step S102: Acquire an actual value of the voltage generated by the A/D converter board according to the actual position value.

Wherein, the position sensor sensor converts the collected position value into an electrical signal, and processes the electrical signal into a voltage value that the controller can process through the processing of the A/D conversion board.

Step S103: Substituting the actual position value into the linear equation of the fitting curve to obtain a voltage predicted value corresponding to the actual position value.

In the practice of the present invention, the linear curve of the fitting curve may represent a preset correspondence relationship between the voltage value and the position value. The linear equation of the fitting curve is a linear equation, which is a linear relationship between the amount of position and the amount of voltage obtained by curve fitting. The voltage predicted value obtained in this step is obtained by the linear relationship, and represents the voltage value corresponding to the position value of the coil under normal operating conditions.

Step S104: When the actual voltage value is different from the voltage predicted value, determining the actual position value pair according to the actual voltage value and the voltage predicted value. The position correction value should be.

In the actual processing of the coil, due to various external factors, the boundary position of the coil is deviated. Therefore, when the coil is in a certain deviation position, the position value collected by the position sensor is A/D converted. The voltage value is different from the voltage value under normal operating conditions. That is to say, when the two voltage values are different, it indicates that the coil has a deviation, and further, the position correction value needs to be determined for correcting the deviation of the coil.

Optionally, the manner of determining the position correction value may be: subtracting the voltage actual value from the voltage prediction value, and obtaining a position correction value corresponding to the actual position value. The position correction value may include positive and negative values, wherein: positive and negative indicate the direction of the correction, and optionally, the direction is represented by an angle; and the value indicates the magnitude of the correction.

Step S105: The trigger servo driver drives the motor according to the position correction value to perform the deviation correction control on the coil.

And generating a correction control signal according to the position correction value, and transmitting the signal to the servo driver, so that the servo driver drives the motor according to the control signal, for example, driving the rotation speed, steering, etc. of the motor to achieve the position of the coil. Adjustment.

It can be seen from the above technical solution that the embodiment of the present invention provides a method for correcting deviation, which is applied to a preset linear equation of a fitting curve, and the linear equation of the fitting curve represents a correspondence between a position value and a voltage value, and acquires a position sensor to acquire The actual position value of the coil, and obtain the actual value of the voltage generated by the A/D converter board according to the actual position value, and substitute the actual position value into the linear equation of the fitting curve to obtain the voltage prediction value corresponding to the actual position value. The When the actual voltage value is different from the predicted voltage value, determining the position correction value corresponding to the actual position value according to the actual value of the voltage and the predicted value of the voltage, thereby triggering the servo driver to drive the motor according to the position correction value, thereby driving the coil The position is adjusted to ensure that the web boundaries are aligned.

It should be noted that, in the foregoing method embodiment, the adjustment of the position of the boundary position of the coil collected by the position sensor is realized. Of course, the method can be used to realize multiple adjustments to the same boundary point. Specifically, after step S105, the process returns to step S101 to acquire the adjusted position value of the same boundary point of the web collected by the position sensor, and performs the subsequent steps until the boundary point is at the aligned position. Specifically, when the actual value of the converted voltage is the same as the voltage prediction value in a certain loop, it indicates that the boundary point of the coil is in a normal state, and the position sensor is triggered to collect the position value of the next boundary point of the coil. Until the end of the coil processing.

In the meantime, the execution process of step S102 and step S103 in the foregoing method embodiment is not limited thereto. Of course, step S103 may be performed first, then step S102 may be performed, or both steps may be performed simultaneously.

The above method embodiment will be described more intuitively using the following drawings. Referring to Fig. 3, there is shown an example of a linear equation of the fitted curve in the above method embodiment. As shown in Fig. 3, the straight line indicates the linear correspondence between the position S and the voltage U. In the above method embodiment, the position value collected by the position sensor is S _t1 . After the A/D conversion of the position value, the actual value of the obtained voltage is U _t1 . Using the linear equation described in FIG. 3 , the voltage predicted value corresponding to the position value S _t1 is obtained as U′ _t1 (the voltage corresponding to point A). The value actual value U _t1 may be less than or greater than the voltage predicted value U' _t1 (the voltage value corresponding to point B or point C), thereby indicating that the boundary point of the coil is in a deviation state.

It should be noted that the linear equation of the fitting curve is preset in the foregoing method embodiment. The above method embodiment may further include the step of presetting a linear equation of the fitting curve before execution. Optionally, referring to FIG. 4, the flow of generating the fitting curve fitting equation by least squares method provided by the embodiment of the present invention is shown, and the process specifically includes the following steps:

Step S201: Acquire a plurality of position values {S1, S2, S3, ..., Sn} collected by the position sensor in a preset time period, and acquire a plurality of A/D conversion boards respectively generated according to the respective position values. Voltage value {U1, U2, U3...Un}.

Wherein, a set of position values collected by the position sensor is acquired at n different times, and a voltage value corresponding to each position value is generated correspondingly, and the corresponding relationship is shown in Table 1.

Step S202: Generate a relation (1) between the expectation, the position value, and the voltage value according to the least squares method:

Where E is the expectation, S _i is the position, U _i is the voltage, k is the first coefficient, and b is the second coefficient. In the method embodiment, it is assumed that the voltage value and the position value satisfy a preset linear relationship, that is, U=kS+b.

Step S203: Deriving the first coefficient and the second coefficient in the equation (1) according to the following formula (2) to obtain the equation (3):

Step S204: According to the formula (3), the equation (4) for determining the first coefficient k and the second coefficient b is obtained:

Step S205: Substituting the obtained respective voltage values and the generated respective position values into the equation (4), obtaining the value of the first coefficient and the value of the second coefficient, and further obtaining the value of the first coefficient and the second coefficient. The numerical value determines the linear equation of the fitted curve as equation (5): U=kS+b (5).

According to the above technical solution, the embodiment of the present invention presets a linear equation of a fitting curve by using a least square method, and the fitting curve equation is used to obtain a voltage prediction value corresponding to an actual position value in the correction control, and is used according to the voltage. The predicted value adjusts the position of the deviation. Specifically, the linear equation of the fitting curve includes an unknown first coefficient and a second coefficient, and the least squares method ensures that the square of the error between the actual value and the predicted value obtained by using the fitting curve equation is the smallest, and the situation is calculated. The values of the first coefficient and the second coefficient are determined to determine a linear equation of the final fitted curve. It should be noted that the least squares method is a data optimization algorithm, which can obtain a linear equation of the fitting curve by using a small amount of data, and can solve the technical problem of insufficient channel capacity and storage capacity. In addition, the least squares method is faster, which saves processing time and improves processing efficiency.

Optionally, before step S105 after the step S104 of the foregoing method embodiment, the method further includes: determining whether the position correction value exceeds a preset error threshold; if yes, executing step S105 to trigger the servo driver to drive the motor according to the position correction value, The coil is subjected to rectification control.

It should be noted that the position deviation value includes positive and negative values. Accordingly, the preset error threshold may include different thresholds corresponding to the positive and negative directions. Specifically, when the position correction value is a positive value, it is determined whether the position correction value exceeds the positive value. The error threshold corresponding to the direction, and vice versa. For example, the preset error threshold is -3 and +3, where -3 is the threshold in the negative direction and +3 is the threshold in the positive direction. The excess refers to the excess of the value, for example, if the bit If the deviation value is -5, it exceeds the error threshold of -3.

In the embodiment of the present invention, the adjustment condition is set for the position deviation, that is, it is first determined whether the position deviation value exceeds the preset error threshold, and if the condition is satisfied, the servo driver drive motor is triggered to perform the deviation correction control on the coil. With this arrangement, it is possible to avoid the multiple adjustment process to reduce the processing efficiency of the coil in some occasions where the alignment of the web boundary is not high.

The controller provided by the embodiment of the present invention is described below. It should be noted that the description of the controller and the correction control method provided by the embodiment of the present invention can refer to each other.

Referring to FIG. 5, it shows a structure of a controller provided by an embodiment of the present invention. The controller is applied to a preset linear equation of a fitting curve, and the linear equation of the fitting curve represents a correspondence between a position value and a voltage value, and the control The controller may be the controller in the correction control system shown in FIG. 1 , and specifically includes: the actual position value acquiring unit 100 is configured to acquire the actual position value of the coil collected by the position sensor. The voltage actual value generating unit 200 is configured to acquire an actual value of the voltage generated by the A/D converter board according to the actual position value. The voltage predicted value obtaining unit 300 is configured to substitute the actual position value into the linear equation of the fitting curve to obtain a voltage predicted value corresponding to the actual position value. The position correction value determining unit 400 is configured to determine a position correction value corresponding to the actual position value according to the voltage actual value and the voltage prediction value when the voltage actual value is different from the voltage prediction value. And the position correcting unit 500 is configured to trigger the servo driver to drive the motor according to the position correction value to perform the deviation correction control on the coil.

It should be noted that the controller can be an independent correcting controller. The correcting controller is specifically used for correcting the coil processing process. Of course, the controller can also be combined with the controller that controls the coil processing process, that is, the main controller can not only control the coil processing process, but also can correct the control process. The coil processing process includes, but is not limited to, spraying, printing, punching, laminating, slitting, and the like.

Referring to FIG. 6 , optionally, based on the controller provided by the foregoing embodiment of the invention, the controller may further include: a fitting curve linear equation presetting unit 600 configured to preset a linear equation of the fitting curve.

Specifically, the fitting curve linear equation presetting unit 600 specifically includes: the position value acquiring sub-unit 601 is configured to acquire a plurality of position values {S1, S2, S3... collected by the position sensor within a preset time period. ...Sn}.

The voltage value generating sub-unit 602 is configured to acquire a plurality of voltage values {U1, U2, U3, . . . , Un} generated by the A/D converter board according to the respective position values.

The relational generation subunit 603 is configured to generate a relation (1) between the expectation, the position value, and the voltage value according to the least squares method:

Where E is the expectation, S _i is the position, U _i is the voltage, k is the first coefficient, and b is the second coefficient.

The coefficient solving sub-unit 604 is configured to obtain a partial derivative of the first coefficient and the second coefficient in the formula (1) according to the following formula (2) to obtain the formula (3):

The coefficient determining subunit 605 is configured to obtain the formula (4) for determining the first coefficient k and the second coefficient b according to the formula (3);

The coefficient value acquisition sub-unit 606 is configured to substitute the acquired respective voltage values and the generated respective position values into the equation (4) to obtain a value of the first coefficient and a value of the second coefficient.

The linear equation determining subunit 607 is configured to determine the value of the obtained first coefficient and the value of the second coefficient to determine a linear equation of the fitting curve as Equation (5): U=kS+b (5).

Optionally, the position correction value determining unit 400 subtracts the voltage actual value from the voltage prediction value to obtain a position correction value corresponding to the actual position value.

Optionally, based on the controller provided by the foregoing embodiment of the invention, The position determining unit 400 and the position correcting unit 500 are respectively connected to determine whether the position correction value exceeds a preset error threshold, and if so, the position correcting unit 500 is triggered.

The following is a description of the rectification control system provided by the embodiment of the present invention. For the description of the rectification control system, reference may be made to the rectification control method provided by the embodiment of the present invention and the controller provided by the embodiment of the present invention, which is not described herein.

As shown in FIG. 1 , the structure of the correction control system provided by the embodiment of the present invention is shown. The system specifically includes: a position sensor for collecting a position value of the coil. Wherein, the position sensor can be a photoinductor.

An A/D converter board is coupled to the position sensor for converting the position value to a corresponding voltage value.

The A/D converter board is configured to perform signal conversion on the sampled position value and convert it into a voltage signal that the controller can process. It can be understood that the position signal is an analog electrical signal, and after A/D conversion, it becomes a corresponding digital signal for transmission to the controller for correcting control.

The controller is connected to the A/D conversion board, and is used to substitute the position value into the linear equation of the fitting curve to obtain a voltage prediction value corresponding to the position value. When the converted voltage value is different from the voltage prediction value, The position correction value corresponding to the position value is determined to trigger the servo driver.

The servo driver is configured to drive the motor according to the position correction value to perform the deviation correction control on the coil.

Among them, the servo driver is used to drive the motor to rotate. Specifically, control After determining the position offset value, an electrical pulse of the position offset value is generated. Wherein, the position offset value includes positive and negative values, positive and negative indicate the direction of correction, and the value indicates the magnitude of the correction. The servo drive converts the electric pulse into an angular displacement, and the driving motor rotates at a fixed angle in a set direction, thereby realizing the position adjustment of the coil.

Optionally, the controller in the above-described correction control system is further configured to control the coil processing system to process the coil. Referring to Figure 7, there is shown a bag making system comprising: a web processing system and a rectification control unit. The coil processing system comprises: a main servo drive unit, a traction unit, a tension sensor and a plurality of servo mechanisms; and the correction control unit comprises: a servo driver, a motor, an A/D conversion board and a position sensor.

As shown in Fig. 8, in the prior art, the correction control system and the coil processing system are two independent systems, each of which contains a controller. As shown in Fig. 8, the control in the correction control system is the correction control. The controller in the coil processing system is the main controller, and the two controllers are used to control the functional components in the respective systems. During the processing of the coil, the correcting controller in the correction control system corrects the coil, and sends a control signal to the main controller in the coil processing system through the data transmission bus to trigger the main in the coil processing system. The controller processes the coil material, and when the position determination of the coil material is required, the correction transmission signal is sent to the correction controller in the correction control system through the data transmission bus line, and the correction controller is triggered to perform the deviation correction control. It can be seen that the bag making system in the prior art comprises two independent controllers, and the data is transmitted between the controllers through the data transmission bus, and the whole control system has high cost and low coordination degree.

It should be noted that the controller provided by the present invention can control not only the correction control unit but also the coil processing system. That is to say, the present invention concentrates the functions of the two existing controllers in one controller, which can reduce the hardware cost and improve the system coordination degree.

It should be noted that each embodiment in the specification is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the embodiments are referred to each other. can.

The above description of the disclosed embodiments enables those of ordinary skill in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

S101-S105‧‧‧Steps

Claims (10)

A method for correcting deviation of a linear equation of a fitting curve, the method comprising the steps of: acquiring an actual position value of a volume collected by a position sensor; and obtaining an actual value of the voltage generated by the A/D conversion board according to the actual position value; Substituting the actual position value into the linear equation of the fitting curve to obtain a voltage prediction value corresponding to the actual position value; when the actual value of the voltage is different from the voltage prediction value, determining the actual value according to the voltage and the voltage prediction value The position correction value corresponding to the actual position value; the trigger servo driver drives the motor according to the position correction value to perform the deviation correction control on the coil; and presets the linear equation of the fitting curve, which comprises the following steps: generating according to the least square method The relationship between expectation, position value and voltage value (1): Where E is the expectation, S _i is the position, U _i is the voltage, k is the first coefficient, b is the second coefficient; and the value of the first coefficient obtained and the value of the second coefficient are determined to determine the linear equation of the fitting curve Let formula (5); U = k S+ b (5). The method for correcting deviation according to claim 1, wherein the linear equation of the fitting curve is preset, and the method includes the following steps: acquiring a plurality of position values collected by the position sensor within a preset time period. S1, S2, S3, ..., Sn}; acquiring a plurality of voltage values {U1, U2, U3, ... Un} generated by the A/D converter board according to the respective position values; respectively, according to the following formula (2) The first coefficient and the second coefficient in the formula (1) are obtained by partial derivation to obtain the formula (3); According to the formula (3), the equation (4) for determining the first coefficient k and the second coefficient b is obtained; The obtained respective voltage values and the generated respective position values are substituted into the equation (4) to obtain values of the first coefficient and values of the second coefficient. The method of claim 5, wherein the determining the position correction value corresponding to the actual position value according to the actual voltage value and the voltage prediction value comprises: subtracting the voltage from the voltage prediction value. The actual value obtains the position correction value corresponding to the actual position value. The method of claim 1 or 2, wherein the triggering servo driver drives the motor according to the position correction value to perform the correction control on the coil, and further includes: determining whether the position correction value is The preset error threshold is exceeded; if so, the trigger servo driver drives the motor according to the position correction value to perform the deviation correction control on the coil. A controller applied to a linear equation of a fitting curve includes: an actual position value acquiring unit for acquiring an actual position value of a coil material collected by a position sensor; and a voltage actual value generating unit for acquiring an A/D conversion a voltage actual value generated by the board according to the actual position value; a voltage prediction value obtaining unit, configured to substitute the actual position value into the linear equation of the fitting curve to obtain a voltage prediction value corresponding to the actual position value; and a position correction value determining unit, And determining, according to the actual value of the voltage and the predicted value of the voltage, a position correction value corresponding to the actual position value; the position correction unit is configured to trigger the servo driver to correct the deviation according to the position. a value driving motor for correcting the volume of the coil; and a fitting curve linear equation presetting unit for presetting a linear equation of the fitting curve, wherein the fitting curve linear equation presetting unit comprises: a relational generator a unit for generating a relationship (1) between a desired, a position value, and a voltage value according to a least squares method: Wherein E is a desired, S _i is a position, U _i is a voltage, k is a first coefficient, b is a second coefficient; and a linear equation determining subunit is used for obtaining the value of the first coefficient and the second coefficient Numerically, determine the linear equation of the fitted curve as equation (5); U = k S+ b (5). The controller of claim 5, wherein the fitting curve linear equation presetting unit further comprises: a position value acquiring subunit, configured to acquire the position sensor collected in the preset time period. a plurality of position values {S1, S2, S3, ..., Sn}; a voltage value generating subunit for acquiring a plurality of voltage values generated by the A/D converter board according to the respective position values {U1, U2, U3, ... Un a coefficient solving subunit for obtaining a partial derivative of the first coefficient and the second coefficient in the equation (1) according to the following formula (2), to obtain the equation (3); a coefficient determining subunit for obtaining a formula (4) for determining the first coefficient k and the second coefficient b according to the formula (3); The coefficient value obtaining subunit is configured to substitute the obtained respective voltage values and the generated respective position values into the equation (4) to obtain a value of the first coefficient and a value of the second coefficient. The controller of claim 5, wherein the position correction value determining unit subtracts the voltage actual value from the voltage prediction value to obtain a position correction value corresponding to the actual position value. The controller of claim 5 or 6, further comprising an error judging unit, configured to determine whether the position correction value exceeds a preset error before the trigger servo driver drives the motor according to the position correction value. The difference threshold, if so, triggers the position correction unit. A correction control system includes: a position sensor for collecting a position value of a coil; and an A/D conversion board connected to the position sensor for converting the position value into a corresponding voltage value; The controller of the fifth aspect of the patent is connected to the A/D conversion board, and is used to substitute the position value into the linear equation of the fitting curve to obtain a voltage prediction value corresponding to the position value, when the converted voltage value When the voltage prediction value is different, the position correction value corresponding to the position value is determined to trigger the servo driver; and the servo driver is configured to drive the motor according to the position correction value to perform the deviation correction control on the coil. The rectification control system of claim 9, wherein the controller in the rectification control system is further configured to control the coil processing system to process the coil.